仿土拨鼠矿难救灾机器人控制系统关键技术研究
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摘要
煤矿安全生产事故频发不仅造成了生命财产的损失，还影响国家声誉和社会安定。矿难一旦发生，如何展开事故救援以最大限度地挽回人民的生命和财产损失，一直是世界各国研究的热点问题。灾害矿井环境复杂、空间受限、而且充满了爆炸性气体，这些特点不仅使救援工作难以展开，而且还会给参与救援的人员带来伤害，在救援过程中由于救援不力造成更大伤亡或救援人员伤亡的事件时有发生。随着机器人技术和智能技术的发展，让机器人代替人进入灾害矿井探测事故现场的巷道结构、温度、瓦斯和一氧化碳等有毒气体的浓度等环境参数，并将信息传送到指挥机构，对于救援工作的展开具有重要的参考意义，人员营救机器人还能够携带药品、食物、水、生命探测仪等救援物资直接参与人员营救。
当前的矿难机器人主要以轮式和履带式机器人为主，这类机器人的环境适应能力有限，体积较大，无法进入狭小空间，特别是遇到堵塞区域时无法继续前行，影响救援工作的进行。本文设计了仿土拨鼠矿难救灾机器人，该机器人采用六足行走，地形适应能力强，同时还具备蠕动和掘进功能，能够在狭小空间中穿行，在遇到堵塞区域时能够进行掘进，减少了环境探测的盲区。基于仿土拨鼠矿难机器人平台，本文对其控制系统若干关键问题进行研究，具体包括以下内容：
对机器人六足运动、颈部运动以及蠕动运动等运动形式下的机器人运动学和动力学进行分析，建立相应的运动学和动力学模型，为运动控控制器的设计奠定模型基础。
在对机器人六足行走步态进行分析的基础上，提出了一种基于BSLIP (双足弹簧一质量倒立摆）模型和足底压力反馈的机器人本体运动控制方法，设计了相应的动力学控制器，该控制方法控制精度高，工程实现简单。
机器人在狭小空间内依靠撑紧机构和腰部机构的协调运动实现蠕动，蠕动过程中撑紧力的大小对机器人蠕动效率具有决定性的影响，撑紧力过小容易产生“打滑”，过大则能量损失大。本文提出了一种基于最小能量损失的机器人蠕动控制方法，该方法根据蠕动轨迹来计算最优撑紧力的大小，进而求解驱动电机的驱动力矩，最大程度地减小能量损失。
对机器人的掘进过程进行了分析，给出了机器人实现掘进运动的实现流程’并对掘进过程中颈部运动控制方法进行了研究，提出了一种基于动力学前馈补偿的颈部运动控制方法，该控制方法能够克服负载力矩对控制精度的影响，提高了不确定环境下掘进控制的精度。
根据爆炸性气体环境对机器人控制系统硬件的要求，研究了仿土拨鼠矿难救灾机器人控制系统硬件平台的搭建和控制系统软件的幵发。研制了具有六足行进功能的矿难救灾机器人样机，并开发了基于分层递阶式体系结构的控制系统软件，样机实验表明该机器人具有良好的地形适应性，能够满足复杂环境下运动稳定性的要求。
本文的研究对于矿难救灾机器人控制系统理论研究和工程实践具有重要参考意义。
Recurrent mining accidents not only caused loss of life and property but alsobring negative effects to the social stability and. governmental reputation. When mineaccident occurs, how to conduct the emergency rescue to recover the loss of life andproperty by the greatest extent is always a hot issue studied by many countires. Thedisaster mine has the following features: complex environment, confined space, iflledwith explosive gas, these features make it very difficult to the rescue work and bringthe injury to succors. The accidents of casualties to trapped miners and injury tosuccors caused by poor rescue frequently occurred. With the development of robotand intelligence technology, the robot can replace human to enter into disaster mineand collect the information such as temperature, the structures of roadway, density ofgas and carbon monoxide and send this information to command organization, theseworks have important signiifcance to the rescue work. In addition the rescue robot caneven carry food，water, medicine, life detection instrument and so on to take part inthe work of life rescue directly.
Currently, mine rescue robot mainly includes tracked robot and legged robot，theenvironment adaptation of these kinds of robots is not good and the scale is large. Sothey can not enter into narrow space，especially they can not move ahead when theyare faced with bottleneck area, that will influence the progress of rescue work. Wedesigned a groundhog mine rescue robot with six legs. The terrain adaptation of thisrobot is good, and it can crawl in narrow space and drift ahead in ruins, so this robotcan decrease the fields of the blind area of detection. The thesis searched the keytechnologies of the control system for groundhog mine rescue robot, the main work ofthe thesis is as follows:
The thesis studies the kinematics and dynamics of the different types of motionsuch as body motion, neck motion and crawl motion of the groundhog mine rescuerobot，and establishes the kinematic and dynamic models. This work lays thefoundation of motion controller of the robot.
Analyze the gait of six legged robot. Propose a motion control method based onBSLIP(Bipedal Spring-Loaded Inverted Pendulum) and plantar pressure, and design adynamics controller, the control method has high control accuracy and the engineerrealization is simple.
The designed robot crawls through the coordination of the motion of the tightening mechanism and the waist. The tightening force has decisive influence to the efficiency of crawl motion, too small force will make the robot slip, and too large force will induce too large power loss. The thesis proposes a crawl motion controll method, this method can obtain the optimized tightening force according to the crawl track, and the driving torque of the motor is obtained. This method can decrease the energy loss to the greatest degree.
Study the process of drift ahead, present the realization flow of drift ahead, and study the control method of neck motion in the process of drift ahead. Propose a control method of neck motion based on dynamic feed-forward compensation, this method can eliminate the ill effects of load torque and improve the control accuracy under the uncertain environment.
