Research On The Key Technology Of An Active Search And Rescue Robot In Ruin Interstice

In recent years, there have been a lot of earthquakes occurred all around the world,which have caused many casualties. After earthquake, the search and rescue work is mainlydone by rescue workers who have to go into the disaster scene, where is dangerous for theirlives. In such a dangerous environment, robotics can provide effective help for the rescueworkers. Therefore, the robotic technology applied in the post-disaster search and rescuework is currently one of the hotspots research direction of robotics.Based on analyzing the rescue robotics application and the actual ruins environment, anovel search and rescue robot system is presented. The search and rescue robot has smallersize than which presented before and can walk by crawler. So it has a good terrainadaptability just like crawler robots, as well as a small size like the snake-like robot.According to the environmental characteristics of the actual ruins, the robot system and themechanical structure is analyzed in the paper, the intelligent control methods used in therobot are also studied and analyzed. Finally, the experiment of the prototype is introduced.The first chapter introduces the current research status of domestic and internationalsearch and rescue robots, and this chapter also introduces the goal of this study as well asthe main research content. The second and third chapter mainly introduce the designprinciples and ideas of the crawler drive unit and the head turning part. Chapter IV makes afinite element analysis of the mechanical structure of the search and rescue robot. The fifthchapter introduces the intelligent control system used in search and rescue robot. The bionicCPG control algorithm is used to control the movement of the robot, and the CPG controlsystem structure is given. In the sixth chapter, the experiment of search and rescue robotprototype is done to verify the validity of the search and rescue robots in search and rescue.Finally, in the seventh chapter, the design and analysis of the robot are summarized, andchapter6also points out the directions of the future research.