Design And Research Of Tunnel Engineering Rescue Auxiliary Robot Syste

With the rapid development of robot technology,robots are playing an increasingly important role in the field of rescue assistance.In the emergency and dangerous tunnel disaster rescue,rescuers searched for trapped people in limited time,and rescue auxiliary equipment is an important guarantee to save trapped people.Therefore,in view of this current situation,a rescue assistance robot was designed to replace the manual to enter dangerous environment for auxiliary rescue tasks.In order to enable it with the ability to overcome obstacles,stable movement,accurate positioning ability and the ability to search and locate the target,the mechanical structure,motion control and target object search and positioning method of the robot were studied.Firstly,according to the functional requirements and working conditions of the tunnel engineering rescue assistance robot,the parameters of the rescue assistance robot were determined,and the overall scheme of the tunnel engineering rescue assistance robot was designed.The overall structure of the robot was designed by using the chassis of the crawler walking structure,and the control hardware structure of the robot was designed by using the upper and lower industrial computer.The robot system was divided into three subsystems:motion control,combined positioning and mapping and object search.Secondly,according to the structural parameters of the robot,completed the mechanical structure design of the robot.Analyzing the kinematics and walking mechanics of the robot,the kinematics model,the walking mechanics model and the dynamic model of obstacle crossing were established.Next,according to the kinematic model of differential driving,the driving control of the robot chassis was completed.The trajectory tracking function of robot was realized by model predictive control algorithm.Serial port communication and network port communication in ROS were used to complete the motion control of robot swing arm and camera head respectively.Furthermore,based on the selection of positioning sensor and the establishment of measurement model,the serial extended Kalman algorithm was used to realize the data fusion positioning of robot wheel odometer and IMU sensor.LEGO＿LOAM algorithm was improved by odometer integrating inertial sensor data,and 3d point cloud mapping of complex environment was realized.Then,according to the characteristics of 3D point cloud map,the local path planning of online and real-time obstacle avoidance was realized by using trajectory library.According to TARE Autonomous Exploration algorithm,the Robot could walk and locate autonomously in unknown space.Infrared and HD video transmission methods were used to realize the detection function of targets in tunnel environment.Finally,through experiments on the functions of the rescue assistance robot,it was verified that the rescue assistance robot has good performance of obstacle surmounting,high positioning accuracy and could independently complete the search function of the target.