CN105459123A - Visual explosive ordnance disposal robot - Google Patents
Visual explosive ordnance disposal robot Download PDFInfo
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- CN105459123A CN105459123A CN201510837378.1A CN201510837378A CN105459123A CN 105459123 A CN105459123 A CN 105459123A CN 201510837378 A CN201510837378 A CN 201510837378A CN 105459123 A CN105459123 A CN 105459123A
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Abstract
The invention discloses a visual explosive ordnance disposal robot which comprises a chassis, an explosive ordnance disposal mechanical arm arranged on the chassis, a video acquisition device arranged on the chassis and a control device, wherein the control device is connected with the chassis, the explosive ordnance disposal mechanical arm and the video acquisition device. According to the visual explosive ordnance disposal robot, site conditions can be transmitted to the control device in time through the video acquisition device, wireless control over the explosive ordnance disposal robot is achieved through the control device and a man-machine interaction module; catching and conveying of explosives can be guaranteed through the explosive ordnance disposal mechanical arm, the type of the mechanical arm can be replaced according to the actual requirements, the chassis with the adjustable profile is more suitable for the complex terrain, and travel is stable and reliable.
Description
Technical field
A kind of robot, particularly a kind of visual explosive-removal robot.
Background technology
Along with increase and the day by day fierce struggle against terror of international terrorist, gradually deeply, technology is showing improvement or progress day by day in the research of explosive-removal robot.Abroad, the research starting being applicable to the explosive-removal robot of multiple situation early, has entered practical stage prosperity at present
countrybe widely used in
ministry of National Defencedoor.The technical research of current China to explosive-removal robot is still in the starting stage, and the technology etc. of sensing system, navigation positioning system, control system and Design of Mechanical Structure thereof that explosive-removal robot is correlated with lags far behind prosperity
country.Explosive-removal robot can replace soldier to arrive in adventurous environment, carry out field rescue, prospecting, search, as detection of explosives and warning, real-time Transmission image scene, eliminating and process explosive immediately, it have miniaturization, lightweight, the multiple landform of adaptation, can the feature such as remote monitoring, Remote, have in Military Application field and special hazardous environment extensively and the meaning of deep layer.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of visual explosive-removal robot, field condition can be transferred to control device by video acquisition device by the present invention in time, then realizes the controlled in wireless to explosive-removal robot by control device and human-computer interaction module; Manipulator for explosion eliminating arm can be guaranteed picking up of explosive and transport, and also can change manipulator kind according to actual needs; The chassis of adjustable profile adapts to complicated landform more, and driving stability is reliable.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
Visual explosive-removal robot, comprising: chassis, is placed in the manipulator for explosion eliminating arm on chassis, is placed in the video acquisition device on chassis, the control device of connecting base plate, manipulator for explosion eliminating arm, video acquisition device.
Aforesaid visual explosive-removal robot, chassis comprises: double-deck tempering vehicle frame, be placed in the also adjustable profile at double-deck tempering vehicle frame two ends to adapt to the walking assembly on road surface, be connected to the motor of walking assembly, be connected to motor and control the identical encoder of the rotating speed of above-mentioned motor according to the pid control algorithm of closed loop, to be installed on double-deck tempering vehicle frame and to drive manipulator for explosion eliminating arm to carry out the The Cloud Terrace of 360 degree of rotations.
Aforesaid visual explosive-removal robot, walking assembly composition has: crawler belt, supports crawler belt and driving wheel, the bearing wheels of adjustable radial distance.
Aforesaid visual explosive-removal robot, manipulator for explosion eliminating arm comprises: mechanical jib, is connected to the manipulator for explosion eliminating of mechanical jib, is connected to the steering wheel assembly of mechanical jib and manipulator for explosion eliminating motion.
Aforesaid visual explosive-removal robot, steering wheel assembly composition has: control manipulator for explosion eliminating clamping, unclamp the first steering wheel group of object, control the second steering wheel group, driving device boom frame telescopic and 270 degree of pivotal 3rd steering wheel groups that manipulator for explosion eliminating carries out 360 degree of rotations.
Aforesaid visual explosive-removal robot, video acquisition module comprises: be located at the camera bracket on double-deck tempering vehicle frame, be located at the camera on camera bracket, drives camera in the plane perpendicular to double-deck tempering vehicle frame, do 270 degree of steering wheels rotated.
Aforesaid visual explosive-removal robot, control device comprises: power supply, computer, control the driver module of chassis, manipulator for explosion eliminating arm, video acquisition device operation, be connected to power supply, computer drive the Arduino processor of driver module, between mutual computer and chassis, manipulator for explosion eliminating arm, video acquisition device, the WIFI of information receives and transmitter module.
