CN107671864B - Arrange and explode robot intelligence control system - Google Patents
Arrange and explode robot intelligence control system Download PDFInfo
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- CN107671864B CN107671864B CN201710816027.1A CN201710816027A CN107671864B CN 107671864 B CN107671864 B CN 107671864B CN 201710816027 A CN201710816027 A CN 201710816027A CN 107671864 B CN107671864 B CN 107671864B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40195—Tele-operation, computer assisted manual operation
Abstract
The invention discloses an intelligent control system of an explosive-handling robot, which comprises: the explosive-handling robot local remote control platform and the ground station control platform; the local remote control platform of the explosive-handling robot comprises: the system comprises a first network bridge, a first switch, an image processing subsystem, a positioning subsystem and a driving subsystem. The invention is based on the image processing subsystem positioning subsystem and the driving subsystem, realizes the information interaction with the ground station control platform through each exchanger and network bridge, completes the intelligent control of the explosive-handling robot, has compact structure and reasonable layout, and can realize the stable control of the explosive-handling robot.
Description
Technical Field
The invention belongs to the technical field of explosive-handling robots, and particularly relates to an intelligent control system of an explosive-handling robot.
Background
The explosive disposal robot is a special equipment for disposing or destroying explosive doubtful matters by explosive disposal personnel, avoids unnecessary casualties, and can be used for explosive disposal on various complex terrains. For example, the explosive disposal robot can be used for replacing explosive disposal personnel to carry and transfer explosive suspicious goods and other harmful dangerous goods; explosive destruction devices are used for replacing explosive disposal personnel to destroy bombs, so that unnecessary casualties are avoided; the method replaces on-site security personnel to carry out on-site investigation and real-time transmission of on-site maps and the like.
The existing explosive-handling robot with large grabbing and lifting capacity cannot enter indoor operation, and the grabbing and lifting capacity of the explosive-handling robot capable of entering indoor operation is smaller. In addition, the control system of the traditional explosive-handling robot generally adopts multipath graph transmission and data transmission to respectively transmit and process video signals, control instructions and monitoring information, which all increase the complexity of the system, and the data links interfere with each other, so that the stability of the control system is insufficient.
Disclosure of Invention
The technical problem of the invention is solved: the intelligent control system overcomes the defects of the prior art, provides the intelligent control system for the explosive-handling robot, and can realize the stable control of the explosive-handling robot.
In order to solve the technical problem, the invention discloses an intelligent control system of an explosive-handling robot, which comprises: the remote control platform (1) of the explosive-handling robot local machine and the ground station control platform (2); wherein, arrange and explode robot local remote control platform (1), include: a first network bridge (103), a first switch (104), an image processing subsystem (10), a positioning subsystem (20), and a drive subsystem (30);
the ground station control platform (2) is communicated with the local remote control platform (1) of the explosive-handling robot through the first network bridge (103); the first network bridge (103) is used for receiving a control instruction sent by the ground station control platform (2) and returning data processing information to the ground station control platform (2);
a first switch (104) and a first bridge (103); the first switch (104) is used for acquiring the control instruction received by the first network bridge (103) and distributing the control instruction to the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30); receiving data processing information returned by the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30), and sending the data processing information to the first network bridge (103);
the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30) are respectively connected with the first switch (104); the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30) carry out information interaction through the first switch (104).
In the above-mentioned arrange and explode robot intelligence control system, ground station control platform (2) includes: a ground station PC (201), a second switch (202) and a second bridge (203);
the ground station PC (201) and the second bridge (203) are connected through the second switch (202);
the local remote control platform (1) of the explosive-handling robot and the ground station control platform (2) communicate through the first bridge (103) and the second bridge (203);
a ground station PC (201) for sending control instructions to the second bridge (203) through the second switch (202) and to the first bridge (103) via the second bridge (203); and obtaining, by the second switch (202), backhaul data information received by the second bridge (203) from the first bridge (103).
In the above-mentioned explosive ordnance disposal robot intelligence control system, the image processing subsystem (10) includes: a third switch (105) and a vision module (106);
a vision module (106) connected to the first switch (104) through a third switch (105);
and the vision module (106) is used for shooting the surrounding environment of the explosive-handling robot and sending the shot image information to the first exchanger (104) through the third exchanger (105).
