협소 공간 생존자 탐색 로봇의 다중 센서 모듈과 운용에 관한 연구

Abstract

This paper describes the development of a search robot to detect survivors in narrow space. recently, many disasters have occurred around the world. To solve this problem, there are many case of applying robot technology over the world. Among them, CMU(Carnegie Mellon University) developed a snake robot and performed a search operation at the earthquake site in Mexico. In this experiment, they said it was difficult to perform the mission because there was no function for detecting survivors. Therefore, it is said to be a point to compensate for this problem. we developed a search robot for survivors in a narrow space to complement this. First, a survivor detection multi-sensor module was developed to solve the aforementioned lack of detection function. the size limit is the most severe, the sensors that help in the search for survivors were selected with an emphasis on size. After, configuring the communication interface and sensor arrangement system with the selected sensors, and data was acquired. Next, the 3D design and the design of communication system were carried out for integration into the SoC(System on Chip). In order to reduce the size of the board, the board was constructed in a three-layer structure to increase space utilization. Video and sound data are transmitted using RTSP(Real Time Streaming Protocol). In the case of IMU, sensor fusion is required to know heading position. Conversion to Euler angle, the sensor data were fused through the complementary filter and applied. Second, in the case of robot hardware, it is made by imitating snake robot, and it use efficient power rather than the existing multi-module type snake, and uses the minimum number of modules to drive. Snake’s locomotion are implemented in both Surpenoid wave and Rectilinear crawling. To implement smooth sensor detection and detection mode, a rotating module is attached to the end of the robot that can rotate the snake robot’s body. In the case of dynamic control, many controllers are required. Also, it is difficult to apply due to complicated and many calculations. Therefore, it is controlled through a motion algorithm, and the driving direction is determined using the offset ot the tail. The detection mode is used by obtaining the angle at which the torque of base is minimized, and then approximating it with a linear equation. Lastly, in the case of the monitoring system for operation, wired communication is performed through the TCP/IP method of Ethernet for reliable data. The sensor data is transmitted to the PC in the form of a designed protocol, and after data processing, only the information required by the user is configured to be easily viewed in the form of graphs and images on the PC screen. After that, the sensor module is attached to the front of the snake robot for integrated operation.