一种灾后探测救援机器人系统设计

A Design of Post-disaster Rescue Robot System

设计了一种灾后救援机器人系统。系统由远程监视操纵站和机器人主体部分组成。机器人主体部分包含传感器采集系统、运动控制规划系统、实时通信和运动执行机构等,装载夜视CCD摄像头,实时获得512×582分辨率图像,通过热释电检测模块检测人体辐射红外线能量,寻找待救人员,并设计自动避障装置,避免机器人发生碰撞。远程监视操纵站配备相应的管理软件,通过实时传输图像对机器人进行远程遥控,观察分析图像信息,获得易发生二次事故的位置,提高救援效率和安全性。机器人系统数据和图像信息通过无线实时传输,形体小、响应快、实用性强,具有市场应用前景。

This paper designs a post-disaster relief robot system. The system is divided into a remote monitoring control station and a robotic body. The robotic body is equipped with sophisticated sensor systems, motion control planning system, real-time communications and reliable actuators etc, and mounted night vision CCD camera with 512 × 582 resolution. Real-time images are obtained by pyroelectric infrared detection module which detects human radiation energy, and looks upon rescue personnel. An automatic obstacle avoidance device is designed to prevent the robot collision. Remote monitor control station is equipped with the corresponding management software. Through the transmission of image, the station real-time remote controls the robot, observes and analyzes image information, gets the position of the second accident -prone, such that rescue efficiency and safety are improved. Robotic system data and image information are transmitted through a wireless way, which has small size, fast response, practical usage, and it has a broad market prospect.