In the above-mentioned explosive ordnance disposal robot intelligence control system, the location subsystem (20) includes: an onboard computer (101) and a positioning navigation module (102);
the airborne computer (101) is connected with the first switch (104), and the positioning navigation module (102) is connected with the airborne computer (101);
the positioning navigation module (102) is used for positioning the explosive-handling robot and reporting positioning information;
the airborne computer (101) is used for receiving the image information and the attitude information of the explosive-handling robot sent by the first switch (104), planning a path according to the image information, the attitude information and the positioning information, and sending a generated navigation instruction to the first switch (104); wherein the image information is uploaded to the first switch (104) by an image processing subsystem (10) and the pose information is uploaded to the first switch (104) by a drive subsystem (30).
In the above-mentioned explosive ordnance disposal robot intelligence control system, the drive subsystem (30) includes: the system comprises a serial server (107), a first control board (108) and a ground disk drive unit (112);
the serial server (107) is connected with the first switch (104);
the serial server (107) is used for receiving a control instruction and/or a navigation instruction sent by the first switch (104) and distributing the control instruction to the first control board (108); receiving data processing information and attitude information returned by a first control board (108); wherein the navigation instruction is sent by a positioning subsystem (20) to the first switch (104);
the first control board (108) is used for sending a control command and/or a navigation command to the floor driving unit (112) so that the floor driving unit (112) controls the movement of the explosive-handling robot according to the control command and/or the navigation command; and receiving data processing information and attitude information of the explosive ordnance disposal robot measured by a sensor provided on the floor drive unit (112).
In the intelligent control system of the explosive-handling robot,
the ground drive unit (112) is used for controlling the movement speed and the movement direction of the explosive ordnance disposal robot through the left wheel driver and the right wheel driver according to the control command and/or the navigation command; and returning data processing information and attitude information of the explosive ordnance disposal robot measured by a sensor provided on the floor drive unit (112) to the first control board (108).
In the above-mentioned explosive ordnance disposal robot intelligent control system, the driving subsystem (30) further includes: a second control board (109), a robot arm driving unit (110), and a robot arm position measuring unit (111);
the serial server (107) is also used for distributing the control instruction and/or the navigation instruction to a second control board (109); and receiving data processing information and attitude information returned by the second control board (109);
the second control board (109) is used for sending a control command and/or a navigation command to the mechanical arm driving unit (110) so that the mechanical arm driving unit (110) controls the explosive-handling robot to move according to the control command and/or the navigation command; and receiving data processing information and attitude information of the explosive-handling robot returned by the mechanical arm position measuring unit (111).
In the intelligent control system of the explosive-handling robot,
the mechanical arm driving unit (110) is used for controlling the joint motion of the explosive-handling robot through a joint driver according to a control instruction and/or a navigation instruction; wherein, the joint driver sets up and arranges each joint department of exploding the robot, the joint driver includes: a shoulder orientation drive, a shoulder pitch drive, an elbow pitch drive, a wrist rotation drive, and a wrist clamping drive.
In the intelligent control system of the explosive-handling robot,
and the mechanical arm position measuring unit (111) is used for monitoring the posture of the explosive-handling robot, generating the posture information of the explosive-handling robot and sending the posture information and the data processing information to the second control board (109).
In the above intelligent control system for explosive-handling robot, the first switch (104) is configured to:
acquiring a control instruction received by a first network bridge (103);
distributing the control instructions to the matched image processing subsystem (10) and/or positioning subsystem (20) and/or driving subsystem (30) according to the types of the control instructions;
and receiving data processing information returned by the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30), and sending the data processing information to the first network bridge (103).
The invention has the following advantages:
(1) the invention discloses an intelligent control system of an explosive-handling robot, which is based on an image processing subsystem positioning subsystem and a driving subsystem, realizes information interaction with a ground station control platform through various exchangers and network bridges, and completes the intelligent control of the explosive-handling robot. The intelligent control system of the explosive-handling robot adopts a modular design, has a compact structure and reasonable layout, and can realize stable control of the explosive-handling robot.
(2) According to the intelligent control system for the explosive-handling robot, the mechanical arm position measuring unit can detect the real-time state of the mechanical arm of the explosive-handling robot, and the real-time state is displayed on the ground station control platform in a three-dimensional model manner, so that the intelligent control system has visual operation feeling.
(3) According to the intelligent control system for the explosive-handling robot, the remote control platform of the explosive-handling robot and the ground station control platform are in communication connection through the wireless network bridge, the airborne network camera and the measurement and control data are communicated in the same local area network, and a communication link is stable and reliable.
