CN103552084B - Explosive-removal robot - Google Patents
Explosive-removal robot Download PDFInfo
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- CN103552084B CN103552084B CN201310529413.4A CN201310529413A CN103552084B CN 103552084 B CN103552084 B CN 103552084B CN 201310529413 A CN201310529413 A CN 201310529413A CN 103552084 B CN103552084 B CN 103552084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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Abstract
A kind of explosive-removal robot, it is characterized in that, comprise host computer remote control platform and slave computer parametric controller, described host computer remote control platform comprises computer, server, host computer wireless radio frequency modules and network base station; Described slave computer parametric controller comprises slave computer wireless radio frequency modules, controller, motion module, 3G network interface card, image processor, camera and signal acquisition module.Beneficial effect of the present invention is: robot volume is miniaturized, and stable performance, wireless radio frequency transmission, apart from moderate, can monitor or remote monitoring by multiple computers simultaneously.Not easily there is the accidents such as rollover in the such robot of control system rationally distributedization when operating.The running precision of motion module is high, compact conformation, small volume, and obstacle performance is good, and three joint platforms can make explosive-removal robot held stationary in the process of walking, flexible movements.
Description
Technical field
The present invention relates to explosive-removal robot field, specifically, is a kind of explosive-removal robot.
Background technology
Increasingly serious along with global anti-terrorism situation, the attack of terrorism at home and abroad occurs again and again, and armed forces and the demand of security protection department to explosive-removal robot of various countries are huge.The explosive-removal robot product cost that current domestic and international market is released is 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 comparatively morning.The American-European capitalist country such as Britain, France, Germany, the U.S. successively expands 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 product all civil nature, is active in the numerous areas such as security protection, mine, chemical industry, dangerous goods production.The research emphasis of current explosive-removal robot technology is, allows robot have more autonomic function, finally develops energy image processor, detection, explosive, enemy and we identify, automatically attacks the intelligent explosive-removal robot of unfriendly target.
Britain becomes the country taking the lead in researching and developing explosive-removal robot." handcart " produced by AB Electronic Products Corporation is one of crawler type explosive-removal robot the earliest, becomes the pioneer of explosive-removal robot.The control system of " handcart " is made up of host computer and slave computer two part, between carry out communication by the long cable of 100 meters.Host computer is furnished with manipulation button, can manipulate each joint action of robot.China for various reasons, to explosive-removal robot start late technical merit obviously fall behind and western developed country.Recent years, country increased 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 even surmounted international most advanced level.
Two problems in conjunction with the explosive-removal robot released both at home and abroad exists:
1. explosive-removal robot makes complex structure to install a large amount of equipments, 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 in a large number because cost is too high, causes a large amount of use manually explosive, which increases the danger of explosive staff.
And can be summarized as the shortcoming that explosive-removal robot aspect exists: build is huge, and cost is high, structure disperses, and layout is unbalance, and video paw sync rates is low.Control method is complicated, motion, malfunction, cannot adapt to complicated landform.
Summary of the invention
In order to solve the problem, the present invention proposes the explosive-removal robot 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 kind of explosive-removal robot control system, it is characterized in that, comprise host computer remote control platform and slave computer parametric controller, 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 by network base station transmitting-receiving 3G signal; Described slave computer parametric controller comprises 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, connect with communication line between module, so modular system easily checks mistake on stream, can directly change this module if there is mistake, easy to operate.Miniaturization is to allow this robot have more spaces to utilize or can according to the module of miniaturization by little for changing of the volume adequacy of explosive-removal robot.Rationalization is by rational for control system layout and reasonably installs, and such robot, when operating, the accidents such as rollover not easily occurs.Any computer can connect Internet network can collect the vision signal coming from slave computer parametric controller on host computer remote control platform server, facilitates multiple computers to monitor and/or remote monitoring simultaneously.
Further technical scheme is that motion module comprises camera electric rotating machine, mechanical arm controls motor, paw controls motor, mechanical arm electric rotating machine, DC speed-reducing and lifting motor.
