仿蜥蜴肌腱牵引的矿用搜救机器人眼研究  

Research on Eye of Mining Search and Rescue Robot Based on Lizard Tendon Traction

作　　者：陈自远 张贯宇 吴佳贤 张琨泽 刘送永[1] 刘后广[1] CHEN Ziyuan;ZHANG Guanyu;WU Jiaxian;ZHANG Kunze;LIU Songyong;LIU Houguang(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221000,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221000

出　　处：《煤炭技术》2024年第1期229-233,共5页Coal Technology

基　　金：中国矿业大学大学生创新训练计划项目(20220041cx);中国矿业大学“挑战杯”竞赛培育项目(DCXM202209)。

摘　　要：针对井下环境复杂、巷道狭窄以及目前搜救机器人普遍存在的探测角度小、响应速度慢等问题,模仿蜥蜴眼肌腱牵引的生理结构设计矿用搜救机器人仿生眼。采用STM32单片机和蓝牙通讯技术控制仿生眼的运动,在远程终端上实时显示仿生眼捕捉到的视觉信息。模型仿真及样机测试结果表明,所设计的八自由度矿用搜救机器人仿生眼视觉系统,具备俯仰、偏航、滚动三转动自由度的360°全方位搜寻能力,其角速度能够满足快速性的要求,有效实现了搜救机器人视觉系统视角大、响应快、独立性强等特点,提高了搜寻效率和范围。In view of the complex underground environment,narrow roadway and the problems of small detection angle and slow response speed commonly found in search and rescue robots at present,the bionic eye of mining search and rescue robot is designed by imitating the physiological structure drawn by lizard eye tendon.STM32 MCU and Bluetooth communication technology are used to control the movement of the bionic eye,and the visual information captured by the bionic eye is displayed on the remote terminal in real time.Model simulation and prototype test results show that the bionic eye vision system designed for the eight degree of freedom mining search and rescue robot has 360 all-round search ability with three rotational degrees of freedom of pitch,yaw and roll,and its angular speed can meet the requirements of rapidity,which effectively realizes the characteristics of the robot vision system,such as large perspective,fast response and strong independence.Improved search efficiency and scope.

关 键 词：视觉系统 仿生眼 肌腱牵引 搜救机器人 

分 类 号：TD77[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]