Aforesaid visual explosive-removal robot, also comprises: the human-computer interaction module being connected to control device.
Aforesaid visual explosive-removal robot, human-computer interaction module comprises: the video communication window of the colored two dimensional image that display video harvester obtains in real time, display WIFI receives the instrument board of the rotating speed of the motor passed back with transmitter module, controls the operation and control interface of manipulator for explosion eliminating arm and video acquisition device.
Usefulness of the present invention is: the invention provides a kind of visual explosive-removal robot, field condition can be transferred to control device by video acquisition device by the present invention in time, then realizes the controlled in wireless to explosive-removal robot by control device and human-computer interaction module; Manipulator for explosion eliminating arm can be guaranteed picking up of explosive and transport, and also can change manipulator kind according to actual needs; The chassis of adjustable profile adapts to complicated landform more, and driving stability is reliable.
Accompanying drawing explanation
fig. 1it is the structural representation of a kind of embodiment on chassis of the present invention
figure;
fig. 2it is the structural representation of a kind of embodiment of manipulator for explosion eliminating arm of the present invention
figure;
fig. 3it is the structural representation of a kind of embodiment of video acquisition device of the present invention
figure;
fig. 4it is the structural representation of a kind of embodiment of control device of the present invention
figure;
fig. 5it is pid algorithm principle of the present invention signal
figure;
fig. 6it is the workflow signal of control device of the present invention
figure;
accompanying drawing in figurethe implication of mark:
1 chassis, 2 manipulator for explosion eliminating arms, 3 video acquisition devices, 4 control device, 5 power supplys, 6 double-deck tempering vehicle frames, 7 The Cloud Terraces, 8 crawler belts, 9 driving wheels, 10 bearing wheels, 11 encoders, 12 motors, 13 manipulator for explosion eliminatings, 14 mechanical jibs, 15 first steering wheel groups, 16 second steering wheel groups, 17,18,19 the 3rd steering wheel groups, 20 cameras, 21 camera brackets, 22 steering wheels, 23Arduino processor, 24WIFI receives and transmitter module, 25 driver modules.
Detailed description of the invention
Below in conjunction with
accompanying drawingwith specific embodiment, concrete introduction is done to the present invention.
Visual explosive-removal robot, comprising: chassis 1, is placed in the One On The Chassis manipulator for explosion eliminating arm 2, is placed in the One On The Chassis video acquisition device 3, the control device 4 of connecting base plate 1, manipulator for explosion eliminating arm 2, video acquisition device 3.
Chassis 1 comprises: double-deck tempering vehicle frame 6, be placed in the also adjustable profile at double-deck tempering vehicle frame 6 two ends to adapt to the walking assembly on road surface, be connected to the motor 12 of walking assembly, be connected to motor 12 and control the identical encoder 11 of the rotating speed of above-mentioned motor 12 according to the pid control algorithm of closed loop, to be installed on double-deck tempering vehicle frame 6 and to drive manipulator for explosion eliminating arm 2 to carry out the The Cloud Terrace 7 of 360 degree of rotations, preferred as one, The Cloud Terrace 7 is cradle head of two degrees of freedom 7, cradle head of two degrees of freedom 7 is by steering wheel, acrylic pole and bearing are formed, there is larger bearing capacity, very little rotation friction, preferred as one, motor 12 is direct current generator.
Walking assembly composition has: crawler belt 8, supports driving wheel 9, the bearing wheels 10 of crawler belt 8 adjustable radial distance.It should be noted that, crawler belt 8 is supported by the BOGEY WHEEL at two ends, chassis 1 and driving wheel 9, frictional force is large, there are good obstacle detouring and riding stability, chassis 1 one end BOGEY WHEEL and driving wheel 9 add up to 6, the radial position of suitable adjustment BOGEY WHEEL and driving wheel 9 can change the profile of extraordinary crawler belt 8, to adapt to different terrain.
Manipulator for explosion eliminating arm 2 comprises: mechanical jib 14, is connected to the manipulator for explosion eliminating 13 of mechanical jib 14, is connected to the steering wheel assembly of mechanical jib 14 and manipulator for explosion eliminating 13 motion.Steering wheel assembly composition has: control the first steering wheel group 15 that manipulator for explosion eliminating 13 clamped, unclamped object, control the second steering wheel group 16 that manipulator for explosion eliminating 13 carries out 360 degree of rotations, driving device jib 14 stretches and 270 degree of pivotal 3rd steering wheel groups (17,18,19).It should be noted that: the first steering wheel group 15, second steering wheel group the 16, three steering wheel group (17,18,19) comprising: at least one steering wheel; Steering wheel number adds as required.
