Research On The Key Technology Of Crawler Robot In Disaster Environment For Disaster Relief

Disasters such as earthquake, gas leak out, the proliferation of nuclear radiation in recent years humans will take great risk when they enter the accident area, in order to reduce the risk of human carries, the increasing demand of special robot for disaster environment, intensify the research and development is imminent. The purpose of this project is to develop an applied in complex unstructured environment information acquisition with rescue robots, providing theoretical basis for the rescue robot research and application in our country and the technical reserves. The main research contents and results are as follows:1)On the basis of the research on the domestic and foreign development present situation,main research direction to crawler robot in details. Then carried on the driving system and transmission mechanism, the motion mechanism, the design of the actuator, further velocity analysis was carried out on the chassis, in the process of mechanism design for the leading bent axle, bearing axle, motor plate and other key components of stress analysis and checking. Then the chassis 3 d model of dynamics and kinematics theory analysis are carried on.2)Scheme design of the control system and specific device selection based on the analysis of the control system function requirements, and then designed the hardware circuit of the control system. The circuit diagram of the control system hardware circuit including drawing,controllers, I/O ports functional definition and wireless control process, etc.3)Upon completion of the mechanical noumenon and on the basis of the hardware circuit design, this paper completed the software design of the control system. Software part based on the robot control tasks, including start, stop, instruction function such as input, delayed start,delayed stop, firstly, under the environment of VC all-in-one initialization, then on the basis of software architecture building in order to achieve the functional requirements.4)The prototype experiment.The use of multi sensor fusion for robot path planning is studied based on the platform. Through the research on the path planning method and genetic algorithm, a static global path planning program for the application of genetic algorithm under the condition of out of line is designed, some shortcomings of the traditional method is made up to a certain extent. Through the preparation process of path planning, autonomous path planning function of the tracked robot are basic realized. In addition, the simulation on the path planning problem is done. In view of the existing static global path planning problem, values in various genetic operators were set up and adjusted.According to the above strategy and through the analysis of the experimental results the correctness and validity of the algorithm used by the principle is verified. Finally, tracked robot obstacle avoidance and path planning research is prospected.