(4) The intelligent control system of the explosive-handling robot has moderate transmission distance of the wireless network bridge and can monitor the explosive-handling robot in a long distance.
(5) According to the intelligent control system for the explosive-handling robot, the mechanical arm driving control unit adopts a multi-joint linkage control strategy, so that the control is simple, the six-degree-of-freedom mechanical arm is flexible to control, the working range is large, and the grabbing precision and the grabbing efficiency are improved; the explosive-handling robot adopts a crawler-type platform, and has stable movement and good obstacle crossing performance.
Drawings
FIG. 1 is a block diagram of an intelligent control system of an explosive-handling robot according to an embodiment of the present invention;
fig. 2 is a block diagram of a structure of an intelligent control system of an explosive-handling robot according to another embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, common embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, a structural block diagram of an intelligent control system of an explosive-handling robot in an embodiment of the present invention is shown. In this embodiment, the intelligent control system for explosive-handling robot includes: the remote control platform 1 of the explosive-handling robot local machine and the ground station control platform 2. Wherein, arrange and explode robot local remote control platform 1, specifically can include: a first network bridge 103, a first switch 104, an image processing subsystem 10, a positioning subsystem 20, and a drive subsystem 30.
And the ground station control platform 2 is communicated with the local remote control platform 1 of the explosive ordnance disposal robot through the first network bridge 103.
In this embodiment, the first network bridge 103 is configured to receive a control instruction sent by the ground station control platform 2, and transmit data processing information back to the ground station control platform 2.
A first switch 104 and a first bridge 103.
In this embodiment, the first switch 104 is configured to obtain a control instruction received by the first network bridge 103, and distribute the control instruction to the image processing subsystem 10, the positioning subsystem 20, and the driving subsystem 30; and receiving the data processing information returned by the image processing subsystem 10, the positioning subsystem 20 and the driving subsystem 30, and sending the data processing information to the first network bridge 103.
The image processing subsystem 10, the positioning subsystem 20, and the driving subsystem 30 are connected to the first switch 104, respectively.
In the present embodiment, the image processing subsystem 10, the positioning subsystem 20 and the driving subsystem 30 perform information interaction through the first switch 104.
In this embodiment, it can be seen that information interaction is mainly performed between the local remote control platform 1 of the explosive ordnance disposal robot and the ground station control platform through the first network bridge 103, and information interaction is performed between the image processing subsystem 10, the positioning subsystem 20, and the driving subsystem 30 through the first switch 104. Preferably, the interaction information between the local remote control platform 1 and the ground station control platform 2 of the explosive-handling robot includes but is not limited to: the ground station control platform 2 sends various control instructions, various response information returned by the local remote control platform 1 of the explosive-handling robot, information such as the posture and the motion state of the explosive-handling robot, and information such as images and positioning navigation, which is not limited in this embodiment.
Ground station control platform
Referring to fig. 2, a structural block diagram of an intelligent control system of an explosive-handling robot according to another embodiment of the present invention is shown. Preferably, the ground station control platform 2 may include: a ground station PC201(Personal Computer), a second switch 202 and a second bridge 203.
As in fig. 2, a ground station PC201 and a second bridge 203 are connected through a second switch 202; the local remote control platform 1 of the explosive-handling robot and the ground station control platform 2 communicate through the first bridge 103 and the second bridge 203.
In this embodiment, the ground station PC201 is configured to send a control instruction to the second bridge 203 through the second switch 202, and send the control instruction to the first bridge 103 via the second bridge 203; and, obtaining, by the second switch 202, backhaul data information received by the second bridge 203 from the first bridge 103.
Image processing subsystem
As shown in fig. 2, the image processing subsystem 10 may include: a third switch 105 and a vision module 106.
In this embodiment, the vision module 106 is connected to the first switch 104 through a third switch 105; and the vision module 106 is used for shooting the surrounding environment of the explosive-handling robot and sending the shot image information to the first switch 104 through the third switch 105.
Positioning subsystem
As shown in fig. 2, the positioning subsystem 20 may include: an on-board computer 101 and a positioning and navigation module 102.