Video acquisition module comprises: be located at the camera bracket 21 on double-deck tempering vehicle frame 6, is located at the camera 20 on camera bracket 21, drives camera 20 in the plane perpendicular to double-deck tempering vehicle frame 6, do 270 degree of steering wheels 22 rotated.
Control device 4 comprises: power supply 5, computer, control the driver module 25 of chassis 1, manipulator for explosion eliminating arm 2, video acquisition device 3 operation, be connected to power supply 5, computer drive the Arduino processor 23 of driver module 25, between mutual computer and chassis 1, manipulator for explosion eliminating arm 2, video acquisition device 3, the WIFI of information receives and transmitter module 24.Communication program, PC monitoring programme, this kind of embedded software program of pid algorithm program is provided with in computer.In the middle part of double-deck tempering vehicle frame 6 upper strata or rear arranges video acquisition module, and Arduino processor 23 is placed by lower floor, WIFI receives and transmitter module 24, driver module 25 and dc source 5.The associ-ated motion parameters of the data that video acquisition module obtains and explosive-removal robot directly sends WIFI signal by Arduino processor 23 and sends computer to, and computer is sent action order by the Arduino processor 23 of WIFI signal to explosive-removal robot and received the video of Arduino processor 23 real-time Transmission or the rotating speed of motor 12 by obtaining after decoding at two ends, chassis 1.Arduino processor 23 controls explosive-removal robot by driver module 25, receive with WIFI and be connected by serial ports with transmitter module 24, the instruction of Remote is received in the coverage of WIFI network, control the first steering wheel group 15, second steering wheel group 16,3rd steering wheel group (17,18,19), and the steering wheel of video acquisition module.
Pid control algorithm program keeps two ends direct current generator 12 rotating speed of double-deck tempering vehicle frame 6 identical: concrete grammar comprises: encoder 11 is arranged on direct current generator 12 rear, measure rotating speed and corner, the rotating speed that encoder 11 in left and right direct current generator 12 feeds back is sent in Arduino processor 23, processor obtains the electric impulse signal of direct current generator 12 rear encoder 11, be processed into the rotary speed information of direct current generator 12, calculate the speed discrepancy of two ends direct current generator 12, according to speed discrepancy, carry out PID proportion adjustment to increase or to reduce the performance number of right direct current generator 12, thus it is consistent to reach left and right sidesing driving wheel 9 rotating speed, and two driving wheel 9 tachometer values are uploaded to human-computer interaction interface display.Set up the pid control algorithm of a closed loop, eliminate the speed discrepancy of the extraordinary crawler belt 8 in both sides.The instruction of pid algorithm is: val_you=(float) val_you+ (rpm1-rpm2) * 0.4; In formula, rpm1 is the rotating speed of left direct current generator 12; Rpm2 is the rotating speed of right direct current generator 12; Val_you is the pwm power value having direct current generator 12.The speed discrepancy of left and right direct current generator 12 is multiplied by scale factor 0.4 and is added to the val_you that last PID calculates, and obtains as front right direct current generator 12PWM performance number val_you.If left direct current generator 12 rotating speed rpm1 is lower, then known from formula than right direct current generator 12 rotating speed rpm2, automatically can reduces right motor 12 performance number val_you, perform PID control program, to reach the consistent object of two direct current generator 12 rotating speeds by circulation.
fig. 3the rotating speed that middle R (T) is system assigned value and left and right direct current generator 12, when encoder 11 is by the electric impulse signal of direct current generator 12 input PID control system, by system assigned value R (T), calculate system deviation E (T), the calculating of passing ratio (P) link, integration (I) link, differential (D) link again, export actual output quantity C (T) at short notice, namely need the performance number of the right motor 12 increasing or reduce.
Visual explosive-removal robot, also comprises: the human-computer interaction module being connected to control device 4.Human-computer interaction module comprises: the video communication window of the colored two dimensional image that display video harvester 3 obtains in real time, display WIFI receives the instrument board of the rotating speed of the motor 12 passed back with transmitter module 24, controls the operation and control interface of manipulator for explosion eliminating arm 2 and video acquisition device 3.Operation interface can manipulate the first steering wheel group 15, second steering wheel group the 16, three steering wheel group (17,18,19), and the anglec of rotation of the steering wheel 22 of video acquisition module, and then manipulation manipulator for explosion eliminating arm 2 and camera 20, make manipulator for explosion eliminating 13 simultaneously, mechanical jib 14 playbacks.
The invention provides a kind of visual explosive-removal robot, field condition can be transferred to control device 4 by video acquisition device 3 by the present invention in time, then realizes the controlled in wireless to explosive-removal robot by control device 4 and human-computer interaction module; Manipulator for explosion eliminating arm 2 can be guaranteed picking up of explosive and transport, and also can change manipulator kind according to actual needs; The chassis 1 of adjustable profile adapts to complicated landform more, and driving stability is reliable.
