废墟搜救机器人性能综合测试环境设计及应用
|
摘要
我国已经成功研制出多款废墟搜救机器人,对它们的各项性能进行综合评价对其发展有着重要意义。为检验搜救机器人在地震废墟环境中的适应性、实用性,以其生存能力、运动能力、作业能力、通信控制能力为测试对象,模拟地震建筑物坍塌废墟灾害现场,设计、建造了废墟搜救机器人性能综合测试环境,包括废墟表面环境和内部环境建设。在该模拟环境下进行了废墟洞穴可变形搜索机器人、刷式废墟缝隙搜索机器人、辅助救援顶撑剪切机器人等多种搜救机器人的能力测试。通过在模拟废墟环境下对搜救机器人实测指标的计算分析,可以实现搜救机器人不同方面能力的排序,为搜救机器人的优化改进提供技术依据,推动搜救机器人实用化进程。
Many types of ruins search and rescue robots are developed in our counrty.Comprehensive evaluation of their performance has great significance to the further improvement of the robots.In order to check the adaptability and practicability of robots under the earthquake ruins,the construction ruins caused by earthquake disaster were simulated in the design and building for the test environment,including surface environment and interior environment,which was applied in the evalution of the subsistence capacity,the locomotion capacity,the woring capacity and the communication capacity of the robots.Several robots including the reconfigurable search robot,the ruinsbrush search robot and the auxiliary rescue shore and shearing robot were evaluated to obtain their exhibition in the test environment.Priority of different capacities could be analyzed based on the actual evaluations of the robots under simulated ruins environment,which may be seen as basis for the optimization and improvement of the search and rescue robots,also promote the practical application of the search and rescue robots.
Many types of ruins search and rescue robots are developed in our counrty.Comprehensive evaluation of their performance has great significance to the further improvement of the robots.In order to check the adaptability and practicability of robots under the earthquake ruins,the construction ruins caused by earthquake disaster were simulated in the design and building for the test environment,including surface environment and interior environment,which was applied in the evalution of the subsistence capacity,the locomotion capacity,the woring capacity and the communication capacity of the robots.Several robots including the reconfigurable search robot,the ruinsbrush search robot and the auxiliary rescue shore and shearing robot were evaluated to obtain their exhibition in the test environment.Priority of different capacities could be analyzed based on the actual evaluations of the robots under simulated ruins environment,which may be seen as basis for the optimization and improvement of the search and rescue robots,also promote the practical application of the search and rescue robots.
引文
[1] 胡卫建,尚红,司洪波,等.我国应对大震巨灾应急救援装备的技术需求研究[J].北京大学学报(自然科学版),2010,46(5):844-850.HU Weijian,SHANG Hong,SI Hongbo,et al.The demand study of the technological equipments for disposal to the emergency rescue of a great earthquake in China[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2010,46(5):844-850.(in Chinese)
[2] 王国彪,陈殿生,陈科位,等.仿生机器人研究现状与发展趋势[J].机械工程学报,2015,51(13):27-44.WANG Guobiao,CHEN Diansheng,CHEN Kewei,et al.The current research status and development strategy on biomimetic robot[J].Journal of Mechanical Engineering,2015,51(13):27-44.(in Chinese)
[3] 张涛,尚红,许建华,等.机器人技术在地震废墟搜索救援中的应用[J].自然灾害学报,2012(5):108-112.ZHANG Tao,SHANG Hong,XU Jianhua,et al.Application of robot technology in search and rescue in earthquake ruins[J].Journal of Natural Disasters,2012,21(5):108-112.(in Chinese)
[4] 吴新燕,顾建华,郭红梅,等.地震现场搜救力量部署模型研究[J].自然灾害学报,2013,22(1):115-122.WU Xinyan,GU Jianhua,GUO Hongmei,et al.Research on model of search and rescue forces deployment in post-earthquake field[J].Journal of Natural Disasters,2013,22(1):115-122.
