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为了更好地进行灾后救援工作,设计一种基于机器视觉的救灾(RWTT-I)机器人系统。机器人由视觉系统、双可变形双曲柄(PDC)模块和轮履替换(RWT)模块组成。PDC模块和RWT模块可以通过变形、轮履替换越过台阶、壕沟等障碍物,通过视觉系统获取的障碍物位置尺寸信息来控制机器人调整PDC或RWT机构至合适的越障姿态、运动模式进行越障救援。建立机器人越障运动学方程,分析其越障性能,机器人系统成功进行越障试验,表明它具有良好的越障能力,满足灾后现场救援机器人的要求,具有很大的实际应用价值和推广空间。
In order to better carry out post-disaster rescue work, a machine vision-based disaster relief (RWTT-I) robot system is designed. The robot consists of a vision system, double deformable double crank (PDC) module and a wheel replacement (RWT) module. The PDC module and the RWT module can be used to control the robot to adjust the PDC or RWT mechanism to a suitable over-riding posture through the deformation, the replacement of the wheels over obstacles such as steps and trenches, and the obstacle position size information obtained by the vision system. Rescue. The robot obstacle-crossing kinematics equation is established, the obstacle obstacle performance is analyzed, and the obstacle-crossing test of the robot system is successful. It shows that it has good obstacle-crossing capability and meets the requirements of rescue robots on the scene after disaster. It has great practical value and space for popularization.