Camera electric rotating machine controls camera and rotates, mechanical arm controls each articulation of Electric Machine Control machinery arm, paw controls the folding amplitude of Electric Machine Control paw, mechanical arm electric rotating machine controls mechanical arm and base, relative motion between mechanical arm and paw, DC speed-reducing is that the forward-reverse 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 controlling motor working current for gathering paw.
This current signal collector is mainly used in comparing with predetermined current, thus 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, enter 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 controls each motor and drives.Host computer is analyzed video, sends control instruction.
A2, judge whether have object in course: 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, control electric rotating machine and drive camera angularly β rotation, and cumulative number of revolutions n, then return steps A 2;
Searching object is increased progressively, record number of revolutions by a special angle.
A4; Host computer calculates rotation angle of camera, starts DC speed-reducing and makes slave computer rotate same angle, and by camera spinning reduction; Then steps A 5 is entered;
The anglec of rotation equals number of revolutions n and takes advantage of angle beta, slave computer is rotated to the direction facing object, and camera spinning reduction.
A5, judge on video image course in whether have 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 step, then returns steps A 2;
A6, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing and advance forward, after time delay s second, stop moving ahead, enter steps A 7;
A7, judge object 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 steps A 6;
A8, host computer send crawl signal to slave computer, and start mechanical arm electric rotating machine, mechanical arm controls motor, paw controls motor, the crawl of realize target thing, enters steps A 9;
A9, to be detected paw by current signal collector and control the electric current of motor and whether equal predetermined current, when the electric current that paw controls motor equals predetermined current, enter steps A 10, when the electric current that paw controls motor 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 that current signal collector collects equals predetermined current, illustrates that paw has caught object.
A10, host computer send collection signal to slave computer, and object is collected the object standing groove into slave computer by startup mechanical arm electric rotating machine, mechanical arm control motor, paw control motor;
A11, judge to collect whether success by video image, terminating when collecting successfully, when collection is unsuccessful, returning steps A 8.
If there is the unsuccessful situation of collection, be probably after paw captures object, object landing, so again perform steps A 8 to re-start crawl.If collect successfully, then complete explosive work.
Further technical scheme obstacle detouring step is:
Whether B1, disturbance in judgement thing can be crossed: when crossing, enter step B3, when crossing, enter step B2;
Disturbance in judgement thing size, shape, if be applicable to crossing, just crosses, and just detours if be not suitable for crossing.
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, terminates obstacle detouring step after turning;
Both sides DC speed-reducing speed difference just can realize the turning of slave computer.The direction that steps A 2 reorientates object is returned to after having turned.
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 and slave computer is advanced forward, after surmounting obstacles, enter step B5;
B5, host computer send to slave computer and recover lifting signal, and slave computer lifting motor sets back, and puts down slave computer front end, terminates obstacle detouring step.
A kind of explosive-removal robot, slave computer comprises chassis and the searching mechanism that is arranged on chassis and grasping mechanism, described chassis comprises the front platform connected successively, middle platform and rear platform, described middle platform two ends respectively with front platform and rear platform hinged, platform and front platform and be provided with lifting mechanism between middle platform and rear platform in this, described front platform, middle platform and rear platform are all provided with a pair Athey wheel walking mechanism and two DC speed-reducing, 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 controls Electric Machine Control by mechanical arm, described searching mechanism comprises camera, described camera 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 controls Electric Machine Control by paw.
When running into barrier, owing to being the chassis of Track-wheel type, therefore most of obstacle can be crossed, if can not cross, by lifting motor, the platform of one end can be raised, so just can cross higher barrier, again platform is reduced after clearing the jumps and restore, three joint platforms, no matter be the lifting that can regulate two ends, chassis in advance or fallback procedures, realize good obstacle detouring, simultaneously when the climb and fall that the gradient is larger, three joint platforms can also make its driving process more stable, not easily unbalance and overturning.Searching mechanism and grasping mechanism are arranged on same reversing frame, find mechanism and have three degree of freedom, such camera just can realize 3 D stereo monitoring, mechanical arm has more than four frees degree, can bend up and down between each joint galianconism, paw can relative to mechanical arm 360 degree rotation, the arm that so just can imitate the mankind processes explosive, explosive process action is more flexible, and smooth, 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 respectively with one end of first connecting rod and one end of second connecting rod hinged, 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 with front platform is fixedly connected with front platform, middle platform is fixedly connected with rear platform with the free end of the third connecting rod of the lifting mechanism between 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.Namely have two lifting motors to drive Liang Getaishen mechanism respectively, Liang Getaishen mechanism controls the landing of front platform and rear platform respectively, and the angular range of landing is upwards 60 ° to downward 60 °.
