CN100448631C - Magnetic density detecting robot with self-locate function and telescope joint - Google Patents
Magnetic density detecting robot with self-locate function and telescope joint Download PDFInfo
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- CN100448631C CN100448631C CNB2007100378956A CN200710037895A CN100448631C CN 100448631 C CN100448631 C CN 100448631C CN B2007100378956 A CNB2007100378956 A CN B2007100378956A CN 200710037895 A CN200710037895 A CN 200710037895A CN 100448631 C CN100448631 C CN 100448631C
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Abstract
A flexible joint magnetic field strength detecting robot with self positioning function comprises several wheel-joint elements, a main carrier platform, a magnetic field strength sensor array, a mark point coating mechanical arm, a wireless communication module, and a carrier watching positioning device, while the mark point coating mechanical arm, wireless communication module, and carrier watching positioning device are respectively arranged on different wheel-joint elements, the main carrier platform is central, the sensor array is on the main carrier platform, the wheel module, end platform, and horizontal rotary flexible joint arm of the wheel-joint elements are hinged serially via end rotary axle and joints, to be locked or moved relatively, and the carrier positioning device comprises an overall camera, a directional camera, and a laser ranger. The invention has self-positioning function, small volume and easy maintenance.
Description
Technical field
The present invention relates to the device in a kind of Robotics field, specifically, is a kind of companding articulated type magnetic field intensity sniffing robot with self-locating function.
Background technology
In military exercises and some unusual time, pierce underground bomb or the land mine of not igniting and often be hidden in underground several meters, cause huge potential hazard to personal safety and property, search and accurate location to these explosives are very important.From present international trend, using the magnetic field intensity sniffing robot to search for is the best means that solves this difficult problem.It is the main means of at present non-quick-fried bullet being surveyed that magnetic field intensity is surveyed sensor array.Yet, magnetic field intensity sensor array itself is also very responsive to the electromagnetic interference of outside, requiring will be away from electromagnetic interference source in its use, it has been six meters now by the exhausted magnetic area of internationally recognized safety, under this requires, the robot that the magnetic field intensity detection array has been installed is bulky unavoidably, six meters isolation when the fixed mobile robot of structure commonly used is difficult to satisfy detection, the requirement of compact volume and convenience during transportation, if the magnetic insulation request of the electromagnetic component of robot interior and sensor probe array when only guaranteeing work certainly will be unfavorable for transportation and safeguard.
Find through literature search prior art, people such as Qian Jun are in " robot ", 2006,28 (6) pp571-581) " a kind of trouble free service is in the fire-fighting reconnoitre robot of urban area circumstance " delivered on, the articulated chain wheel construction reconnaissance robot that proposes in this article has been obtained good result of use in urban area circumstance.Differential wheeled moving structure is adopted in this design, use chain drive between two wheels of homonymy, at vehicle body forward and backward two forks are arranged respectively, fork can be around wheel center axle rotation separately, to change the angle of fork and vehicle body, chain and sprocket wheel on the fork rotate with wheel.This wheeled moving structure with joint sprocket wheel can upper and lower stair, climb the slope and cross over step, and have fast, travelling performance stably.But this structure can't satisfy six meters magnetic insulation request.Therefore, development has a self-locating function, and the small and exquisite magnetic field intensity sniffing robot demand of volume is very urgent again simultaneously.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of companding articulated type magnetic field intensity sniffing robot with self-locating function is provided, make it when satisfying work, in the magnetic insulation request, reduce volume and weight, be convenient to transportation and maintenance.
The present invention is achieved by the following technical solutions, the present invention includes: a plurality of module one joint combination set, main carrying platform, magnetic field intensity sensor array, gauge point coating machinery arm, wireless communication module, airborne observation and positioning equipments of taking turns.Gauge point coating machinery arm, wireless communication module and airborne observation and positioning equipment are installed in respectively on corresponding wheel module-joint combination set, and main carrying platform is positioned at central authorities of robot, and the magnetic field intensity sensor array is installed on the main carrying platform.
Described module-joint the combination set of taking turns comprises: wheel module, tail end connecting rod, terminal platform, joint arm and joint hinge, annexation is: wheel module, tail end connecting rod, terminal platform and joint arm are connected from beginning to end by the joint hinge respectively, and joint arm can rotate along the axis horizontal of joint hinge.
Described main carrying platform is the regular polygon structure, and this polygonal summit is connected through the hinge with a plurality of joint arms of taking turns in module-joint combination set respectively.Main carrying platform is used to place the sensor array of surveying magnetic field intensity.