More than show and describe general principle of the present invention, principal character and advantage.The technical staff of the industry should understand, and above-described embodiment does not limit the present invention in any form, the technical scheme that the mode that all employings are equal to replacement or equivalent transformation obtains, and all drops in protection scope of the present invention.
Claims (9)
1. visual explosive-removal robot, is characterized in that, comprising: chassis, is placed in the manipulator for explosion eliminating arm on above-mentioned chassis, is placed in the video acquisition device on above-mentioned chassis, connects the control device of above-mentioned chassis, manipulator for explosion eliminating arm, video acquisition device.
2. visual explosive-removal robot according to claim 1, it is characterized in that, above-mentioned chassis comprises: double-deck tempering vehicle frame, be placed in the also adjustable profile at above-mentioned double-deck tempering vehicle frame two ends to adapt to the walking assembly on road surface, be connected to the motor of above-mentioned walking assembly, be connected to above-mentioned motor and control the identical encoder of the rotating speed of above-mentioned motor according to the pid control algorithm of closed loop, to be installed on above-mentioned double-deck tempering vehicle frame and to drive above-mentioned manipulator for explosion eliminating arm to carry out the The Cloud Terrace of 360 degree of rotations.
3. visual explosive-removal robot according to claim 2, is characterized in that, above-mentioned walking assembly composition has: crawler belt, supports above-mentioned crawler belt and driving wheel, the bearing wheels of adjustable radial distance.
4. visual explosive-removal robot according to claim 1, is characterized in that, above-mentioned manipulator for explosion eliminating arm comprises: mechanical jib, is connected to the manipulator for explosion eliminating of above-mentioned mechanical jib, is connected to the steering wheel assembly of above-mentioned mechanical jib and manipulator for explosion eliminating motion.
5. visual explosive-removal robot according to claim 4, it is characterized in that, above-mentioned steering wheel assembly composition has: control the clamping of above-mentioned manipulator for explosion eliminating, unclamp the first steering wheel group of object, control the second steering wheel group that above-mentioned manipulator for explosion eliminating carries out 360 degree of rotations, drive above-mentioned mechanical boom frame telescopic and 270 degree of pivotal 3rd steering wheel groups.
6. visual explosive-removal robot according to claim 1, it is characterized in that, above-mentioned video acquisition module comprises: be located at the camera bracket on above-mentioned double-deck tempering vehicle frame, be located at the camera on above-mentioned camera bracket, drive above-mentioned camera in the plane perpendicular to above-mentioned double-deck tempering vehicle frame, do 270 degree of steering wheels rotated.
7. visual explosive-removal robot according to claim 1, it is characterized in that, above-mentioned control device comprises: power supply, computer, control the driver module of above-mentioned chassis, manipulator for explosion eliminating arm, video acquisition device operation, be connected to above-mentioned power supply, computer drive the Arduino processor of above-mentioned driver module, between mutual computer and chassis, manipulator for explosion eliminating arm, video acquisition device, the WIFI of information receives and transmitter module.
8. visual explosive-removal robot according to claim 7, is characterized in that, also comprise: the human-computer interaction module being connected to above-mentioned control device.
9. visual explosive-removal robot according to claim 8, it is characterized in that, above-mentioned human-computer interaction module comprises: the video communication window showing the colored two dimensional image that above-mentioned video acquisition device obtains in real time, show the instrument board that above-mentioned WIFI receives the rotating speed of the motor passed back with transmitter module, control the operation and control interface of above-mentioned manipulator for explosion eliminating arm and video acquisition device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510837378.1A CN105459123A (en) | 2015-11-26 | 2015-11-26 | Visual explosive ordnance disposal robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510837378.1A CN105459123A (en) | 2015-11-26 | 2015-11-26 | Visual explosive ordnance disposal robot |
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| CN105459123A true CN105459123A (en) | 2016-04-06 |
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| CN201510837378.1A Pending CN105459123A (en) | 2015-11-26 | 2015-11-26 | Visual explosive ordnance disposal robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406726A (en) * | 2018-01-24 | 2018-08-17 | 陕西科技大学 | A kind of wheel type movable machine explosive-removal robot |
| CN109382811A (en) * | 2018-11-28 | 2019-02-26 | 中国人民解放军陆军工程大学 | Vehicle-mounted explosive-handling manipulator |
| CN109623833A (en) * | 2018-11-30 | 2019-04-16 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Rescue robot |
| CN114260923A (en) * | 2022-02-09 | 2022-04-01 | 航天科工智能机器人有限责任公司 | Explosive-handling robot and explosive-handling method thereof |
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Application publication date: 20160406 |
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