Further technical scheme is that front platform is provided with object standing groove, described middle platform is provided with controller, battery and radiator, described rear platform is provided with signal transmitting apparatus.
Battery is powered to controller and each motor etc., and object standing groove is used for drop target thing, and signal transmitting apparatus comprises 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: connect with communication line between module, and so modular system easily checks mistake on stream, can directly change this module just if there is mistake.Miniaturization is to allow this robot have more spaces to utilize or can according to the module of miniaturization by little for changing of the volume adequacy of explosive-removal robot.Rationalization is by rational for control system layout and reasonably installs, and such robot, when operating, the accidents such as rollover not easily occurs.The running precision of motion module is high, stable performance, and wireless radio frequency transmission is apart from moderate.Any computer can collect the vision signal coming from slave computer parametric controller on 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 Automated condtrol, control the Omnidirectional rotation of accurately arresting action, camera of explosive-removal robot mechanical arm, mechanical arm and paw can be monitored in real time complete and locate the searching of dangerous material, capture, throw in overall process, the live load of explosive device when camera finds object can be reduced 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.
Detailed description of the invention
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, enter 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 controls each motor and drives.Host computer is analyzed video, sends control instruction.
A2, judge whether have object in course: when not finding object, enter steps A 3; When finding object, enter steps A 4; Find object then calibrate, make camera and slave computer main body be in same towards.Do not find that object then carries out selection search object, until find object.
A3, host computer send camera rotating signal to slave computer, control electric rotating machine and drive camera angularly β rotation, and cumulative number of revolutions n, then return steps A 2; Rotate searching object in the same direction by a special angle β, 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 will obtain lock onto target object space position more accurately, is suitable for selecting low-angle to carry out rotation and is preferably 5 degree, all right Selection radio as 1 degree, 2 degree, 10 degree etc.Often turn once, number of revolutions adds 1, facilitates later step, confirms the angle that camera rotates.
A4; Host computer calculates rotation angle of camera, starts DC speed-reducing and makes slave computer rotate same angle, and by camera spinning reduction; Then steps A 5 is entered; The anglec of rotation equals number of revolutions n and takes advantage of angle beta, slave computer is rotated to the direction facing object, and camera spinning reduction.
A5, judge on video image course in whether have 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 step, then returns steps A 2;
A6, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing and advance forward, after time delay s second, stop moving ahead, enter steps A 7; S is positive number, s second in order that slave computer moves ahead, instead of does not stop to move ahead always.S is changeable for second, in also far from object, can time delay longer, when fast close to object time, can delay time be reduced, select the translational speed also needing to consider slave computer during the time moved ahead.
A7, judge object 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 steps A 6; , whether later discriminating s second that moves ahead is arrived at object and is captured scope, if coverage area just carries out next step crawl step, again advances if do not have reach just to return steps A 6.Crawl scope can stretching by mechanical arm after length, the length of paw, mechanical arm three, fixed position key element determine, determined the maximum radius of crawl scope by the actual conditions of three, judge object thus whether within the scope of crawl.The maximum radius of crawl scope should not exceed mechanical arm stretching after length machine add the length of paw.
A8, host computer send crawl signal to slave computer, and start mechanical arm electric rotating machine, mechanical arm controls motor, paw controls motor, the crawl of realize target thing, enters steps A 9;
A9, to be detected paw by current signal collector and control the electric current of motor and whether equal predetermined current, when the electric current that paw controls motor equals predetermined current, enter steps A 10, when the electric current that paw controls motor 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 collected when current signal collector changes, and when equaling predetermined current, illustrates that paw has caught object.