Described magnetic field intensity sensor array is a rectangular structure, a plurality of sensor probes that evenly distributed above, and magnetic field intensity sensor array level is placed on the main carrying platform.Magnetic field strength transducer is used to detect the magnetic field intensity of surveying the position, it is the instrument that danger such as do not detonate the device is surveyed, the field strength values of the every bit that detects is returned to the magnetic field imaging processing program, just can find to be imbedded in underground bomb position.
Described gauge point coating machinery arm is the four-degree-of-freedom mechanical arm, is used to be provided with coating reference point and mark position, is placed on the terminal platform in wheel module-joint combination set.
Described wireless communication module is used to realize the Long-distance Control to robot, independently is placed in one of them and takes turns on the terminal platform in module-joint combination set.Robot receives rear operating personnel's control instruction and self information is passed to the rear operating personnel by wireless communication module.
Described airborne observation and positioning equipment comprise panoramic shooting head, directed camera and laser range finder; These three equipment are integrated to be installed on another terminal platform of taking turns module-joint combination set, is followed successively by by from outside to inside arrangement: directed camera, laser range finder and panoramic shooting head.Airborne observation and positioning equipment are used to observe the road surface situation on the robot motion path, the ambient image of wherein directed camera collection fixed-direction, laser range finder is used for the distance between detection machine people and the external object, and the panoramic shooting head is used for the observer robot panorama environmental informations of 360 degree on every side.These visual patterns of gathering are transferred to operating personnel's monitoring platform at rear by wireless communication module, thereby make the operating personnel that are positioned at the rear can understand robot motion's direction and environment on every side thereof at any time.
By robot self-contained airborne observation and positioning equipment and label coating machinery arm, make it have self-align function; Complete machine structure launches when work for stretching articulated type, has guaranteed 6 meters magnetic insulation requests, and each joint closes up when transporting and depositing, and has reduced volume and weight.
Magnetic field intensity sniffing robot of the present invention robot when work lines by line scan to search coverage by setting step-length, form the Distribution of Magnetic Field image by the magnetic field intensity sensor array, thereby judge the exact position that dangers such as bomb bury, adopt label coating machinery hand that mark is carried out in this position again, thereby the hidden place that will bury bomb becomes gauge point, for the explosive work of engineer is thereafter got ready.In the process of robot execution area scanning, the operation supervise and control personnel that are positioned at the rear are by the ambient conditions around the airborne facilities for observation observer robot, and robot and rear operation supervise and control personnel's information transmission is finished by wireless communication module.
But the articulated type of employing horizontal development of the present invention wheel modular structure, the ROBOT CONTROL part all is integrated in road wheel end, the magnetic field intensity acquisition sensor is placed on the main carrying platform of robot, main carrying platform and expansion joint arm are made by the minimum aluminum alloy materials of magnetic conductivity, brachium was greater than 6 meters when launched fully in the joint, the joint was in contraction state when the advantage of this structure was to transport and deposits, and can reduce volume to greatest extent; Launch in the joint when carrying out detection operations, can satisfy the magnetic insulation request to detection equipment.In addition, utilize this joint redundancy structure, rotate by a plurality of coordinations of taking turns module, can realize avoiding in the rotary course in crater, the absolute pose of magnetic field intensity detection array is constant.
In order to reach the more desirable carrier bulk effect that reduces, joint arm can adopt multistage joint expansion mode, for example, if adopt 3 grades of articulated manner, then the length of every joint only is 2 meters and gets final product, and three grades of joints can be in use by artificial expansion, manually locking behind the generate straight line, the end in joint still is the wheel module, then can realize the effect that volume is compact more.
Adopt the present invention can independently finish work for inspection, itself carry observation and navigation system, volume is small and exquisite, has filled up and has used robot magnetosensitive sense material under the hazardous environment to be surveyed the blank of scouting.Simultaneously, the present invention has avoided the complex mechanism of the wheeled moving structure of existing reconnaissance robot articulated chain, has realized dual requirements self-align and that magnetic is isolated with the volume of minimum.Especially aspect national defence, this structure sniffing robot small and exquisite, that do not rely on GPS can be realized the fast reaction to fortuitous event, is applicable to the processing needs of accident.
Description of drawings
Fig. 1 is a 3-D solid structure schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment is to be example with three set of modules-joint combination set, and comprising: first round module-joint combination set 1, second is taken turns module-joint combination set 10, third round module-joint combination set 15, main carrying platform 16, magnetic field intensity sensor array 17, gauge point coating machinery arm 14, wireless communication module 5 and airborne positioning equipment.
