Assistant Rescue Robot
Zhang Xin , Liu Feng Feng , Zhang Xing (Mentor)
Xi'an University of Posts and Telecommunications
With the progress of human beings and the development of society, natural disasters emerge in endlessly. Forest fires, earthquakes, gales, thunderstorms, floods, landslides, debris flows and so on are always threatening our personal safety. In 2008, a magnitude 8.0 earthquake occurred in Wenchuan, Sichuan Province. The unexpected earthquake left many compatriots buried in the rubble. However, it is often difficult to find the victims after the disaster. Because of the narrow space of ruins made up of heavy cement slabs, it is difficult for people to enter, which makes it difficult to find survivors and collect some post-disaster data in these narrow spaces. It leading to the difficulty of our post-disaster rescue work.
This work focuses on assisting rescuers to explore unknown environments in the complex terrain of narrow space after the disaster, to build a two-dimensional map model, and to detect various data in the environment, to find survivors. The idea of graph optimization algorithm is used to collect position and attitude sensors, odometer and lidar for remote aided navigation. Through remote control of the robot, the tasks of data acquisition, 2-D composition and personnel detection in the rescue environment are realized, and the sensor data are displayed on the display in real time. The system is compact, can assist rescue workers to collect data, and can provide some practical help for rescue.
The core of this work is the development board of EGO1 FPGA. Tracked car is chosen for carrying platform, which is suitable for moving on complex and unknown terrain. PWM wave is used to control the free movement of the car. After processing the depth data collected by the vehicle-borne lidar with the algorithm, the surrounding environment of the robot is modeled. Various modules are used to collect information such as speed, mileage, angle, infrared and so on. The remote control of the robot can be realized by wireless transmission module. Through VGA, the operator displays the surrounding environment and various parameters of the robot, realizes the early perception and exploration of the unknown environment, and provides the corresponding safety information for rescuers.