Research On Embedded Control System For Hexapod Disaster Mitigation Rescue Bionic Robot

In recent years, earthquake, fire and other natural disasters, brought great harm to human life,production and life safety.The disaster site situation to rescue is more complex and the less valuableinformation before rescue activities.Hairy crawler in several years of evolution can adapt tocompletely natural geographical environment and bad weather environment.Hairy crawler hasstrong adaptability. Therefore, with six foot beetle for bionic biological proto type, we carried outhexapod disaster mitigation rescue bionic robot embedded control system research for specialenvironment of the rescue mission. The key technology of the system is the robot control, theoutside environmental monitoring (such as temperature, humidity and so on) and monitoring datatransmission, research on hexapod bionic robot embedded control system to more foot bionic robotcontrol system, especially the more foot and mitigation bionic robot control system research rescueis of important theoretical and practical significance.Based on characteristics and disaster mitigation activities of the rescue operation needs in thefuture of hexapod disaster mitigation rescue bionic robot, we use ARM9and embedded operatingsystem Linux combination of control system, and carry out software and hardware design.⑴Expound the source of this subject, the purpose of the research significance, and detailedanalyse the domestic and international hexapod bionic robot research results and present situation.The paper gives the main contents of the reaserch.⑵Design legs structure and sports gait for hexapod bionic robot based on the leg ministry,motion principle and other characteristics of beetles six foot structure.⑶We using ARM9processor as the master series of embedded chip, carrying steering gearcontrol module, peripheral sensor module, communication module, video acquisition module, thealarm module and many other modules based on design requirements of bionic robot embeddedcontrol system.⑷Transplant corresponding program for corresponding hardware. Build robots operationenvironment according to the design demand.Design the corresponding bottom hardware drive, theapplication program and the monitoring interface for upper machine.⑸Test the unit and the overall performance, analysis, summarizes the data obtained combinewith specific needs.In view of the early period foundation and all of the work above, we designed embeddedcontrol system for hexapod disaster mitigation rescuebionic robot, established the theory andtechnology foundation for the subject of further research.