一种水上搜救机器人系统设计与实现

针对传统救援船舶受抗风浪能力和操控能力的限制,在恶劣天气条件下救援落水人员成功率不高的问题,设计了一款能够适应恶劣海况,而且能灵活抵近落水人员并直接施救的水上搜救机器人。该机器人系统由岸基控制子系统和机器人子系统组成,机体采用等角三浮筒结构布置,利用推进器差速原理实现机器人转向和机动控制。通过设计基于机器视觉的水面目标检测方法实现对落水人员的检测与识别,通过基于S面控制算法和LOS制导算法,实现了对一定范围内落水人员搜寻路径跟踪控制,利用滑模镇定控制算法实现了搜救机器人救援状态下的点镇定控制。水上实测证明,本文设计的搜救机器人整体结构设计合理,目标识别、运动控制算法运行稳定,救援能力达到了预期的设计目标。

Design and Implementation of a Water Search and Rescue Robot System

Aiming at the problem that traditional rescue ships are limited by the ability of resisting wind and waves and maneuvering, and the success rate of rescuing people falling into water is not high in bad weather conditions, a water search and rescue robot is designed, which can adapt to bad sea conditions and flexibly approach people falling into water and rescue them directly. The robot system is composed of shore-based control subsystem and robot subsystem. The body is arranged with an equiangular three-buoy structure, and the steering and maneuvering control of the robot are realized by using the principle of differential speed of the propeller. Through the design of a surface target detection method based on machine vision, the detection and recognition of the drowning personnel are realized. The search path tracking control of the drowning personnel in a certain range is realized by using the surface control algorithm and LOS guidance algorithm. The point stabilization control of the search and rescue robot in the rescue state is realized by using the sliding mode stabilization control algorithm. The actual measurement on water proves that the overall structure design of the search and rescue robot designed in this paper is reasonable, the target recognition and motion control algorithm runs steadily, and the rescue ability achieves the expected design goal.