机器视觉的救灾机器人越障性能分析  

Obstacle Surmounting Analysis for Rescue Robot Based on Machine Vision

作　　者：王宇[1,2] 刘泓滨[1] 吴智恒 陈启愉 蔺志敏[1,2] 童季刚 

机构地区：[1]昆明理工大学机电工程学院,昆明650000 [2]广东省智能制造研究所,广州510000

出　　处：《煤矿机械》2016年第7期92-94,共3页Coal Mine Machinery

基　　金：广东省科技计划资助项目(2015B070701025;2013B061800058;2015B010918001)

摘　　要：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。Design a kind of can adapt to the disaster scene of rescue robot（RWTT- I） which in order to assist the firefighters better in post-disaster relief work.The robot was composed by control unit and two same modular（PDC）and one modular（RWT）. PDC institutions and RWT institutions can through deformation and fulfillment of wheel replaced over obstacles such as steps,trenches. Robot obstacle negotiation kinematics, dynamics equation the obstacle-surmounting performance, analysis of the robot successfully over the steps, trenches obstacles experiment, shows that it has good capability of obstacle surmounting, satisfy the requirement of the site after a disaster rescue robot project, has certain actual application value and promotion space.

关 键 词：机器视觉 灾后救援 机器人 越障 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]