Research On The Control System Of Rescue Robot Storage System

In recent years, natural and man-made disasters happen frequently. All kinds of disasters are difficult to predict and have great destruction, which always cause mass casualties. After the disaster, some random destruction make the scene of the disaster quite intricate, along with leakage of poisonous liquid, aftershocks, secondary explosions and so on, which have a great impact on the wounded and the rescuers all the time. Aiming at the phenomenon, Institute of Medical Equipment, Academy of Military Medical Science have developed a rescue robot system storage system, which aims at entering the intricate and dangerous scene, conducting the environmental monitoring and transporting the wounded nondestructively instead of medical staff.This paper has researched the theory and prototype of the rescue robot system storage system to realize the remote control of the storage system, which makes the robot can enter the disaster scene, collect the site information, search the wounded, clear the obstacles, move the wounded into the vehicle softly and rapidly and then transfer to leave the scene. The storage system can win the effective time for rescue, avoid the secondary injury to the wounded and decrease the possibility that the medical staff is infected.The research method of the paper is the combination of the theoretical analysis, mathematical modeling, software simulation and prototype test. First, this paper analyzes the mechanical structure and working principle of storage system and determines the functional characteristics that electronic system need to achieve; secondly, according to the different rescue situation of the storage system, measures the size in SolidWorks, makes simulation and kinematics analysis in the ADAMS and determine the proper rescue plan; Thirdly, in order to improve the stability and reliability of the storage system, analyzes the strategy of motors synchronization control, makes simulation in the MATLAB and determines the best control strategy to ensure that the storage system complete the rescue softly; fourthly, chooses the appropriate sensors, completes the design of environmental awareness system and builds hardware circuit; finally, according to the functional characterristics of electronic control system of the rescue robot, designs user-friendly interface by Visio studio, realizes the remote control of the rescue robot by wireless data communication.After building the hardware platform and writing the software program, the experimental verification and optimization is carried out through the combination of software and hardware, which mainly includes conveyor belt experiment, experiment of motor synchronous and human comfort investigation. The experimental results show that the system can achieve environmental monitoring and can carry the wounded without causing additional damage, which achieves the expected goal of the storage system and verify the reliability of the electronic control system.