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地震废墟结构复杂,对无线信号具有很强的遮蔽作用,这对采用单一通讯手段传输图像、声音和传感器信息的传统搜救机器人带来很大的障碍,采用“模拟信号+数字信号”组合通讯方式分别传输图像、声音和传感器信息、控制命令可以很好的解决这一难题。搜救机器人核心控制器采用CAN总线扩展外围设备,保证了下位机系统的稳定性,提高了控制系统的可扩展性。所搭建的试验平台完成了废墟测试,实现了图像、声音、可燃气体浓度、二氧化碳浓度、空气温湿度等信息的远距离无线采集分析,取得了良好的效果。
The complex structure of the earthquake ruins has strong shielding effect on the wireless signals, which brings a great obstacle to the traditional search and rescue robots that transmit image, sound and sensor information by a single communication means. The combination of “analog signal + digital signal” Communication methods are transmitted images, sounds and sensor information, control commands can be a good solution to this problem. Search and Rescue Robot core controller using CAN bus expansion peripherals to ensure the stability of the next crew system and improve the control system scalability. The constructed test platform completed the rubble test and achieved long-distance wireless acquisition and analysis of images, sound, combustible gas concentration, carbon dioxide concentration and air temperature and humidity, and achieved good results.