A10, host computer send collection signal to slave computer, and object is collected the object standing groove into slave computer by startup mechanical arm electric rotating machine, mechanical arm control motor, paw control motor;
A11, judge to collect whether success by video image, terminating when collecting successfully, when collection is unsuccessful, returning steps A 8.If there is the unsuccessful situation of collection, be probably after paw captures object, object landing, so again perform steps A 8 to re-start crawl.If collect successfully, then 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 when finding that there is barrier in the course on video image, host computer sends obstacle detouring instruction to slave computer, enter obstacle detouring step, after completing obstacle detouring step, return steps A 2; Wherein obstacle detouring step is:
Whether B1, disturbance in judgement thing can be crossed: when crossing, enter step B3, when crossing, enter step B2; Disturbance in judgement thing size, shape, if be applicable to crossing, just crosses, and just detours if be not suitable for crossing.
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, terminates obstacle detouring step after turning; Both sides DC speed-reducing speed difference just can realize the turning of slave computer.The direction that steps A 2 reorientates object is returned to after having turned.
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 and slave computer is advanced forward, after surmounting obstacles, enter step B5;
B5, host computer send to slave computer and recover lifting signal, and slave computer lifting motor sets back, and puts down slave computer front end, terminates 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 parametric controller 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 receives and dispatches 3G signal by network base station 14; Described slave computer parametric controller 2 comprises 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 receives and dispatches 3G network signal by 3G network interface card 24; Host computer wireless radio frequency modules 12 is connected by radio frequency signal with slave computer wireless radio frequency modules 21.
Connect with communication line between module, so modular system easily checks mistake on stream, can directly change this module if there is mistake, easy to operate.Miniaturization is to allow this robot have more spaces to utilize or can according to the module of miniaturization by little for changing of the volume adequacy of explosive-removal robot.Rationalization is by rational for control system layout and reasonably installs, and such robot, when operating, the accidents such as rollover not easily occurs.Any computer can connect Internet network can collect the vision signal coming from slave computer parametric controller on host computer remote control platform server, facilitates multiple computers to monitor and/or remote monitoring simultaneously.
Motion module 23 comprises camera electric rotating machine, mechanical arm controls motor, paw controls motor, mechanical arm electric rotating machine, DC speed-reducing and lifting motor.Camera electric rotating machine controls camera and rotates, mechanical arm controls each articulation of Electric Machine Control machinery arm, paw controls the folding amplitude of Electric Machine Control paw, mechanical arm electric rotating machine controls mechanical arm and base, relative motion between mechanical arm and paw, DC speed-reducing is that the forward-reverse controlling slave computer walking mechanism is turned, lifting Electric Machine Control slave computer.
Signal acquisition module 27 comprises the current signal collector controlling motor working current for gathering paw.This current signal collector is mainly used in comparing with predetermined current, thus judges whether paw has caught object.
Real-time pictures catches by camera 26, passed to the network base station 14 of host computer remote control platform by 3G network interface card 24 after image processor 25 processes, computer 11 is sent to by server 13 after network base station 14 receives signal, through thinking after identification, send control instruction by computer 11 and be sent to slave computer wireless radio frequency modules 21 through host computer wireless radio frequency modules 12, after controller 22 receives instruction, camera electric rotating machine in controlled motion module 23, mechanical arm controls motor, paw controls motor, mechanical arm electric rotating machine, DC speed-reducing and lifting motor action, each step action all completes under the supervision of camera 26, be convenient to control.