[5] 李亦纲,张媛,李志伟.地震灾区救援力量优化调配模型[J].自然灾害学报,2012,21(3):150-154.LI Yigang,ZHANG Yuan,LI Zhiwei.Optimized allocation moel of rescue power in earthquake-stricken area[J].Journal of Natural Disasters,2012,21(3):150-154.(in Chinese)
[6] 于振中,蔡楷倜,刘伟,等.救援机器人技术综述[J].江南大学学报(自然科学版),2015,14(4):498-504.YU Zhenzhong,CAI Kaizhou,LIU Wei,et al.Review of rescue robot technology[J].Journal of Jiangnan University(Natural Science Edition),2015,14(4):498-504.(in Chinese)
[7] 刘金国,王越超,李斌,等.灾难救援机器人研究现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.LIU Jinguo,WANG Yuechao,LI Bin,et al.Current research,key performances and future development of search and rescue robots[J].Chinese Journal of Mechanical Engineering,2006,2(4):404-416.(in Chinese)
[8] Micire M J.Evolution and field performance of a rescue robot[J].Journal of Field Robotics,2008,25(1-2):17-30.
[9] Jacoff A,Huang H M,Virts A,et al.Emergency response robot evaluation exercise[C]//The Workshop on PERFORMANCE Metrics for Intelligent Systems.College Park,MD,USA.2012:145-154.
[10] MasaruShimizu,TomoichiTakahashi.Training platform for rescue robot operation and pair operations of multi-robots[J].Advanced Robotics,2013,27(5):385-391.
[11] NIST.Robotics Test Facility[OL].https://www.nist.gov/laboratories/tools-instruments/robotics-test-facility.
[12] Jacoff A,Messina E.Urban search and rescue robot performance standards:progress update-art.no.65611L[J].Proceedings of SPIE-The International Society for Optical Engineering,2007,48(3):887-892.
[13] Jacoff A,Messina E,Weiss BA,et al.Test arenas and performance metrics for urban search and rescue robots[C]// Ieee/rsj International Conference on Intelligent Robots and Systems.IEEE,2008,3:3396-3403.
[14] Jacoff A,Weiss B,Messina E.Evolution of a Performance Metric for Urban Search and Rescue Robots[C]// Proceedings of the Performance Metrics for Intelligent Systems Workshop,2003:18.
[15] Texas A&M Engineering Extension Service.Disaster City[OL].https://teex.org/Pages/about-us/disaster-city.aspx
[16] Shimaoka K,Ogane K,Kimura T.An evaluation test field design for a USAR robot related to a collapsed Japanese house[C]// IEEE International Symposium on Safety,Security,and Rescue Robotics.IEEE,2011:221-225.
[17] 陈元杰,葛锐,孔新雄,等.水下机器人测试及相关机构介绍[J].计测技术,2014(5):8-12.CHEN Yuanjie,GE Rui,KONG Xinxiong,et al.Introduction of underwater vehicle testing technology and its research organizations[J].Metrology & Measurement Technology,2014 (5) :8-12.(in Chinese)
[18] 王睿,胡卫建,王硕,等.用于自然灾害现场监测的无线传感网络开发与试验[J].自然灾害学报,2017,26(4):191-196.WANG Rui,HU Weijian,WANG Shuo,et al.Development and test of a wireless sensing network for rescue ste monitoring afer natural disasters[J].Journal of Natural Disasters,2017,26(4):191-196.(in Chinese)
[19] 胡卫建,颜军利,赵京,等.废墟搜救机器人性能综合评价[J].科学技术与工程,2017,17(17):247-254.HU Weijian,YAN Junli,ZHAO Jing,et al.Performance comprehensive evaluation of the ruins search and rescue robots[J].Science Technology & Engineering,2017,17(17):247-254.(in Chinese)
[2] 王国彪,陈殿生,陈科位,等.仿生机器人研究现状与发展趋势[J].机械工程学报,2015,51(13):27-44.WANG Guobiao,CHEN Diansheng,CHEN Kewei,et al.The current research status and development strategy on biomimetic robot[J].Journal of Mechanical Engineering,2015,51(13):27-44.(in Chinese)
[3] 张涛,尚红,许建华,等.机器人技术在地震废墟搜索救援中的应用[J].自然灾害学报,2012(5):108-112.ZHANG Tao,SHANG Hong,XU Jianhua,et al.Application of robot technology in search and rescue in earthquake ruins[J].Journal of Natural Disasters,2012,21(5):108-112.(in Chinese)
[4] 吴新燕,顾建华,郭红梅,等.地震现场搜救力量部署模型研究[J].自然灾害学报,2013,22(1):115-122.WU Xinyan,GU Jianhua,GUO Hongmei,et al.Research on model of search and rescue forces deployment in post-earthquake field[J].Journal of Natural Disasters,2013,22(1):115-122.
