一种新型可变形智能救援机器人系统设计  

Design of a Novel Deformable and Intelligent Rescue Robot System

作　　者：柴鈺 贾晓劢 卫苏晶 

机构地区：[1]西安科技大学电气与控制工程学院,陕西西安710054

出　　处：《测控技术》2014年第5期77-81,共5页Measurement & Control Technology

基　　金：西安市科技计划项目(CXY1338(6))

摘　　要：针对灾后救援人员无法快速进入灾难现场迅速准确地得到灾难现场信息的问题及救援工作的危险性和紧迫性,研究并建立了一种新型可变形智能救援机器人系统。它主要由履带式可变形小车、远程控制设备和视觉系统组成,可用于灾后人不能进入的地方。实验证明该系统能够可靠有效地工作,测试结果可以实现预期的功能。采用双目立体视觉系统和适应力极强的履带式可变形小车系统可以使本机器人用于未知领域或其他复杂环境的探测,提高救援机器人的广泛性和实用性。According to the risk and the urgency caused by that rescue workers can not quickly go in the disaster scene to get information rapidly and accurately after the disaster,a novel deformable and intelligent rescue robot system is researched and established.It mainly consists of crawler deformable body,remote control equipment and visual system,and can be used for post-disaster area where people can not enter.The experiment proves that the system can work effectively,the test result can achieve the expected function.The binocular stereo vision system and the resilient crawler deformable trolley system enable the robot to detect unknown fields or other complex environment,and improve the universality and practicability of the robot.

关 键 词：救援机器人 变形 运动控制 双目立体视觉 

分 类 号：P242.6[天文地球—测绘科学与技术]