Research Of RoboCup Rescue Robot

The RoboCup Rescue Robot League is an international platform for developing and demonstrating advanced technologies of robots which are used for search and rescue.Annually,the rules of RRRL will be properly adjusted to approach the real disaster scene and environment.In term of the RRRL of German Leipzig,it's rules similar with DHS-NIST-ASTM that is the international standard test method of robot in United States.And it indicates that the functions of rescue robot tend to be modular and flexible expansion.Therefore,it is of great significance to study a local control system of rescue robot that can satisfy modular and expansion functions.Based on the general needs of the current rescue robots,this paper designs and implements a local control system for rescue robots based on ROS.First,this paper introduce the current situation of rescue robot and main technologies of its local control system.Second,according to the current RRRL's rules,analyzed the functional requirements of local control system of rescue robots in detail.And then designs a modular and extensible distributed soft and hardware structure of local control system of rescue robot.The man control unit of this system used PC/104,which is an industy embedded PC,and it communicates with the underlying BLDC motor driver through the CAN bus;communicates with multi sensor modules through USB bus,realizes sensors data acquisition;and the video server module communicates with the remote controller through the Ethernet Swither,realizes the local area network.The OS of ROS-based Linux/Xenomai hybrid operating system runs on the main control unit,and the software modules with distributed framework are deployed on the OS.In this paper,the BLDCM is used as the actuator of the robot.So,based on the analysis of the basic control theory and the mathematical model of BLDC motor,designed a BLDC motor driver which with position and speed control mode,can meet the position and speed control requirements of the articulated motors of the rescue robot.BLDC motor driver using Freescale's MKV11Z128VLF7 as the main controller and Infineon's IGCM15F60GA as the drive circuit;Using the method of back-EMF zero-crossing detection to obtain BLDCM's rotor position signal and speed,and the encoder sensor to obtain BLDCM's position.And designed the CAN bus interface,to facilitate communication with the motor drivers and the main control unit of rescue robot.This paper presents a software system named as the ROS-based hybrid operating system,which can meet the functions of robot motion real-time control and multi-sensor data collection.The hybrid OS based on the general Linux system and through Adeos/I-pipe hardware abstraction layer to achieve Xenomai real-time system migration.And then deployment of ROS in the hybrid operating system,Xenomai among the system on deployment of ROS through the Orocos software framework and ROS package rtt_ros_integration implementation.Due to the rich sensor software driver and software unified clock communication mechanism in ROS,realizes the data collection of multi sensors,including laser?thermal image?CO2 and depth camera,are none real-time ROS nodes running on the Linux kernel;The data of AHRS sensor are used to motion control of rescue robot,and the data collection of AHRS sensor is a real-time ROS node running on the Xenomai real-time kernel.According to the structure of 6-DOF manipulator,uses D-H method to describe the coordinate relation,and realizing manipulator motion planning in ROS/MoveIt!.The CANopen network control process is the communication process running on the robot's master unit,in which the telecontrol communication thread communicates with the remote control terminal,is a non-real-time thread running on the Linux kernel;The CANopen network control threads communicate with the underlying motor driver,is a real-time threads running on Xenomai real-time kernel.