Study the hardware and software of the rescue robot control system according to the requirement of explosive gas atmosphere. Develops prototype of mine rescue robot which can run using six legs, and develops control system software based on hierarchic control architecture. The results of test show that the designed robot has virtue of strong adaptation to complex terrain and can meet the requirement of motion stability in complicated envirement.
The research result of the thesis can provide a valuable reference to the theoretical studies and engineering practice of mine rescue robot control system.
当前的矿难机器人主要以轮式和履带式机器人为主，这类机器人的环境适应能力有限，体积较大，无法进入狭小空间，特别是遇到堵塞区域时无法继续前行，影响救援工作的进行。本文设计了仿土拨鼠矿难救灾机器人，该机器人采用六足行走，地形适应能力强，同时还具备蠕动和掘进功能，能够在狭小空间中穿行，在遇到堵塞区域时能够进行掘进，减少了环境探测的盲区。基于仿土拨鼠矿难机器人平台，本文对其控制系统若干关键问题进行研究，具体包括以下内容：
对机器人六足运动、颈部运动以及蠕动运动等运动形式下的机器人运动学和动力学进行分析，建立相应的运动学和动力学模型，为运动控控制器的设计奠定模型基础。
在对机器人六足行走步态进行分析的基础上，提出了一种基于BSLIP (双足弹簧一质量倒立摆）模型和足底压力反馈的机器人本体运动控制方法，设计了相应的动力学控制器，该控制方法控制精度高，工程实现简单。
机器人在狭小空间内依靠撑紧机构和腰部机构的协调运动实现蠕动，蠕动过程中撑紧力的大小对机器人蠕动效率具有决定性的影响，撑紧力过小容易产生“打滑”，过大则能量损失大。本文提出了一种基于最小能量损失的机器人蠕动控制方法，该方法根据蠕动轨迹来计算最优撑紧力的大小，进而求解驱动电机的驱动力矩，最大程度地减小能量损失。
对机器人的掘进过程进行了分析，给出了机器人实现掘进运动的实现流程’并对掘进过程中颈部运动控制方法进行了研究，提出了一种基于动力学前馈补偿的颈部运动控制方法，该控制方法能够克服负载力矩对控制精度的影响，提高了不确定环境下掘进控制的精度。
根据爆炸性气体环境对机器人控制系统硬件的要求，研究了仿土拨鼠矿难救灾机器人控制系统硬件平台的搭建和控制系统软件的幵发。研制了具有六足行进功能的矿难救灾机器人样机，并开发了基于分层递阶式体系结构的控制系统软件，样机实验表明该机器人具有良好的地形适应性，能够满足复杂环境下运动稳定性的要求。
本文的研究对于矿难救灾机器人控制系统理论研究和工程实践具有重要参考意义。
Recurrent mining accidents not only caused loss of life and property but alsobring negative effects to the social stability and. governmental reputation. When mineaccident occurs, how to conduct the emergency rescue to recover the loss of life andproperty by the greatest extent is always a hot issue studied by many countires. Thedisaster mine has the following features: complex environment, confined space, iflledwith explosive gas, these features make it very difficult to the rescue work and bringthe injury to succors. The accidents of casualties to trapped miners and injury tosuccors caused by poor rescue frequently occurred. With the development of robotand intelligence technology, the robot can replace human to enter into disaster mineand collect the information such as temperature, the structures of roadway, density ofgas and carbon monoxide and send this information to command organization, theseworks have important signiifcance to the rescue work. In addition the rescue robot caneven carry food，water, medicine, life detection instrument and so on to take part inthe work of life rescue directly.
Currently, mine rescue robot mainly includes tracked robot and legged robot，theenvironment adaptation of these kinds of robots is not good and the scale is large. Sothey can not enter into narrow space，especially they can not move ahead when theyare faced with bottleneck area, that will influence the progress of rescue work. Wedesigned a groundhog mine rescue robot with six legs. The terrain adaptation of thisrobot is good, and it can crawl in narrow space and drift ahead in ruins, so this robotcan decrease the fields of the blind area of detection. The thesis searched the keytechnologies of the control system for groundhog mine rescue robot, the main work ofthe thesis is as follows:
The thesis studies the kinematics and dynamics of the different types of motionsuch as body motion, neck motion and crawl motion of the groundhog mine rescuerobot，and establishes the kinematic and dynamic models. This work lays thefoundation of motion controller of the robot.
Analyze the gait of six legged robot. Propose a motion control method based onBSLIP(Bipedal Spring-Loaded Inverted Pendulum) and plantar pressure, and design adynamics controller, the control method has high control accuracy and the engineerrealization is simple.
The designed robot crawls through the coordination of the motion of the tightening mechanism and the waist. The tightening force has decisive influence to the efficiency of crawl motion, too small force will make the robot slip, and too large force will induce too large power loss. The thesis proposes a crawl motion controll method, this method can obtain the optimized tightening force according to the crawl track, and the driving torque of the motor is obtained. This method can decrease the energy loss to the greatest degree.
Study the process of drift ahead, present the realization flow of drift ahead, and study the control method of neck motion in the process of drift ahead. Propose a control method of neck motion based on dynamic feed-forward compensation, this method can eliminate the ill effects of load torque and improve the control accuracy under the uncertain environment.
Study the hardware and software of the rescue robot control system according to the requirement of explosive gas atmosphere. Develops prototype of mine rescue robot which can run using six legs, and develops control system software based on hierarchic control architecture. The results of test show that the designed robot has virtue of strong adaptation to complex terrain and can meet the requirement of motion stability in complicated envirement.
The research result of the thesis can provide a valuable reference to the theoretical studies and engineering practice of mine rescue robot control system.
引文
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