논문 상세보기
pp.248-255
In this paper, a design for a vehicle body of an armored robot for complex disasters is described. The proposed design considers various requirements in complex disaster situations. Fire, explosion, and poisonous gas may occur simultaneously under those sites. Therefore, the armored robot needs a vehicle body that can protect people from falling objects, high temperature, and poisonous gas. In addition, it should provide intuitive control devices and realistic surrounding views to help the operator respond to emergent situations. To fulfill these requirements of the vehicle body, firstly, the frame was designed to withstand the impact of falling objects. Secondly, the positive pressure device and the cooling device were applied. Thirdly, a panoramic view was implemented that enables real-time observation of surroundings through a number of image sensors. Finally, the cockpit in the vehicle body was designed focused on the manipulability of the armored robot in disaster sites.
1. 서 론
2. 장갑형 로봇 시스템의 미션 시나리오
3. 외부 환경으로부터의 보호 기능 구현
3.1 내충격 차체 프레임
3.2 양압 장치 및 냉방 장치
4. 파노라믹 뷰 생성
4.1 카메라 시스템 캘리브레이션
4.2 Cylindrical warping을 통한 파노라믹 뷰 생성
5. 조종석 설계
5.1 설계 조건
5.2 구성요소
5.3 조종석 형상
6. 결 론
References
