Study Of Quadruped Search-Rescue Robot Navigation System In The Earthquake Environment

The search-rescue robot is a useful attempt of robot technology in the field of earthquake rescue. Vision navigation system plays a vital role in robot ability to independently perform search-rescue missions.With the vision navigation technology development, disaster search and rescue robot has achieved a major breakthrough. Because the vision navigation system can be collected a wealth of image information, and can be comprehensive description of the working environment of the robot. Therefore,study of the search-rescue robot become a trend.The paper devise navigation system image acquisition,image preprocessing,image segmentation and the stepper motor control of the navigation system,through the requirements of search-rescue mission on search-rescue robot.Firstly, analysis of search-rescue mission and the impact of the post-disaster environment for search-rescue robot provides the design basis for the vision navigation system acquisition module. In the design process,FPGA-based thinking for Pong operation,and to complete the design of the digital clock circuit.Using modular approach to complete the design of camera configuration, main acquisition chip module and its configuration circuit,while the completion of system software design.Secondly, because the images collected by the surrounding environment impact,generates noise and distortion.Analysis of the reasons for the noise generated by, divides the noise into primary and secondary noise. Application the band-stop filter handle secondary noise, the use of optimization the median filter the primary noise, reduce the impact for image of salt and pepper noise. In the process of image segmentation, analysis of the edge detection method, apply Laplacian to complete of the edge detection, achieve the median value filtering and edge detection hardware algorithm design.Finally,design of navigation bearer platform including navigation acquisition steering module and hosting platform.The navigation bearing platform not only provides navigation devices Holds platform, while increasing the range of navigation acquisition. Through the ARM control of navigation acquisition steering module, to complete the design of event selection the module and stepper motor driver module. Using "Pseudo master chip" design thinking, design I2C communication module.Complete the the master-slave communication function module.And in Matlab platform tested the navigation system.Through search-rescue robot navigation system acquisition module designed, to complete environmental information acquisition,Using of the design optimization median filtering and edge detection processing module complete the the processing of the images. The carrying platform designed to increase the acquisition range.Navigation system test to prove the feasibility of the optimization of the median filter operator, prove that the proposed navigation scheme is feasible, reasonable structure.