CN103552084A - EOD (Explosive Ordnance Disposal) robot control system, EOD robot control method and EOD robot using EOD robot control method - Google Patents
EOD (Explosive Ordnance Disposal) robot control system, EOD robot control method and EOD robot using EOD robot control method Download PDFInfo
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Abstract
一种排爆机器人控制系统，其特征在于，包括上位机遥控平台和下位机控制平台，所述上位机遥控平台包括计算机、服务器、上位机无线射频模块和网络基站；所述下位机控制平台包括下位机无线射频模块、控制器、运动模块、3G网卡、图像处理器、摄像头和信号采集模块。本发明有益效果在于：机器人体积小型化，性能稳定，无线射频传输距离适中，可多台电脑同时监视或远距离监视。控制系统布局合理化这样机器人在操作起来的时候不易发生侧翻等事故。运动模块的运行精度高，结构紧凑，体积较小，越障性能好，三节平台能使排爆机器人在行走过程中保持平稳，动作灵活。
A kind of explosion-proof robot control system, it is characterized in that, comprises upper computer remote control platform and lower computer control platform, and described upper computer remote control platform includes computer, server, upper computer wireless radio frequency module and network base station; Described lower computer control platform includes Lower computer radio frequency module, controller, motion module, 3G network card, image processor, camera and signal acquisition module. The beneficial effect of the invention is that the robot is miniaturized in size, stable in performance, moderate in radio frequency transmission distance, and can be simultaneously monitored by multiple computers or remotely monitored. The layout of the control system is rationalized so that accidents such as rollover are less likely to occur when the robot is operating. The motion module has high running precision, compact structure, small size, and good obstacle surmounting performance. The three-section platform can keep the EOD robot stable and flexible during walking.
Description
Technical field
The present invention relates to explosive-removal robot field, specifically, is a kind of explosive-removal robot control system, method and the explosive-removal robot that uses the method.
Background technology
Increasingly serious along with global anti-terrorism situation, the attack of terrorism at home and abroad occurs again and again, and the armed forces of various countries and security protection department are huge to the demand of explosive-removal robot.The explosive-removal robot product cost that domestic and international market is released is at present higher, is unfavorable for promoting on a large scale.
Explosive-removal robot belongs to the ground mobile robot category under non-structure environment, abroad to its research starting early.The American-European capitalist countries such as Britain, France, Germany, the U.S. have successively been launched the technical research to explosive-removal robot.Explosive-removal robot the earliest applies to military use mostly.Along with the development in epoch, a lot of products are civil nature all, is active in the numerous areas such as security protection, mine, chemical industry, dangerous goods production.At present the research emphasis Shi，Rang robot of explosive-removal robot technology has more autonomic function, and finally developing can image processor, detection, explosive, enemy and we's identification, automatically attack the intelligent explosive-removal robot of unfriendly target.
Britain becomes the country that takes the lead in researching and developing explosive-removal robot." handcart " by AB Electronic Products Corporation, produced is one of crawler type explosive-removal robot the earliest, becomes the pioneer of explosive-removal robot.The control system of " handcart " is comprised of host computer and slave computer two parts, between long cable by 100 meters carry out communication.Host computer is furnished with the button of controlling, and can control each joint action of robot.For various reasons, explosive-removal robot is started late, and technical merit is obvious to fall behind and western developed country in China.Recent years, country strengthened the research and development support dynamics to explosive-removal robot, and some colleges and universities and enterprise have successively carried out the research work to explosive-removal robot key technology, logical accumulation in a few years, and more existing technology reach and have even surmounted international most advanced level.
Two problems that exist in conjunction with the explosive-removal robot of releasing both at home and abroad:
1. explosive-removal robot makes complex structure for a large amount of equipments is installed, bulky.Under the environment of special narrow space, explosive-removal robot can not well maybe can not be finished the work.
2. the cost of explosive-removal robot is too high, and the price of low-end product also, more than 200,000 RMB, can not be equipped because cost is too high in a large number, causes a large amount of uses manually explosive, has so just increased explosive staff's danger.
And the shortcoming existing for explosive-removal robot aspect can be summarized as: build is huge, and cost is high, structure is disperseed, and layout is unbalance, and video paw sync rates is low.Control method is complicated, and motion, malfunction, cannot adapt to complicated landform.
Summary of the invention
In order to address the above problem, the present invention proposes the explosive-removal robot control system of a kind of control system modularization, volume miniaturization, rationally distributedization.
