废墟搜救机器人性能综合测试环境设计及应用

The design and application of the comprehensive capacity evaluation environment for the ruins search and rescue robots

我国已经成功研制出多款废墟搜救机器人,对它们的各项性能进行综合评价对其发展有着重要意义。为检验搜救机器人在地震废墟环境中的适应性、实用性,以其生存能力、运动能力、作业能力、通信控制能力为测试对象,模拟地震建筑物坍塌废墟灾害现场,设计、建造了废墟搜救机器人性能综合测试环境,包括废墟表面环境和内部环境建设。在该模拟环境下进行了废墟洞穴可变形搜索机器人、刷式废墟缝隙搜索机器人、辅助救援顶撑剪切机器人等多种搜救机器人的能力测试。通过在模拟废墟环境下对搜救机器人实测指标的计算分析,可以实现搜救机器人不同方面能力的排序,为搜救机器人的优化改进提供技术依据,推动搜救机器人实用化进程。

Many types of ruins search and rescue robots are developed in our counrty.Comprehensive evaluation of their performance has great significance to the further improvement of the robots.In order to check the adaptability and practicability of robots under the earthquake ruins,the construction ruins caused by earthquake disaster were simulated in the design and building for the test environment,including surface environment and interior environment,which was applied in the evalution of the subsistence capacity,the locomotion capacity,the woring capacity and the communication capacity of the robots.Several robots including the reconfigurable search robot,the ruinsbrush search robot and the auxiliary rescue shore and shearing robot were evaluated to obtain their exhibition in the test environment.Priority of different capacities could be analyzed based on the actual evaluations of the robots under simulated ruins environment,which may be seen as basis for the optimization and improvement of the search and rescue robots,also promote the practical application of the search and rescue robots.