| Search and rescue robot mainly replaces human to complete search and rescue work in a variety of disaster environment, which can effectively improve the efficiency of disaster rescue and reduce casualties of rescuer, it plays a more and more important role in disaster rescue in the present world. Now public facilities and high-rise civil buildings are increasing, leading that many survivors are buried beneath a great deal of ruins when disasters happen, and disasters often instantly cause that a large area of road, bridge and a large number of buildings are severe damage, large mechanized rescue equipment is difficult to enter the disaster site for rescuing in first time, rescuer can only bear the heavy rescue equipment entering into the disaster site, which makes the disaster rescue more difficult, the use of robots to complete the necessary operation of top bracing and split opening can try to ensure the safety of rescuer, reduce the difficulty of rescue mission, and enhance the efficiency of rescue work. Therefore, related research on split-opening robot in disaster rescue comes into being.The research in this paper is around the sub-project "Development of split-opening auxiliary rescue robot system in narrow space of ruins" of the project "863". The control system of the split-opening robot is studied systematically based on its special structure. The research contents mainly include the architecture design of the robot control system, the design of the hardware and software system of the robot, the analysis of obstacle negotiation performance of the robot and the experimental verification of the robot.Firstly, the research on control system is based on the split-opening robot, the characteristics and the working principle of the robot has been analyzed. By analyzing the functional requirements of disaster rescue on the control system of the split-opening robot, the architecture of the control system of the split-opening robot has been researched and established.Secondly, the modular and scalable hardware system has been studied, the architecture of the hardware system of the robot has been established, the robot hardware system is modular classification, and the design purpose and requirements of each module has been analyzed, and the design method has been studied. The robot hardware system has been built by plotting the wiring diagram of the hardware system.Thirdly, the framework of the robot software system has been studied, designed and built, and the making method of data exchange protocol for robot has been proposed. Based on real-time operating system, the assignment, communication and implementation processes of the tasks of the control station system have been studied. Based on hierarchical and modular structure, the implementation processes of the software of the the master layers and slave layers for the robot body has been studied.Fourthly, the moving mechanism of the robot has been studied, the obstacle negotiation performance of the split-opening robot has been analyzed based on a typical environment of terrain of ruins. The autonomous obstacle negotiation movement of the split-opening robot has been planned and the basic posture in the obstacle negotiation process has been set.Finally, the performance indicators of the split-opening robot have been made based on its specificity of the operation, and the corresponding experimental testing methods have been proposed, and the assessment indicators of the split-opening robot have been validated ultimately by experiments. |
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