For achieving the above object, concrete technical scheme of the present invention is as follows:
A control system, is characterized in that, comprises host computer remote control platform and slave computer control platform, and described host computer remote control platform comprises computer, server, host computer wireless radio frequency modules and network base station; Computer is connected with host computer wireless radio frequency modules, and computer is connected with server by Internet network, and server is received and dispatched 3G signal by network base station; Described slave computer is controlled platform and is comprised slave computer wireless radio frequency modules, controller, motion module, 3G network interface card, image processor, camera and signal acquisition module; Motion module is controlled by controller, and controller is connected with slave computer wireless radio frequency modules, and camera is connected with image processor, and image processor is by 3G network interface card transmitting-receiving 3G network signal; Host computer wireless radio frequency modules is connected by radio frequency signal with slave computer wireless radio frequency modules.
Adopt said structure, between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module, easy to operate.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of control system and reasonably installation.Any computer can connect Internet network can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server, facilitates multiple computers to monitor and/or remote monitoring simultaneously.
Further technical scheme is that motion module comprises that camera electric rotating machine, mechanical arm are controlled motor, paw is controlled motor, mechanical arm electric rotating machine, DC speed-reducing and lifting motor.
Camera electric rotating machine is controlled camera and is rotated, mechanical arm is controlled each joint of Electric Machine Control machinery arm and is rotated, paw is controlled the folding amplitude of Electric Machine Control paw, mechanical arm electric rotating machine is controlled the relative motion between mechanical arm and base, mechanical arm and paw, DC speed-reducing is that the forward-reverse of controlling slave computer walking mechanism is turned, lifting Electric Machine Control slave computer.
Further technical scheme is that signal acquisition module comprises the current signal collector of controlling motor working current for gathering paw.
This current signal collector is mainly used in and predetermined current comparison, thereby judges whether paw has caught object.
A control method for explosive-removal robot, concrete steps are:
A1, unlatching slave computer camera, obtain camera video signal by 3G network, enters steps A 2;
Start host computer and slave computer modules, slave computer carries out two-way transmission, a route camera collection vision signal, and another path control deivce is controlled each motor and is driven.Host computer is analyzed video, sends control instruction.
A2, judge in course, whether there is object: when not finding object, enter steps A 3; When finding object, enter steps A 4;
A3, host computer send camera rotating signal to slave computer, and control electric rotating machine and drive camera to press angle beta rotation, and cumulative number of revolutions n, then return to steps A 2;
By a special angle, increase progressively searching object, record number of revolutions.
A4; Host computer calculates the camera anglec of rotation, and start DC speed-reducing and make slave computer rotate same angle, and by camera spinning reduction; Then enter steps A 5;
The anglec of rotation equals number of revolutions n and takes advantage of angle beta, slave computer is rotated to the direction that faces object, and camera spinning reduction.
A5, judge in the course on video image, whether there is barrier: when not finding barrier, enter steps A 6; When finding that there is barrier, host computer sends obstacle detouring instruction to slave computer, enters obstacle detouring program, then returns to steps A 2;
A6, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing and advance forward, and time delay s, after second, stops moving ahead, and enters steps A 7;
A7, judge that object is whether within the scope of crawl: when object is within the scope of crawl, enter steps A 8, when object is not within the scope of crawl, return to steps A 6;
A8, host computer send crawl signal to slave computer, start mechanical arm electric rotating machine, mechanical arm control motor, paw control motor, and the crawl of realize target thing, enters steps A 9;
A9, by current signal collector, detect paw and control the electric current of motor and whether equal predetermined current, when the electric current of controlling motor when paw equals predetermined current, enter steps A 10, when the electric current of controlling motor when paw is not equal to predetermined current, enter steps A 8;
Predetermined current is the current value that paw cannot continue to tighten after catching target, when the current value collecting when current signal collector equals predetermined current, illustrates that paw caught object.
A10, host computer send collection signal to slave computer, and startup mechanical arm electric rotating machine, mechanical arm are controlled motor, paw is controlled motor object is collected to the object standing groove into slave computer;
A11, by video image, judge and collect whether success, when collecting successfully, finish, when collection is unsuccessful, return to steps A 8.
If there is collecting unsuccessful situation, be probably that paw captures after object, object landing, re-starts crawl so again perform step A8.If collected successfully, complete explosive work.
Further technical scheme obstacle detouring step is:
Whether B1, disturbance in judgement thing can be crossed: in the time can crossing, enter step B3, in the time cannot crossing, enter step B2;
Disturbance in judgement thing size, shape, if be applicable to crossing, just crosses, if be not suitable for just crossing, detours.