Wherein, the structure of three wheel module-joint combination sets is identical, is that example illustrates its formation at this with first round module-joint combination set 1.First round module-joint combination set is made up of built-in motor and decelerator, wheel module 2, tail end connecting rod 3, terminal rotating shaft 4, terminal platform 6, terminal hinge 7, the extensible joint arm 8 of second horizontal gyrating type, the first horizontal gyrating type extending/drawing back type joint arm 9, second joint hinge 19 and the first joint hinge 18.Be connected in series by terminal rotating shaft 4 and terminal hinge 7, second joint hinge 19 and the first joint hinge 18 successively between wheel module 2, tail end connecting rod 3, terminal platform 6, the second horizontal gyrating type extending/drawing back type joint arm 8 and the first horizontal gyrating type extending/drawing back type joint arm 9, both but relative motion to be having realized companding, lockablely again was connected realizing.
Magnetic field intensity sensor array 17 is a rectangular structure, and level is placed on the main carrying platform 16.
Gauge point coating machinery arm 14 is the four-degree-of-freedom mechanical arm, is used to be provided with coating reference point and mark position, is placed on the second terminal platform of taking turns in module-joint combination set 15.
Airborne positioning equipment (being made up of directed camera 11, laser range finder 12 and panoramic shooting head 13) is placed on the second terminal platform of taking turns in module-joint combination set 10.
Adopt aluminium alloy extrusions to make the first horizontal gyrating type extending/drawing back type joint arm 9 and the second horizontal gyrating type extending/drawing back type joint arm 8, robot body has enough rigidity and intensity again when can guarantee not have electromagnetic interference.Be placed near the wheel module the driving of robot complete machine and control system etc. are concentrated, satisfy apart from insulation request, thereby realize magnetic field sensor is not produced interference.Thereby realize purpose of design to the mobile robot.
As a wheel module occurs and run into the situation in crater, do not need can guarantee main carrying platform rotational angle can avoid the crater, two the terminal joint angles (seeing tail end connecting rod 3 among Fig. 1 and the angle between the angle between the terminal platform 6 and the terminal platform 6 and the second horizontal gyrating type extending/drawing back type joint arm 8) that have redundancy structure by control, utilize the coordination of three wheel modules to rotate, can guarantee in avoiding the rotary course in crater, magnetic field intensity detection array 17 does not rotate, thereby makes its absolute pose constant.
Present embodiment adopts horizontal structure two-stage extending/drawing back type joint arm form (seeing the first horizontal gyrating type extending/drawing back type joint arm 9 and the second horizontal gyrating type extending/drawing back type joint arm 8 among Fig. 1), make the volume of this robot when off working state reduce, being convenient to warehouse-in deposits and transports, when the magnetic that guarantees 6 meters was isolated, the volume of system was small and exquisite.
Can find out that from present embodiment self-contained positioning sensor system of magnetic field intensity sniffing robot of the present invention and label coating machinery arm have self-align function; Complete machine structure is the extending/drawing back type articulated type, launches when work, has guaranteed the magnetic insulation request of magnetic field intensity detection array, and each joint closes up when transporting and depositing, and has reduced volume and weight.Coordination by three wheel modules is rotated, and can realize avoiding in the rotary course in crater, and the absolute pose of magnetic field intensity detection array is constant.
Claims (9)
1, a kind of companding articulated type magnetic field intensity sniffing robot with self-locating function, comprise: a plurality of module-joint combination set, main carrying platform, magnetic field intensity sensor array, gauge point coating machinery arm, wireless communication module and airborne observation and positioning equipments of taking turns, it is characterized in that, gauge point coating machinery arm, wireless communication module and airborne observation and positioning equipment are separately positioned on different wheel module-joint combination sets, main carrying platform is positioned at central authorities of robot, and the magnetic field intensity sensor array is arranged on the main carrying platform.
2, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1, it is characterized in that, described module-joint the combination set of taking turns comprises: wheel module, tail end connecting rod, terminal platform, joint arm and joint hinge, wheel module, tail end connecting rod, terminal platform and joint arm are connected from beginning to end by the joint hinge respectively, and joint arm can rotate along the axis horizontal of joint hinge.
3, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 2 is characterized in that, described joint arm, and brachium was greater than 6 meters when launched fully in the joint.
According to claim 2 or 3 described companding articulated type magnetic field intensity sniffing robots, it is characterized in that 4, described joint arm for multistage joint arm series connection, has the joint redundancy free degree with self-locating function.
5, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1, it is characterized in that, described main carrying platform is the regular polygon structure, and this polygonal summit is connected through the hinge with a plurality of joint arms of taking turns in module-joint combination set respectively.
6, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1, it is characterized in that, described magnetic field intensity sensor array is a rectangular structure, a plurality of sensor probes that evenly distributed above, and magnetic field intensity sensor array level is placed on the main carrying platform.
7, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1, it is characterized in that, described gauge point coating machinery arm is the four-degree-of-freedom mechanical arm, be used to be provided with coating reference point and mark position, be placed on the terminal platform in wheel module-joint combination set.
8, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1 is characterized in that described airborne observation and positioning equipment comprise panoramic shooting head, directed camera and laser range finder; These three equipment are integrated to be arranged on one of them terminal platform of taking turns module-joint combination set, be followed successively by by from outside to inside arrangement: directed camera, laser range finder and panoramic shooting head, be used to observe the road surface situation on the robot motion path, the ambient image of wherein directed camera collection fixed-direction, laser range finder is used for the distance between detection machine people and the external object, the panoramic shooting head is used for the observer robot panorama environmental informations of 360 degree on every side, these visual patterns of gathering are transferred to operating personnel's monitoring platform at rear by wireless communication module, thereby make the operating personnel that are positioned at the rear can understand robot motion's direction and environment on every side thereof at any time.
9, the companding articulated type magnetic field intensity sniffing robot with self-locating function according to claim 1, it is characterized in that, described wireless communication module, be used to realize Long-distance Control to robot, independently be placed in one of them and take turns on the terminal platform in module-joint combination set, robot receives rear operating personnel's control instruction and self information is passed to the rear operating personnel by wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100378956A CN100448631C (en) | 2007-03-08 | 2007-03-08 | Magnetic density detecting robot with self-locate function and telescope joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100378956A CN100448631C (en) | 2007-03-08 | 2007-03-08 | Magnetic density detecting robot with self-locate function and telescope joint |
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| Publication Number | Publication Date |
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| CN101015915A CN101015915A (en) | 2007-08-15 |
| CN100448631C true CN100448631C (en) | 2009-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100378956A Expired - Fee Related CN100448631C (en) | 2007-03-08 | 2007-03-08 | Magnetic density detecting robot with self-locate function and telescope joint |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135776B (en) * | 2011-01-25 | 2012-06-13 | 解则晓 | Industrial robot control method based on visual positioning |
| CN103776896B (en) * | 2014-01-22 | 2016-07-06 | 中国民航大学 | A kind of in-service rod member magnetic flux test system and control method |
| CN104519322B (en) * | 2014-12-24 | 2017-08-18 | 芜湖林一电子科技有限公司 | A kind of machine vision Target Tracking System |
| CN105044627B (en) * | 2015-06-09 | 2018-07-31 | 上海翡叶动力科技有限公司 | A kind of rotor magnetic flux test system and its test method |
| CN111562446A (en) * | 2020-06-23 | 2020-08-21 | 黑龙江科技大学 | Electromagnetic field test processing method |
| CN112092939B (en) * | 2020-07-30 | 2021-12-07 | 北京理工大学 | Wheel-leg driving combined and multi-motion mode composite operation arm four-footed robot |
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| JPH09142347A (en) * | 1995-11-24 | 1997-06-03 | Mitsubishi Heavy Ind Ltd | Rough terrain moving device |
| CN1397409A (en) * | 2002-08-15 | 2003-02-19 | 上海交通大学 | 4-leg chain wheel type carrier of moving robot |
| CN1490135A (en) * | 2003-08-19 | 2004-04-21 | Method for controlling fully positioning self creeping arc welding robot with permanent magnet caterpillar | |
| CN1807032A (en) * | 2006-02-28 | 2006-07-26 | 哈尔滨工业大学 | Modularized joint of space manipulator |
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2007
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| JPH0592779A (en) * | 1991-10-03 | 1993-04-16 | Mitsubishi Heavy Ind Ltd | Control of walking capacity of creeping robot |
| US5350033A (en) * | 1993-04-26 | 1994-09-27 | Kraft Brett W | Robotic inspection vehicle |
| JPH09142347A (en) * | 1995-11-24 | 1997-06-03 | Mitsubishi Heavy Ind Ltd | Rough terrain moving device |
| CN1397409A (en) * | 2002-08-15 | 2003-02-19 | 上海交通大学 | 4-leg chain wheel type carrier of moving robot |
| CN1490135A (en) * | 2003-08-19 | 2004-04-21 | Method for controlling fully positioning self creeping arc welding robot with permanent magnet caterpillar | |
| CN1807032A (en) * | 2006-02-28 | 2006-07-26 | 哈尔滨工业大学 | Modularized joint of space manipulator |
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Granted publication date: 20090107 Termination date: 20120308 |