矿山救援机器人群设计
Design of mine rescue robot group
【索引】文虎,刘洋,郑学召,等.矿山救援机器人群设计[J].工矿qy288千亿国际,2019,45(9):34-39.
【Reference】WEN Hu, LIU Yang, ZHENG Xuezhao, et al. Design of mine rescue robot group[J].Industry and Mine Automation,2019,45(9):34-39.
【DOI】10.13272/j.issn.1671-251x.17476
【作者】 文虎1,2,刘洋1,2,郑学召1,2,郭军1,2
【Author】 WEN Hu1,2,LIU Yang1,2,ZHENG Xuezhao1,2,GUO Jun1,2
【作者机构】1.西安科技大学 安全科学与工程学院, 陕西 西安710054; 2.国家矿山救援西安研究中心, 陕西 西安710054
【Unit】1.College of Safety Science and Engineering, Xi'an University of Science and Technology, Xi'an 710054, China; 2.Xi'an Research Center of National Mine Rescue, Xi'an 710054, China
【摘要】针对目前矿山机器人适应性差、通信能力弱、机动性差等问题,设计了矿山救援机器人群。该机器人群主要包括通信机器人、搜救机器人、辅助救援机器人和数据处理中心。通信机器人利用超宽带雷达进行生命探测,找出被困人员的具体位置,同时通过内置中继设备保证救援过程中的信息传输;搜救机器人按照实时路径规划行驶并传回音频、视频、井下环境信息,在找到被困人员之后充当通信设备,构建救援人员与被困人员的通信渠道;辅助救援机器人包括负责打通救援路径的清障机器人和为被困人员输送救援物品的物资运送机器人;数据处理中心根据被困人员位置信息,通过GIS规划搜救机器人的搜救路线,并根据井下实时信息进行路径修正。机器人群中各类机器人相互协作、功能互补、信息统一化处理,可有效减少因灾后环境不明而带来的二次伤害,提高救援效率。
【Abstract】In view of problems of poor adaptability, communication ability and maneuverability of current mine robots, a mine rescue robot group was designed. The robot group mainly includes a communication robot, a search and rescue robot, an auxiliary rescue robot, and a data processing center. The communication robot uses UWB radar for life detection to find out specific location of trapped person, and at the same time guarantees information transmission during rescue process through built-in relay device. The search and rescue robot walks according to the real-time path and feedback audio, video, and underground environment information, and acts as a communication device after finding the trapped person, thus constructs a communication channel between the rescuer and the trapped person. The auxiliary rescue robot includes a wrecking robot which is responsible for getting through the rescue route and a material transport robot which is responsible for delivering rescue items to the trapped people. The data processing center plans search and rescue route of rescue robot through GIS according to position information of the trapped person, and correct the path according to underground real-time information. All kinds of robots in the robot group cooperate with each other, complement each other's functions, and unify the information, which can effectively reduce secondary damage caused by unclear environment after the disaster and improve rescue efficiency.
【关键词】 矿山救援; 机器人群; 通信机器人; 搜救机器人; 辅助救援机器人; 清障机器人; 物资运送机器人
【Keywords】mine rescue; robot group; communication robot; search and rescue robot; auxiliary rescue robot; clearing robot; material transport robot
【文献出处】工矿qy288千亿国际,2019年9期
【基金】国家重点研发计划重点专项项目(2018YFC0808201);陕西省自然科学基础研究计划项目(2018JM5009,2018JQ5080)
【分类号】TD67
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