B2, host computer send signal for turn to slave computer, and the DC speed-reducing of both sides drives slave computer to turn by friction speed, finishes obstacle detouring step after turning;
Both sides DC speed-reducing speed is different just can realize the turning of slave computer.After having turned, return to steps A 2 and reorientate the direction of object.
B3, host computer send lifting signal to slave computer, and slave computer lifting machine operation, lifts slave computer front end; Enter step B4;
B4, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing slave computer is advanced forward, after surmounting obstacles, enter step B5;
B5, host computer send and recover lifting signal to slave computer, and slave computer lifting motor sets back, and puts down slave computer front end, finish obstacle detouring step.
A kind of explosive-removal robot, slave computer comprises chassis and is arranged on searching mechanism and the grasping mechanism on chassis, described chassis comprises the front platform connecting successively, middle platform and rear platform, described middle platform two ends are hinged with front platform and rear platform respectively, in this, between platform and front platform and middle platform and rear platform, be provided with lifting mechanism, described front platform, a pair of Athey wheel walking mechanism and two DC speed-reducing are all installed on middle platform and rear platform, a corresponding Athey wheel walking mechanism of DC speed-reducing, described searching mechanism and grasping mechanism are arranged on same reversing frame, this reversing frame bottom is connected with middle platform by rotating shaft, described grasping mechanism comprises mechanical arm and paw, one end of described mechanical arm is connected with reversing frame, mechanical arm anglec of rotation on reversing frame is controlled by mechanical arm electric rotating machine, the mechanical arm other end is connected with paw, the anglec of rotation of arm of unloading is controlled Electric Machine Control by mechanical arm, described searching mechanism comprises paw, described paw is rack-mount, camera anglec of rotation on support is controlled by camera electric rotating machine, described back-end support is connected with reversing frame, described paw is controlled Electric Machine Control by paw.
When running into barrier, owing to being the wheeled chassis of crawler belt, therefore most of obstacle can be crossed, if can not cross, can the platform of one end be raise by lifting motor, so just can cross higher barrier, after clearing the jumps, again platform is reduced and restored, three joint platforms, be no matter advance or fallback procedures in can regulate the lifting at two ends, chassis, realize good obstacle detouring, simultaneously when the larger climb and fall of the gradient, three joint platforms can also make its driving process more stable, are difficult for unbalance and overturning.Finding mechanism and grasping mechanism is arranged on same reversing frame, find mechanism and have three degree of freedom, camera just can be realized 3 D stereo monitoring like this, mechanical arm has four above frees degree, each saves can be crooked up and down between galianconism, paw can rotate with respect to mechanical arm 360 degree, the arm that so just can imitate the mankind is processed explosive, explosive processing action is more flexible, smoothness, and mechanical arm provides power by each steering wheel, this apparatus structure is compact, flexible movements, convenient operation, controls.
Further technical scheme is that lifting mechanism comprises a lifting motor and a linkage, this lifting motor is arranged on middle platform, the output shaft of this lifting motor is vertical with described chassis direction of advance, described linkage comprises first connecting rod, second connecting rod and third connecting rod, these second connecting rod two ends are hinged with one end of first connecting rod and one end of second connecting rod respectively, the free end of this first connecting rod is fixedly connected with the output shaft of lifting motor, and this first connecting rod is vertical with the output shaft of lifting motor, the free end of the third connecting rod of the lifting mechanism between middle platform and front platform is fixedly connected with front platform, the free end of the third connecting rod of the lifting mechanism between middle platform and rear platform is fixedly connected with rear platform.
Tai Shen mechanism between middle platform and rear platform, its linkage one end is connected with the output shaft of lifting motor, and the other end is connected with rear platform, the Tai Shen mechanism between middle platform and front platform, its linkage one end is connected with the output shaft of lifting motor, and the other end is connected with front platform.Have two lifting motors to drive respectively Liang Getaishen mechanism, Liang Getaishen mechanism controls respectively the landing of front platform and rear platform, and the angular range of landing is upwards 60 ° to downward 60 °.
Further technical scheme is on front platform, to be provided with object standing groove, on described middle platform, controller, battery and radiator is installed, and on described rear platform, signal transmitting apparatus is installed.
Battery is powered to controller and each motor etc., and object standing groove is for drop target thing, signal transmitting apparatus comprise slave computer wireless radio frequency modules with 3G network interface card signal transmitting apparatus for being connected alternately with remote control table.