In this embodiment, the onboard computer 101 is connected to the first switch 104, and the positioning navigation module 102 is connected to the onboard computer 101; the positioning navigation module 102 is used for positioning the explosive-handling robot and reporting positioning information; the airborne computer 101 is used for receiving the image information and the attitude information of the explosive ordnance disposal robot sent by the first switch 104, planning a path according to the image information, the attitude information and the positioning information, and sending a generated navigation instruction to the first switch 104; wherein, the image information is sent to the first switch 104 by the image processing subsystem 10, and the pose information is sent to the first switch 104 by the driving subsystem 30.
Preferably, the positioning and navigation module 102 may include: the System comprises an inertial measurement unit, a GNSS (Global navigation satellite System, GNSS, Global navigation satellite System) module, a laser radar and the like, and can realize attitude measurement (course, pitch, roll and the like) of the explosive ordnance disposal robot, information measurement (such as longitude and latitude information and the like) of a GPS (Global positioning System, GPS, Global positioning System) and obstacle information measurement.
Drive subsystem
As shown in fig. 2, the driving subsystem 30 may include: a serial server 107, a first control board 108 and a floor drive unit 112.
In this embodiment, the serial server 107 is connected to the first switch 104; the serial server 107 is configured to receive a control instruction and/or a navigation instruction sent by the first switch 104, and distribute the control instruction to the first control board 108; receiving data processing information and attitude information returned by the first control panel 108; wherein the navigation instruction is sent to the first switch 104 from the positioning subsystem 20; the first control board 108 is used for sending a control command and/or a navigation command to the floor driving unit 112 so that the floor driving unit 112 controls the movement of the explosive ordnance disposal robot according to the control command and/or the navigation command; and receives data processing information and attitude information of the explosive ordnance disposal robot measured by a sensor provided on the floor driving unit 112.
Preferably, the floor driving unit 112 may be configured to control the movement speed and the movement direction of the explosive ordnance disposal robot through the left wheel driver and the right wheel driver according to the control command and/or the navigation command; and returns data processing information and attitude information of the explosive ordnance robot measured by a sensor provided on the floor driving unit 112 to the first control board 108.
As shown in fig. 2, the driving subsystem 30 may further include: a second control board 109, a robot arm driving unit 110, and a robot arm position measuring unit 111.
In this embodiment, the serial server 107 is further configured to distribute the control instruction and/or the navigation instruction to the second control board 109; and, receive the data processing information and attitude information returned by the second control board 109; the second control board 109 is used for sending a control command and/or a navigation command to the mechanical arm driving unit 110, so that the mechanical arm driving unit 110 controls the explosive ordnance disposal robot to move according to the control command and/or the navigation command; and receives data processing information and attitude information of the explosive ordnance disposal robot returned by the arm position measuring unit 111.
Preferably, the mechanical arm driving unit 110 is used for controlling the joint motion of the explosive ordnance disposal robot through a joint driver according to the control command and/or the navigation command; wherein, the joint driver sets up and arranges each joint department of exploding the robot, the joint driver includes: a shoulder orientation drive, a shoulder pitch drive, an elbow pitch drive, a wrist rotation drive, and a wrist clamping drive. Therefore, the mechanical arm driving unit can realize the control of multiple degrees of freedom of the explosive-handling robot, and the mechanical arm is flexible to operate and has a large working range.
Preferably, the mechanical arm position measuring unit 111 is configured to monitor the posture of the explosive ordnance disposal robot, generate posture information of the explosive ordnance disposal robot, and send the posture information and the data processing information to the second control board 109.
As previously described, it can be seen that the first switch 104 may be used primarily to: acquiring a control instruction received by the first network bridge 103; distributing the control instructions to the matched image processing subsystem 10 and/or positioning subsystem 20 and/or driving subsystem 30 according to the types of the control instructions; and receiving the data processing information returned by the image processing subsystem 10, the positioning subsystem 20 and the driving subsystem 30, and sending the data processing information to the first network bridge 103.
With reference to the above embodiments, the information interaction process between the modules in the intelligent control system of the explosive-handling robot is described.
In this embodiment, the first switch 104 and the third switch 105 combine the devices such as the vision module 106, the serial server 107, and the onboard computer 101 into the same ethernet, so that various types of interaction information such as operation information and robot status information can be transmitted to each other.
Interaction 1: the serial server 107 may receive the direct action command sent by the ground station control platform 2, send the direct action command to the first control board 108 or the second control board 109 from the serial port, and send the body measurement and control data received by the serial port from the first control board 108 or the second control board 109 back to the ground station control platform 2.
