Research And Design Of Miniature Seismic Search And Rescue Pathfinding Model Robot

Earthquake is one of the most dangerous geological disasters since ancient times.The casualties can be greatly reduced,if the trapped people can be found and treated in time after the earthquake.The micro earthquake search and rescue model robot was studied in this paper.The innovation points and main contents are as follows.1.The system of the pathfinder model robot is constructed,including the main control part,the motion control part and the sensing circuit part,according to the maze task requirements of simulating the complex search and rescue environment after the earthquake.The operation principle of the pathfinder model robot is analyzed in detail,and the direction and direction conversion,coordinate update,wall data storage and contour map making in the process of task execution are studied in detail.2.STM32F103RET6 is used as the main control chip of the Pathfinder model robot to complete the resource allocation and hardware circuit design of the main control part.The control mode and driving circuit of the motor are designed and studied.The path recognition and vehicle attitude correction are carried out by using infrared transceiver sensor,and the corresponding circuit design is designed.The high-precision gyroscope ADXRS620 is used to control the turning of the robot,and the corresponding circuit is designed.The power supply circuit of the robot is designed,and the mechanical design of the robot is carried out by using the deceleration and torsion increasing technology.3.The working principle of the infrared transmitter receiver integrated sensor is studied.The second-order logarithmic fitting method and linear interpolation method are proposed to measure the distance between the wall and the robot during the operation of the robot.A double closed-loop control method is proposed to realize the straight-line operation and turning control of the robot.4.The top level algorithm of rescue pathfinder model robot is studied,including search and pathfinder algorithm,return algorithm and sprint algorithm.The flood algorithm and Manhattan algorithm are studied in search algorithm,and the corresponding algorithm is designed.The fast return strategy of the robot,especially the implementation process of the oblique spring algorithm of the robot from the start to the end is studied in the return algorithm.5.The experimental platform of search and rescue model robot is built,and the related experiments of robot task process are carried out.The result shows that the theory and technology of search and rescue model robot proposed in this paper is feasible in engineering.