Remarkable result of the present invention is: between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module just.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of control system and reasonably installation.The running precision of motion module is high, stable performance, and wireless radio frequency transmission distance is moderate.Any computer can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server by network, facilitates multiple computers to monitor or remote monitoring simultaneously.Compact conformation, small volume, obstacle performance is good, three joint platforms can make explosive-removal robot held stationary in the process of walking, flexible movements, are convenient to automation and control, and control the Omnidirectional rotation of accurately arresting action, camera of explosive-removal robot mechanical arm, can monitor in real time mechanical arm and paw and complete searching location, crawl, the input overall process to dangerous material, the live load of explosive device in the time of reducing camera searching object simultaneously.
Accompanying drawing explanation
Fig. 1 is the control method overall procedure schematic diagram of explosive-removal robot of the present invention;
Fig. 2 is the schematic flow sheet of the control method obstacle detouring step of explosive-removal robot of the present invention;
Fig. 3 is the structural representation of explosive-removal robot control system of the present invention;
Fig. 4 is the structural representation of explosive-removal robot of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention and operation principle are described in further detail.
As shown in Figure 1, Fig. 1 is the control method overall procedure schematic diagram of explosive-removal robot of the present invention, a kind of control method of explosive-removal robot, and concrete steps are:
A1, unlatching slave computer camera, obtain camera video signal by 3G network, enters steps A 2; Start host computer and slave computer modules, slave computer carries out two-way transmission, a route camera collection vision signal, and another path control deivce is controlled each motor and is driven.Host computer is analyzed video, sends control instruction.
A2, judge in course, whether there is object: when not finding object, enter steps A 3; When finding object, enter steps A 4; Find that object calibrates, make camera and slave computer main body in same towards.Do not find object select search object, until find object.
A3, host computer send camera rotating signal to slave computer, and control electric rotating machine and drive camera to press angle beta rotation, and cumulative number of revolutions n, then return to steps A 2; By a special angle β, rotate in the same direction searching object, record number of revolutions n, until find object, n is positive integer.The span of β can be arbitrarily angled in 1-30 degree, if obtain lock onto target object space position more accurately, suitable selection low-angle rotates and is preferably 5 degree, can also select such as 1 degree 2 degree, 10 degree etc.Often turn once, number of revolutions adds 1, facilitates later step, confirms the angle of camera rotation.
A4; Host computer calculates the camera anglec of rotation, and start DC speed-reducing and make slave computer rotate same angle, and by camera spinning reduction; Then enter steps A 5; The anglec of rotation equals number of revolutions n and takes advantage of angle beta, slave computer is rotated to the direction that faces object, and camera spinning reduction.
A5, judge in the course on video image, whether there is barrier: when not finding barrier, enter steps A 6; When finding that there is barrier, host computer sends obstacle detouring instruction to slave computer, enters obstacle detouring program, then returns to steps A 2;
A6, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing and advance forward, and time delay s, after second, stops moving ahead, and enters steps A 7; S is positive number, s second in order that slave computer moves ahead, rather than do not stop to move ahead always.S is changeable second, in also far from object, can time delay longer, when approaching object soon, can dwindle delay time, also needs to consider the translational speed of slave computer during time of selecting to move ahead.
A7, judge that object is whether within the scope of crawl: when object is within the scope of crawl, enter steps A 8, when object is not within the scope of crawl, return to steps A 6; , whether later discriminating s second that moves ahead is arrived at object and is captured scope, if coverage area is just carried out next step crawl step, if having reach just to return to steps A 6, does not again advance.Crawl scope three key elements in length, the length of paw, the fixed position of mechanical arm after can be stretching by mechanical arm determine, determine the maximum radius of crawl scope by three's actual conditions, judge that thus object is whether within the scope of crawl.The maximum radius of crawl scope should not surpass the length that the length machine of mechanical arm after stretching adds paw.
A8, host computer send crawl signal to slave computer, start mechanical arm electric rotating machine, mechanical arm control motor, paw control motor, and the crawl of realize target thing, enters steps A 9;
A9, by current signal collector, detect paw and control the electric current of motor and whether equal predetermined current, when the electric current of controlling motor when paw equals predetermined current, enter steps A 10, when the electric current of controlling motor when paw is not equal to predetermined current, enter steps A 8; Predetermined current is the current value that paw cannot continue to tighten after catching target, and the current value collecting when current signal collector changes, and while equaling predetermined current, illustrates that paw caught object.