As shown in Figure 4, a kind of explosive-removal robot, slave computer comprises chassis and the searching mechanism that is arranged on chassis and grasping mechanism, described chassis comprises the front platform 601 connected successively, middle platform 602 and rear platform 603, described middle platform 602 two ends respectively with front platform 601 and rear platform 603 hinged, platform 602 and front platform 601 and be provided with lifting mechanism between middle platform 602 and rear platform 603 in this, described front platform 601, middle platform 602 and rear platform 603 are all provided with a pair Athey wheel walking mechanism and two DC speed-reducing, a corresponding Athey wheel walking mechanism of DC speed-reducing, described searching mechanism and grasping mechanism are arranged on same reversing frame 604, this reversing frame 604 bottom is 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 end is connected with paw 605, the anglec of rotation of arm of unloading controls Electric Machine Control by mechanical arm, described searching mechanism comprises camera 26, described camera 26 is arranged on support 608, camera anglec of rotation on support is controlled by camera electric rotating machine, described support 608 rear end is connected with reversing frame 604, described paw controls Electric Machine Control by paw.When running into barrier, owing to being the chassis of Track-wheel type, therefore most of obstacle can be crossed, if can not cross, by lifting motor, the platform of one end can be raised, so just can cross higher barrier, again platform is reduced after clearing the jumps and restore, three joint platforms, no matter be the lifting that can regulate two ends, chassis in advance or fallback procedures, realize good obstacle detouring, simultaneously when the climb and fall that the gradient is larger, three joint platforms can also make its driving process more stable, not easily unbalance and overturning.Searching mechanism and grasping mechanism are arranged on same reversing frame, find mechanism and have three degree of freedom, such camera just can realize 3 D stereo monitoring, mechanical arm has more than four frees degree, can bend up and down between each joint galianconism, paw can relative to mechanical arm 360 degree rotation, the arm that so just can imitate the mankind processes explosive, explosive process action is more flexible, and smooth, 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 respectively with one end of first connecting rod 611 and one end of second connecting rod 612 hinged, 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 with front platform 601 is fixedly connected with front platform 601, middle platform 602 is fixedly connected with rear platform 603 with the free end of the third connecting rod 613 of the lifting mechanism between 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.Namely have two lifting motors to drive Liang Getaishen mechanism respectively, Liang Getaishen mechanism controls the landing of front platform and rear platform respectively, and the angular range of landing is upwards 60 ° to downward 60 °.
Front platform 601 is provided with object standing groove 609, described middle platform 602 is provided with controller 22, battery and radiator, described rear platform 603 is provided with signal transmitting apparatus.Battery is powered to controller and each motor etc., and object standing groove is used for drop target thing, and signal transmitting apparatus comprises 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 Automated condtrol, control the Omnidirectional rotation of accurately arresting action, camera of explosive-removal robot mechanical arm, mechanical arm and paw can be monitored in real time complete and locate the searching of dangerous material, capture, throw in overall process, the live load of explosive device when camera finds object can be reduced simultaneously.
Above embodiment is only to illustrate technical scheme of the present invention, be not intended to limit, although with reference to above-described embodiment to invention has been detailed description, those of ordinary skill in the art are to be understood that, it still can be modified to the technical scheme described in above-described embodiment, or equivalent replacement is carried out to wherein portion of techniques feature, and these amendments or replace, do not make the essence of corresponding technical scheme depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (3)
1. an explosive-removal robot, its control system comprises host computer remote control platform (1) and slave computer parametric controller (2), and 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), computer (11) is connected with server (13) by Internet network, and server (13) is by network base station (14) transmitting-receiving 3G signal; Described slave computer parametric controller (2) comprises 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), controller (22) is connected with slave computer wireless radio frequency modules (21), camera (26) is connected with image processor (25), and image processor (25) is by 3G network interface card (24) transmitting-receiving 3G network signal; Host computer wireless radio frequency modules (12) is connected by radio frequency signal with slave computer wireless radio frequency modules (21);
Described motion module (23) comprises camera electric rotating machine, mechanical arm controls motor, paw controls motor, mechanical arm electric rotating machine, DC speed-reducing and lifting motor;