Interaction 2: the first control board 108 and the second control board 109 can analyze the instruction data packet input by the serial port and distribute the instruction data packet to the mechanical arm driving unit 110 and the floor driving unit 112 for execution; and reading robot state information from sensors arranged on the mechanical arm position measuring unit 111 and the ground disk driving unit 112, forming a data packet, and sending the data packet to the ground station control platform 2 through a serial port for displaying. The command data packet can be analyzed to obtain the motion angle of the shaft, the motion speed and direction of the driving wheel and the like.
Interaction 3: the ground station PC201 can make the input information of the operator into command data, and send the command data to the local remote control platform 1 of the explosive ordnance disposal robot through the second switch 202.
In summary, the intelligent control system for the explosive-handling robot is based on the image processing subsystem positioning subsystem and the driving subsystem, and realizes information interaction with the ground station control platform through each switch and the network bridge, so as to complete intelligent control of the explosive-handling robot. The intelligent control system of the explosive-handling robot adopts a modular design, has a compact structure and reasonable layout, and can realize stable control of the explosive-handling robot.
Secondly, according to the intelligent control system for the explosive-handling robot, the mechanical arm position measuring unit can detect the real-time state of the mechanical arm of the explosive-handling robot, and the real-time state is displayed on the ground station control platform in a three-dimensional model manner, so that the intelligent control system has visual operation feeling.
Thirdly, the remote control platform of the explosive-handling robot and the ground station control platform are in communication connection through the wireless network bridge, the airborne network camera and the measurement and control data are communicated in the same local area network, and a communication link is stable and reliable.
Furthermore, the intelligent control system of the explosive-handling robot has moderate transmission distance of the wireless network bridge and can monitor the explosive-handling robot in a long distance.
In addition, the mechanical arm driving control unit of the intelligent control system for the explosive-handling robot adopts a multi-joint linkage control strategy, so that the intelligent control system is simple to operate, flexible to operate the six-degree-of-freedom mechanical arm, large in working range and beneficial to improving the grabbing precision and the grabbing efficiency; the explosive-handling robot adopts a crawler-type platform, and has stable movement and good obstacle crossing performance.
The embodiments in the present description are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (5)
1. The utility model provides an arrange and explode robot intelligence control system which characterized in that includes: the remote control platform (1) of the explosive-handling robot local machine and the ground station control platform (2); wherein, arrange and explode robot local remote control platform (1), include: a first network bridge (103), a first switch (104), an image processing subsystem (10), a positioning subsystem (20), and a drive subsystem (30);
the ground station control platform (2) is communicated with the local remote control platform (1) of the explosive-handling robot through the first network bridge (103); the first network bridge (103) is used for receiving a control instruction sent by the ground station control platform (2) and returning data processing information to the ground station control platform (2);
a first switch (104) and a first bridge (103); the first switch (104) is used for acquiring the control instruction received by the first network bridge (103) and distributing the control instruction to the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30); receiving data processing information returned by the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30), and sending the data processing information to the first network bridge (103);
the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30) are respectively connected with the first switch (104); the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30) carry out information interaction through the first switch (104);
wherein the drive subsystem (30) comprises: the system comprises a serial server (107), a first control board (108), a floor driving unit (112), a second control board (109), a mechanical arm driving unit (110) and a mechanical arm position measuring unit (111);
the serial server (107) is connected with the first switch (104) and used for receiving the control command and/or the navigation command sent by the first switch (104) and distributing the control command and/or the navigation command to the first control board (108); receiving data processing information and attitude information returned by a first control board (108); wherein the navigation instruction is sent by a positioning subsystem (20) to the first switch (104);
the first control board (108) is used for sending a control command and/or a navigation command to the floor driving unit (112) so that the floor driving unit (112) controls the movement of the explosive-handling robot according to the control command and/or the navigation command; and receiving data processing information and attitude information of the explosive ordnance disposal robot measured by a sensor provided on the floor driving unit (112);
the ground drive unit (112) is used for controlling the movement speed and the movement direction of the explosive ordnance disposal robot through the left wheel driver and the right wheel driver according to the control command and/or the navigation command; and returning data processing information and attitude information of the explosive ordnance disposal robot measured by a sensor arranged on the floor driving unit (112) to the first control board (108);
the serial server (107) is also used for distributing the control instruction and/or the navigation instruction to a second control board (109); and receiving data processing information and attitude information returned by the second control board (109);
the second control board (109) is used for sending a control command and/or a navigation command to the mechanical arm driving unit (110) so that the mechanical arm driving unit (110) controls the explosive-handling robot to move according to the control command and/or the navigation command; receiving data processing information and attitude information of the explosive-handling robot returned by the mechanical arm position measuring unit (111);
the mechanical arm driving unit (110) is used for controlling the joint motion of the explosive-handling robot through a joint driver according to a control instruction and/or a navigation instruction; wherein, the joint driver sets up and arranges each joint department of exploding the robot, the joint driver includes: a shoulder orientation driver, a shoulder pitch driver, an elbow pitch driver, a wrist rotation driver, and a wrist clamping driver;
and the mechanical arm position measuring unit (111) is used for monitoring the posture of the explosive-handling robot, generating the posture information of the explosive-handling robot and sending the posture information and the data processing information to the second control board (109).