A10, host computer send collection signal to slave computer, and startup mechanical arm electric rotating machine, mechanical arm are controlled motor, paw is controlled motor object is collected to the object standing groove into slave computer;
A11, by video image, judge and collect whether success, when collecting successfully, finish, when collection is unsuccessful, return to steps A 8.If there is collecting unsuccessful situation, be probably that paw captures after object, object landing, re-starts crawl so again perform step A8.If collected successfully, complete explosive work.
As shown in Figure 2, Fig. 2 is the schematic flow sheet of the control method obstacle detouring step of explosive-removal robot of the present invention, and while finding that there is barrier in the course on video image, host computer sends obstacle detouring instruction to slave computer, enter obstacle detouring program, return to steps A 2 after completing obstacle detouring step; Wherein obstacle detouring step is:
Whether B1, disturbance in judgement thing can be crossed: in the time can crossing, enter step B3, in the time cannot crossing, enter step B2; Disturbance in judgement thing size, shape, if be applicable to crossing, just crosses, if be not suitable for just crossing, detours.
B2, host computer send signal for turn to slave computer, and the DC speed-reducing of both sides drives slave computer to turn by friction speed, finishes obstacle detouring step after turning; Both sides DC speed-reducing speed is different just can realize the turning of slave computer.After having turned, return to steps A 2 and reorientate the direction of object.
B3, host computer send lifting signal to slave computer, and slave computer lifting machine operation, lifts slave computer front end; Enter step B4;
B4, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing slave computer is advanced forward, after surmounting obstacles, enter step B5;
B5, host computer send and recover lifting signal to slave computer, and slave computer lifting motor sets back, and puts down slave computer front end, finish obstacle detouring step.
As shown in Figure 3, Fig. 3 is the structural representation of explosive-removal robot control system of the present invention, a kind of explosive-removal robot control system, it is characterized in that, comprise host computer remote control platform 1 and slave computer control platform 2, described host computer remote control platform 1 comprises computer 11, server 13, host computer wireless radio frequency modules 12 and network base station 14; Computer 11 is connected with host computer wireless radio frequency modules 12, and computer 11 is connected with server 13 by Internet network, and server 13 is by network base station 14 transmitting-receiving 3G signals; Described slave computer is controlled platform 2 and is comprised slave computer wireless radio frequency modules 21, controller 22, motion module 23,3G network interface card 24, image processor 25, camera 26 and signal acquisition module 27; Motion module 23 is controlled by controller 22, and controller 22 is connected with slave computer wireless radio frequency modules 21, and camera 26 is connected with image processor 25, and image processor 25 is by 3G network interface card 24 transmitting-receiving 3G network signals; Host computer wireless radio frequency modules 12 is connected by radio frequency signal with slave computer wireless radio frequency modules 21.
Between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module, easy to operate.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of control system and reasonably installation.Any computer can connect Internet network can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server, facilitates multiple computers to monitor and/or remote monitoring simultaneously.
Signal acquisition module 27 comprises the current signal collector of controlling motor working current for gathering paw.This current signal collector is mainly used in and predetermined current comparison, thereby judges whether paw has caught object.
As shown in Figure 4, a kind of explosive-removal robot, slave computer comprises chassis and is arranged on searching mechanism and the grasping mechanism on chassis, described chassis comprises the front platform 601 connecting successively, middle platform 602 and rear platform 603, described middle platform 602 two ends are hinged with front platform 601 and rear platform 603 respectively, in this, between platform 602 and front platform 601 and middle platform 602 and rear platform 603, be provided with lifting mechanism, described front platform 601, a pair of Athey wheel walking mechanism and two DC speed-reducing are all installed on middle platform 602 and rear platform 603, a corresponding Athey wheel walking mechanism of DC speed-reducing 13, described searching mechanism and grasping mechanism are arranged on same reversing frame 604, these reversing frame 604 bottoms are connected with middle platform 602 by rotating shaft, described grasping mechanism comprises mechanical arm 606 and paw 605, one end of described mechanical arm 606 is connected with reversing frame 604, mechanical arm 606 anglec of rotation on reversing frame 604 is controlled by mechanical arm electric rotating machine, mechanical arm 606 other ends are connected with paw 605, the anglec of rotation of arm of unloading is controlled Electric Machine Control by mechanical arm, described searching mechanism comprises paw 26, described paw 26 is arranged on support 608, camera anglec of rotation on support is controlled by camera electric rotating machine, described support 608 rear ends are connected with reversing frame 604, described paw is controlled Electric Machine Control by paw.When running into barrier, owing to being the wheeled chassis of crawler belt, therefore most of obstacle can be crossed, if can not cross, can the platform of one end be raise by lifting motor, so just can cross higher barrier, after clearing the jumps, again platform is reduced and restored, three joint platforms, be no matter advance or fallback procedures in can regulate the lifting at two ends, chassis, realize good obstacle detouring, simultaneously when the larger climb and fall of the gradient, three joint platforms can also make its driving process more stable, are difficult for unbalance and overturning.Finding mechanism and grasping mechanism is arranged on same reversing frame, find mechanism and have three degree of freedom, camera just can be realized 3 D stereo monitoring like this, mechanical arm has four above frees degree, each saves can be crooked up and down between galianconism, paw can rotate with respect to mechanical arm 360 degree, the arm that so just can imitate the mankind is processed explosive, explosive processing action is more flexible, smoothness, and mechanical arm provides power by each steering wheel, this apparatus structure is compact, flexible movements, convenient operation, controls.