Described signal acquisition module (27) comprises the current signal collector controlling motor working current for gathering paw;
The concrete steps of its control method are:
A1, unlatching slave computer camera, obtain camera video signal by 3G network, enter steps A 2;
A2, judge whether have object in course: 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, control electric rotating machine and drive camera angularly β rotation, and cumulative number of revolutions n, then return steps A 2;
A4; Host computer calculates rotation angle of camera, starts DC speed-reducing and makes slave computer rotate same angle, and by camera spinning reduction; Then steps A 5 is entered;
A5, judge on video image course in whether have 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 step, then returns steps A 2;
A6, host computer send to slave computer the signal that moves ahead, and start DC speed-reducing and advance forward, after time delay s second, enter steps A 7;
A7, judge object 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 steps A 6;
A8, host computer send crawl signal to slave computer, and start mechanical arm electric rotating machine, mechanical arm controls motor, paw controls motor, the crawl of realize target thing, enters steps A 9;
A9, to be detected paw by current signal collector and control the electric current of motor and whether equal predetermined current, when the electric current that paw controls motor equals predetermined current, enter steps A 10, when the electric current that paw controls motor is not equal to predetermined current, enter steps A 8;
A10, host computer send collection signal to slave computer, and object is collected the object standing groove into slave computer by startup mechanical arm electric rotating machine, mechanical arm control motor, paw control motor;
A11, judge to collect whether success by video image, terminating when collecting successfully, when collection is unsuccessful, returning steps A 8;
Wherein said obstacle detouring step is:
Whether B1, disturbance in judgement thing can be crossed: when crossing, enter step B3, when crossing, enter step B2;
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, terminates obstacle detouring step after turning;
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 and slave computer is advanced forward, after surmounting obstacles, enter step B5;
B5, host computer send to slave computer and recover lifting signal, and slave computer lifting motor sets back, and puts down slave computer front end, terminates obstacle detouring step;
It is characterized in that, slave computer comprises chassis and the searching mechanism that is arranged on chassis and grasping mechanism, described chassis comprises the front platform (601) connected successively, middle platform (602) and rear platform (603), described middle platform (602) two ends respectively with front platform (601) and rear platform (603) hinged, platform (602) and front platform (601) and be provided with lifting mechanism between middle platform (602) and rear platform (603) in this, described front platform (601), middle platform (602) and rear platform (603) are all provided with a pair Athey wheel walking mechanism and two DC speed-reducing, a corresponding Athey wheel walking mechanism of DC speed-reducing, described searching mechanism and grasping mechanism are arranged on same reversing frame (604), this reversing frame (604) bottom is 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) is controlled by mechanical arm electric rotating machine in the upper anglec of rotation of reversing frame (604), mechanical arm (606) other end is connected with paw (605), paw (605) can relative to mechanical arm (606) 360 degree rotation, the anglec of rotation of mechanical arm (606) controls Electric Machine Control by mechanical arm, described searching mechanism comprises camera (26), described camera (26) is rack-mount, camera (26) is controlled by camera electric rotating machine in the upper anglec of rotation of support (608), described support (608) rear end is connected with reversing frame (604), described paw controls Electric Machine Control by paw.
2. explosive-removal robot according to claim 1, it is characterized in that, described 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), this second connecting rod (612) two ends respectively with one end of first connecting rod (611) and one end of second connecting rod (612) hinged, 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) with 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) with rear platform (603) is fixedly connected with rear platform (603).
3. explosive-removal robot according to claim 1, it is characterized in that, front platform (601) is provided with object standing groove (609), described middle platform (602) is provided with controller (22), battery and radiator, and (603) are provided with signal transmitting apparatus to described rear platform.
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| CN104942811B (en) * | 2015-06-15 | 2017-01-04 | 河池学院 | Explosive-removal robot control system |
| CN105763843A (en) * | 2015-10-06 | 2016-07-13 | 张启昭 | Remote watch system, and shooting end and watch end thereof |
| CN107305371A (en) * | 2016-04-25 | 2017-10-31 | 中信重工开诚智能装备有限公司 | Fire-fighting robot body master control system parameter testing and performance test apparatus |
| CN107067703A (en) * | 2017-03-29 | 2017-08-18 | 安科机器人有限公司 | explosive removing system |
| CN109885068B (en) * | 2019-03-30 | 2021-12-24 | 骞一凡 | Robot traveling control method and system |
| 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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