协作式蛇形机器人的设计

Collaborative Serpentine Robot Design

针对搜救机器人对复杂搜救环境的远程监控与运动控制的实时高性能需求,设计了以STM32单片机控制器为核心、融合了多种传感器的可拓展性、延展性的协作式蛇形机器人控制系统,实现了蛇形机器人的远程监控与运动控制、多种传感器环境信息采集等功能。整个机器人控制系统模块化设计,具有良好的扩展性、硬件可裁剪性。通过模拟灾难废墟场景实验,结果表明:蛇形机器人控制系统可实现多信息的实时准确无线通信,能够根据环境需求分段实现多机器人协作。

In view of the real-time and high-performance requirements of search and rescue robots for remote search and motion eontrol of complex search and rescue environments, a sealable and ductile collaborative snake robot with STM32 mieroeontroller controller as the core is designed. The system realizes the functions of remote monitoring and motion control of snake-like robots and collection of various sensor environment information. The modular design of the entire robot control system has good sealability and hardware curability. By simulating the scene of disaster ruins, the results show that the serpentine robot control system can realize real-time and accurate wireless communication with muhiple information, and can realize muhi-robot cooperation based on the environmental requirements.