摘要
一款新型灾难救援车包括运动系统、双转盘系统、手臂系统、防干涉系统、重心调控系统、电量监测系统、无线遥控系统和计算机控系统等。利用半自主和操作员遥控控制,完成自主避障、半自动和自动重心调控、零半径转弯、半自主电源管理及高效的抓举、剪断、扒等功能。救援车运动系统是由前后2节共4条履带的主运动和辅助运动构成。救援车的防干涉系统是利用控制程序并结合双手臂的正、逆运动学算法求解实现防干涉。该系统即能够防5自由度的左臂和4自由度的右臂间干涉,又可防止左、右手臂与工况区之间的干涉。实验表明:该救援车运动灵活、重心控制稳定、防干涉能力强、控制可靠且救援效率高,清理效率是人工的10倍。
A new multi-function vehicle for disaster rescue is presented. The main purpose is to use this new typed vehicle for disaster rescue of the scene where the natural earthquakes, mudslides, landslides and other natural disasters break out, not only that, this novelty vehicle also can be used for large-scale building demolition work. The vehicle for Disaster Rescue is consisted of moving system, dual turntable system, arm system, anti-interference system, gravity of regulate and control system, power-monitoring system, wire-less remote control system and computer control system. It can be controlled by semi-autonomous and the operator tele-operating. Also it has the functions of autonomous obstacle avoidance, semi-automatic and automatic of gravity regulation, pivot around, semi-autonomous power management and efficient snatch, cut and rake. The moving system is constituted by the main power movement and the auxiliary movement containing the front and rear sections a total of four crawlers. The anti-interference system utilizes two methods, control program as well as positive movement and inverse kinematics algorithm, to achieve the purpose of avoiding interference. The system not only can prevent the anti-interference between the five joints of left arm and four joints of right arm, also can guard against the interference between dual- arms and disaster scene. The experiments showed that the scene consists of steels, pre-cast panels, stones, dirt and other substances could be cleaned up quickly. The rescue efficiency is at last 10 times than the artificial. Through the test for movement of the vehicle of speed, gripping force, shear force and gravity control, it indicates that the flexibility of the rescue vehicle, the stability of the gravity, the strong ability of anti-interference, the reliable control and the rescue efficiency.
出处
《机械科学与技术》
CSCD
北大核心
2014年第10期1562-1567,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
普通高校研究生科研创新计划(CXZZ12-073)
江苏高校大学生实践创新训练计划项目(2012JSSPITP1769)资助
关键词
救援车
双手臂
多功能救援
控制系统
computer software
control systems
dual-arms mechanism
experiments
kinematics
matrix algebra
mechanisms
multi-function rescuing
rescue vehicle
sensors
three dimensional
velocity
