【作者】 孙鹏；

【导师】 陆怀民；

【作者基本信息】 东北林业大学 ， 农业机械化工程， 2010， 硕士

【摘要】 随着我国国民经济的迅猛发展,从生态保护与林业生产安全的角度出发,亟需严格控制森林火灾、盗砍盗伐、非法狩猎等现象的发生。针对我国幅员辽阔,仅靠人力难以实现全面巡防与排查的现状,提出一种采用轮履复合驱动方式的森林巡防机器人平台,其具较小的外廓尺寸、较强的机动性与通过性,可较好地适应森林环境；此外,还搭载有可升降摄像机、GPS等传感器,可将所处环境场景与自身位置通过无线通讯实时上传至远程控制端,从而代替人力进行实地森林巡防与火灾监控,既可将巡山人员从恶劣环境中解放出来,也提高了火灾监控与安全巡防的效率。针对森林环境的复杂性,围绕机动性、通过性、作业能力这三个要素,进行森林巡防机器人的研究,包括机器人的机械系统设计、电控系统设计、实验性能测试三部分。首先,对典型的森林地貌与常见障碍进行分析,得出机器人机械系统的设计约束,采用轮履复合驱动方式取得移动速度与越障能力的均衡；以全天候作业能力为目标,进行一体化平台腔体设计；为扩大相机监控范围,采用基于多级电动推杆的升降机构设计；在Solidworks三维模型的基础上开展虚拟样机分析,对前述设计进行校验与修正。其次,针对机器人功能要求,设计基于异步串行总线的双层控制系统,并采用ATMEGA128作为中央控制器。进行直流电机驱动器的设计研究,并展开无线通讯模块、图像处理模块、GPS模块、超声探测模块等外围功能模块的集成研究。此外,控制系统是开放可扩展的,根据具体需要可进行功能模块的添加与移除。最后,进行机器人机电系统集成并完成联调,在森林环境下对机器人系统进行性能测试,包括机动性能测试(最大速度、爬坡能力、转向半径等)、通过性测试(越障能力)、作业能力测试等,从而完成移动机器人的综合性能验证。更多还原

【Abstract】 With the rapid development of national economy in China, forest fire, illegal logging, illegal hunting and other phenomena need strict control from the aspect of ecological conservation and forestry production security. Because of the vast territory of China, comprehensive patrol and investigation can be hardly achieved by human strength only. Considering the current situation, a wheel-track-driven robot for forest patrol is proposed in this paper. It has many advantages such as:small outside contouring dimension, strong mobility and passing ability, good adaptability to forest environment, etc. Besides, it’s equipped with camera, GPS and other sensors, which realizes real time uploading of its current position and environment information to remote control terminal by wireless control. Therefore, human can be substituted in forest patrol and fire monitor, which not only frees forest rangers from harsh environment, but also improves efficiency of fire monitoring and security patrol.Due to the complexity of forest environment, the research of forest patrol robot includes mechanical system design, electrical control design and experimental performance testing, focusing on three essential factors:mobility, passing ability and working ability.Firstly, typical forest landscape and common barriers are analyzed so that design constrains of robot mechanical system can be acquired. Wheel-track-driven mode is adopted to balance both speed and obstacle detouring ability. Integration platform cavity is designed targeted for whole-day working ability. In addition, elevating mechanism is designed based on multi-motorized faders to expand the surveillance scope of cameras. Virtual prototype is analyzed based on Solidworks 3D model so that all of the design mentioned above can be verified and modified.Secondly, aimed at the functional requirements of robots, double control system is designed based on asynchronous serial bus and ATMEGA128 is used as central controller as well. DC motor driver is designed. Meanwhile, The integration research of the wireless communication module, image processing module, GPS module, ultrasonic detection module and other peripheral functional modules is carried out. Moreover, the control system is open and expandable so that functional modules can be added and moved according to specific needs.Finally, the mechanical system and electrical system are integrated and tested. In order to verify the comprehensive performance of the mobile robot, the performance testing of robot system is carried out under forest circumstance, which includes mobility testing (maximum speed, climbing ability, turning radius, etc.), passing testing (obstacle detouring ability), working ability testing, etc.更多还原