2. The intelligent control system of the explosive-handling robot as claimed in claim 1, wherein the ground station control platform (2) comprises: a ground station PC (201), a second switch (202) and a second bridge (203);
the ground station PC (201) and the second bridge (203) are connected through the second switch (202);
the local remote control platform (1) of the explosive-handling robot and the ground station control platform (2) communicate through the first bridge (103) and the second bridge (203);
a ground station PC (201) for sending control instructions to the second bridge (203) through the second switch (202) and to the first bridge (103) via the second bridge (203); and obtaining, by the second switch (202), backhaul data information received by the second bridge (203) from the first bridge (103).
3. The intelligent control system of the explosive-handling robot according to claim 1, wherein the image processing subsystem (10) comprises: a third switch (105) and a vision module (106);
a vision module (106) connected to the first switch (104) through a third switch (105);
and the vision module (106) is used for shooting the surrounding environment of the explosive-handling robot and sending the shot image information to the first exchanger (104) through the third exchanger (105).
4. The intelligent control system of explosive-handling robot according to claim 1, characterized in that the positioning subsystem (20) comprises: an onboard computer (101) and a positioning navigation module (102);
the airborne computer (101) is connected with the first switch (104), and the positioning navigation module (102) is connected with the airborne computer (101);
the positioning navigation module (102) is used for positioning the explosive-handling robot and reporting positioning information;
the airborne computer (101) is used for receiving the image information and the attitude information of the explosive-handling robot sent by the first switch (104), planning a path according to the image information, the attitude information and the positioning information, and sending a generated navigation instruction to the first switch (104); wherein the image information is uploaded to the first switch (104) by an image processing subsystem (10) and the pose information is uploaded to the first switch (104) by a drive subsystem (30).
5. The intelligent control system of explosive-handling robots according to claim 1, characterized in that the first switch (104) is configured to:
acquiring a control instruction received by a first network bridge (103);
distributing the control instructions to the matched image processing subsystem (10) and/or positioning subsystem (20) and/or driving subsystem (30) according to the types of the control instructions;
and receiving data processing information returned by the image processing subsystem (10), the positioning subsystem (20) and the driving subsystem (30), and sending the data processing information to the first network bridge (103).
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| CN201710816027.1A CN107671864B (en) | 2017-09-12 | 2017-09-12 | Arrange and explode robot intelligence control system |
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| CN201710816027.1A CN107671864B (en) | 2017-09-12 | 2017-09-12 | Arrange and explode robot intelligence control system |
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| CN108500528A (en) * | 2018-04-11 | 2018-09-07 | 马鞍山工蜂智能科技有限公司 | A kind of welding robot system of movable type automatic addressing |
| CN112276951B (en) * | 2020-10-22 | 2021-10-26 | 中国人民武装警察部队工程大学 | Unmanned search and explosion-removal robot system and working method thereof |
| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
| CN116985149B (en) * | 2023-09-28 | 2024-01-02 | 曜石机器人(上海)有限公司 | Robot edge control system capable of supporting TSN network technology |
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| CN105966488A (en) * | 2016-06-02 | 2016-09-28 | 北京航空航天大学 | Six-wheel-leg movable operation robot test platform |
| CN106826833B (en) * | 2017-03-01 | 2020-06-16 | 西南科技大学 | Autonomous navigation robot system based on 3D (three-dimensional) stereoscopic perception technology |
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