[5] 李亦纲,张媛,李志伟.地震灾区救援力量优化调配模型[J].自然灾害学报,2012,21(3):150-154.LI Yigang,ZHANG Yuan,LI Zhiwei.Optimized allocation moel of rescue power in earthquake-stricken area[J].Journal of Natural Disasters,2012,21(3):150-154.(in Chinese)
[6] 于振中,蔡楷倜,刘伟,等.救援机器人技术综述[J].江南大学学报(自然科学版),2015,14(4):498-504.YU Zhenzhong,CAI Kaizhou,LIU Wei,et al.Review of rescue robot technology[J].Journal of Jiangnan University(Natural Science Edition),2015,14(4):498-504.(in Chinese)
[7] 刘金国,王越超,李斌,等.灾难救援机器人研究现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.LIU Jinguo,WANG Yuechao,LI Bin,et al.Current research,key performances and future development of search and rescue robots[J].Chinese Journal of Mechanical Engineering,2006,2(4):404-416.(in Chinese)
[8] Micire M J.Evolution and field performance of a rescue robot[J].Journal of Field Robotics,2008,25(1-2):17-30.
[9] Jacoff A,Huang H M,Virts A,et al.Emergency response robot evaluation exercise[C]//The Workshop on PERFORMANCE Metrics for Intelligent Systems.College Park,MD,USA.2012:145-154.
[10] MasaruShimizu,TomoichiTakahashi.Training platform for rescue robot operation and pair operations of multi-robots[J].Advanced Robotics,2013,27(5):385-391.
[11] NIST.Robotics Test Facility[OL].https://www.nist.gov/laboratories/tools-instruments/robotics-test-facility.
[12] Jacoff A,Messina E.Urban search and rescue robot performance standards:progress update-art.no.65611L[J].Proceedings of SPIE-The International Society for Optical Engineering,2007,48(3):887-892.
[13] Jacoff A,Messina E,Weiss BA,et al.Test arenas and performance metrics for urban search and rescue robots[C]// Ieee/rsj International Conference on Intelligent Robots and Systems.IEEE,2008,3:3396-3403.
[14] Jacoff A,Weiss B,Messina E.Evolution of a Performance Metric for Urban Search and Rescue Robots[C]// Proceedings of the Performance Metrics for Intelligent Systems Workshop,2003:18.
[15] Texas A&M Engineering Extension Service.Disaster City[OL].https://teex.org/Pages/about-us/disaster-city.aspx
[16] Shimaoka K,Ogane K,Kimura T.An evaluation test field design for a USAR robot related to a collapsed Japanese house[C]// IEEE International Symposium on Safety,Security,and Rescue Robotics.IEEE,2011:221-225.
[17] 陈元杰,葛锐,孔新雄,等.水下机器人测试及相关机构介绍[J].计测技术,2014(5):8-12.CHEN Yuanjie,GE Rui,KONG Xinxiong,et al.Introduction of underwater vehicle testing technology and its research organizations[J].Metrology & Measurement Technology,2014 (5) :8-12.(in Chinese)
[18] 王睿,胡卫建,王硕,等.用于自然灾害现场监测的无线传感网络开发与试验[J].自然灾害学报,2017,26(4):191-196.WANG Rui,HU Weijian,WANG Shuo,et al.Development and test of a wireless sensing network for rescue ste monitoring afer natural disasters[J].Journal of Natural Disasters,2017,26(4):191-196.(in Chinese)
[19] 胡卫建,颜军利,赵京,等.废墟搜救机器人性能综合评价[J].科学技术与工程,2017,17(17):247-254.HU Weijian,YAN Junli,ZHAO Jing,et al.Performance comprehensive evaluation of the ruins search and rescue robots[J].Science Technology & Engineering,2017,17(17):247-254.(in Chinese)