Casualty Rescue Robot Dangerous Building Environment Stabilization Through Control System Research

The development of scientific innovation for the safe and stable development of human society has created important security conditions,with the update of science and technology iteration,in the face of major natural disasters,people treat the post-disaster rescue work to gradually pursue unmanned,autonomous rescue mode,in order to reduce rescue difficulties,reduce the risk of rescue,to prevent secondary damage to rescue workers at the disaster site.With the development of the country and urbanization process,the natural geographic environment is gradually replaced by man-made high-rise buildings,once a disaster occurs,the issue of sending robots to carry out rescue work in the building environment has become the mainstream of the future development,domestic and foreign scholars have also launched extensive research on this,so this paper for rescue robots in the building environment transfer casualties of the problem,research and design of dangerous buildings In this paper,the rescue robot is designed to achieve the goal of smoothly and safely transporting the injured from the scene by means of a stable control system in the staircase environment.For the rescue robot in this thesis,firstly,the staircase is selected as the environmental target,combined with the function and motion characteristics of the robot,the coordinate system is established for each key component of the robot and the center of gravity is captured,and the mathematical model of the center of mass kinematics of the robot as a whole is established,which theoretically provides support for the configuration strategy of the robot through the staircase environment.The stability cone algorithm is used as the theoretical basis,and the functional characteristics of the robot’s own structure are adapted to design the measurement index for the stability of the center of gravity of the transport robot in this paper.At the same time,the influence of the change of each joint on the stability of the robot through the staircase process is analyzed,and the law is summarized and the configuration strategy of the rescue robot is optimized to guarantee its center of gravity balance to the maximum extent.MATLAB software is used to calculate and simulate the center of gravity stability algorithm,and the simulation results are compared and analyzed to summarize the most stable posture of the robot under various situations;the prototype robot is assembled,and two parts of the control system,hardware and software,are built.The hardware system includes the mechanical structure of the prototype robot processed and assembled;the corresponding motor parameters and drive parameters are configured;the hardware conditions such as the power distribution box and connection lines are designed.The software system is built mainly by using the Ubuntu operating system and ETHERCAT network on the computer side to realize the master-slave information communication and control,and to modularize the system functions.Finally,the robot is prepared to carry the casualty transfer experiment.After fixing the dummy,the prototype robot carried the experimental dummy and tested it in a real staircase environment,which provided physical experimental support for the staircase terrain control through system designed in this paper.