基于ARDUINO多传感器四足矿井救援机器人设计
Design of a Multi-Sensor-Based Quadruped Mine Rescue Robot Using ARDUINO

矿井坍塌事故发生之后，现场的地形结构及其复杂，传统的救援方式是救援人员使用各种救援设备进行人工搜救，考虑到灾害现场的各种不确定因素及一些救援人员无法进入的区域，可能会发生二次灾害，在救援过程中存在一定的危险性，因此利用蓝牙通信技术，WIFI通信技术等自主研发一种四足轮腿分离式矿井救援机器人。机器人硬件基于ARDUINO NANO单片机作为救援机器人的控制核心，通过蓝牙，WIFI无线通信对机器人实现四足爬行，四轮行走，灾害现场图像回传，火源灭火以及救援对象GPS定位等功能。将四足轮腿式矿井救援机器人应用到矿井灾害救助系统中，不仅可以提高搜救效率，为救援提供有力的支撑，为被困人员争取更多的生命时间，还能进入救援人员难以进入的复杂事故现场，避免或减少救援人员的伤亡，提高救援的速度，降低救援难度。
After a mine collapse accident, the terrain structure on the scene is extremely complex. Traditional rescue methods involve rescue workers using various rescue equipment to conduct manual searches and rescues. However, considering the various uncertainties on the disaster scene and areas that some rescue workers cannot access, secondary disasters may occur, posing certain dangers during the rescue process. Therefore, a four-legged wheel-leg separable mine rescue robot was independently developed using Bluetooth communication technology, WIFI communication technology, etc. The robot hardware is based on the ARDUINO NANO microcontroller as the control core of the rescue robot, realizing functions such as four-legged crawling, four-wheel walking, disaster scene image transmission, fire extinction, and GPS positioning of rescue objects through Bluetooth and WIFI wireless communication. The application of the four-legged wheel-leg mine rescue robot in the mine disaster relief system can not only improve search and rescue efficiency, provide strong support for rescues, and strive for more time for trapped personnel, but it can also enter complex accident scenes that are difficult for rescue workers to enter, avoid or reduce casualties of rescue workers, improve rescue speed, and reduce rescue difficulty.