Lifting mechanism comprises a lifting motor 610 and a linkage, this lifting motor 610 is arranged on middle platform 602, the output shaft of this lifting motor 610 is vertical with described chassis direction of advance, described linkage comprises first connecting rod 611, second connecting rod 612 and third connecting rod 613, these second connecting rod 612 two ends are hinged with one end of first connecting rod 611 and one end of second connecting rod 612 respectively, the free end of this first connecting rod 611 is fixedly connected with the output shaft of lifting motor 610, and this first connecting rod 611 is vertical with the output shaft of lifting motor 610, the free end of the third connecting rod 613 of the lifting mechanism between middle platform 602 and front platform 601 is fixedly connected with front platform 601, the free end of the third connecting rod 613 of the lifting mechanism between middle platform 602 and rear platform 603 is fixedly connected with rear platform 603.Tai Shen mechanism between middle platform and rear platform, its linkage one end is connected with the output shaft of lifting motor, and the other end is connected with rear platform, the Tai Shen mechanism between middle platform and front platform, its linkage one end is connected with the output shaft of lifting motor, and the other end is connected with front platform.Have two lifting motors to drive respectively Liang Getaishen mechanism, Liang Getaishen mechanism controls respectively the landing of front platform and rear platform, and the angular range of landing is upwards 60 ° to downward 60 °.
On front platform 601, be provided with object standing groove 609, on described middle platform 602, controller 22, battery and radiator be installed, on described rear platform 603, signal transmitting apparatus is installed.Battery is powered to controller and each motor etc., and object standing groove is for drop target thing, signal transmitting apparatus comprise slave computer wireless radio frequency modules with 3G network interface card signal transmitting apparatus for being connected alternately with remote control table.
Compact conformation, small volume, obstacle performance is good, three joint platforms can make explosive-removal robot held stationary in the process of walking, flexible movements, are convenient to automation and control, and control the Omnidirectional rotation of accurately arresting action, camera of explosive-removal robot mechanical arm, can monitor in real time mechanical arm and paw and complete searching location, crawl, the input overall process to dangerous material, the live load of explosive device in the time of reducing camera searching object simultaneously.
Above embodiment is only to illustrate technical scheme of the present invention, be not intended to limit, although the present invention is had been described in detail with reference to above-described embodiment, those of ordinary skills are to be understood that, its technical scheme that still can record above-described embodiment is modified, or part technical characterictic is wherein equal to replacement, and these modifications or replacement, does not make the essence of corresponding technical scheme depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310529413.4A CN103552084B (en) | 2013-10-30 | 2013-10-30 | EOD robot |
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| CN109885068A (en) * | 2019-03-30 | 2019-06-14 | 骞一凡 | A kind of control method and its system that robot advances |
| CN110421581A (en) * | 2019-08-09 | 2019-11-08 | 南京芊玥机器人科技有限公司 | A kind of active vibration damping robot based on curve matching |
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| CN109885068A (en) * | 2019-03-30 | 2019-06-14 | 骞一凡 | A kind of control method and its system that robot advances |
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| CN110421581A (en) * | 2019-08-09 | 2019-11-08 | 南京芊玥机器人科技有限公司 | A kind of active vibration damping robot based on curve matching |
| CN110421581B (en) * | 2019-08-09 | 2022-06-14 | 南京芊玥机器人科技有限公司 | Active damping method of active damping robot based on curve fitting |
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