CN112276951A - Unmanned search and explosion-removal robot system and working method thereof - Google Patents
Unmanned search and explosion-removal robot system and working method thereof Download PDFInfo
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- CN112276951A CN112276951A CN202011135429.3A CN202011135429A CN112276951A CN 112276951 A CN112276951 A CN 112276951A CN 202011135429 A CN202011135429 A CN 202011135429A CN 112276951 A CN112276951 A CN 112276951A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses an unmanned search and explosion-removing robot system and a working method thereof, wherein the system comprises an unmanned search and explosion-removing robot local platform and an intelligent command center; the platform of the unmanned searching and explosive-removing robot comprises a walking platform, a first flexible mechanical gripper, a second flexible mechanical gripper, a special tool library, a visual perception subsystem, a navigation positioning subsystem and a double-mechanical-arm cooperative control subsystem; the intelligent command center comprises a central computer, a man-machine interaction subsystem and an expert knowledge system; the intelligent command center is communicated with the local platform of the unmanned search and explosion-removal robot for transmission; the intelligent vision module provides accurate positioning of a target and equipment, and guides the two mechanical arms to cooperate to complete the search and explosion elimination task, so that the problems that the existing search and explosion elimination robot is low in intelligent degree and insufficient in fine degree of executing the task are solved, and the requirement for fine explosion task in a complex operation environment can be met.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to an unmanned search and explosion-elimination robot system and a working method thereof.
Background
The unmanned search and explosion-removing system is based on anthropomorphic ubiquitous sensing means and intelligent analysis, replaces explosion-removing personnel with an intelligent robot, completes search and explosion-removing task by using special equipment and an explosion-removing tool, and completely releases people from dangerous task.
At present, although some devices in the search and explosion-elimination robot are provided with a vision system, or image detection and positioning of monocular vision are mainly used, or most of the devices are only used as a monitoring function, operators cannot carry out calibration on site in the practice process, the grabbing precision is low, the force control is not accurate enough, and the intelligent level is low; moreover, the domestic search and explosion-removal robot is also generally a single arm, and the posture adjustment of each joint is slow in action and long in time consumption. Although the domestic search and explosion-removal robot system can stably grab articles, the flexibility and the fineness of the grabbing mechanism need to be improved.
Disclosure of Invention
Aiming at overcoming the defects in the prior art, the invention aims to provide an unmanned search and explosion-elimination robot system and a working method thereof, and solves the problems that the existing search and explosion-elimination robot is low in intelligent degree and insufficient in task execution fineness degree.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned search and explosion-removal robot system comprises an unmanned search and explosion-removal robot local platform and an intelligent command center;
the platform of the unmanned searching and explosive-removing robot comprises a walking platform, a first flexible mechanical gripper, a second flexible mechanical gripper, a special tool library, a first network bridge, a first switch, a visual perception subsystem, a navigation positioning subsystem, a double-mechanical-arm cooperative control subsystem and a driving subsystem;
the vision perception subsystem, the navigation positioning subsystem, the double-mechanical-arm cooperative control subsystem and the driving subsystem are respectively connected with the first switch and carry out information interaction through the first switch; the first flexible mechanical gripper, the second flexible mechanical gripper, the special tool library and the walking platform are connected with the first switch and are driven and controlled by the visual perception subsystem, the navigation positioning subsystem, the double-mechanical-arm cooperative control subsystem and the driving subsystem;
the first bridge is connected with a first switch, and the first switch is used for acquiring command control instructions received by the first bridge and sent by an intelligent command center, distributing the instructions to each subsystem of the platform of the unmanned search and explosion-elimination robot, receiving data processing information returned by each subsystem of the platform of the unmanned search and explosion-elimination robot, and sending the data processing information to the first bridge;
the intelligent command center is in communication transmission with the unmanned search and explosion-elimination robot local platform through the first network bridge, and the first network bridge is used for receiving command control instructions sent by the intelligent command center and transmitting video and data processing information to the intelligent command center;
the intelligent command center comprises a central computer, a second switch, a second network bridge, a man-machine interaction subsystem and an expert knowledge system; the central computer, the second network bridge, the man-machine interaction subsystem and the expert knowledge system are connected through the second switch to carry out information interaction, and the central computer is used for sending the command control instruction to the second network bridge through the second switch and acquiring return data processing information received from the first network bridge through the second switch;
the visual perception subsystem is used for shooting the surrounding environment of the search and explosion-removing robot, acquiring the three-dimensional appearance and position information of suspected explosives through image processing, and transmitting the shot image information and data processing information back to the intelligent command center through the first switch;
the navigation positioning subsystem acquires position and posture information of the navigation positioning subsystem, performs path planning to give a motion control instruction of the walking platform, interacts data processing information to the driving subsystem, and transmits the data processing information back to the intelligent command center through the first switch;
the double-mechanical-arm cooperative control subsystem intelligently judges a target key part to give a command control instruction, and exchanges data processing information to the driving subsystem and transmits the data processing information back to the intelligent command center through the first switch;
the driving subsystem receives a motion control command of interaction of the navigation positioning subsystem, is used for driving the walking platform, and receives a command control command of interaction of the two mechanical arm cooperative control subsystems to drive the first flexible mechanical gripper, the second flexible mechanical gripper and the special tool library to cooperatively operate;
the man-machine interaction subsystem is used for displaying the running state of each sensor in real time, visualizing the data processing information returned by the second switch and sending a command control instruction directly input by a person to the central computer through the second switch;
the expert knowledge system autonomously screens and judges the type of the explosive according to the image data returned by the visual perception subsystem received by the second switch, recommends an optimal disposal scheme, and transmits data processing information to the double-mechanical-arm cooperative control subsystem to guide the second flexible mechanical gripper and the special tool library to carry out cooperative explosion-removing operation.
Furthermore, the vision perception subsystem comprises a binocular visible light camera module and a multi-degree-of-freedom vision bearing platform, wherein the binocular visible light camera module is installed on the multi-degree-of-freedom vision bearing platform and used for reconstructing a three-dimensional scene, accurately positioning a target position and extracting the characteristics of an interested operation object.
Further, the navigation positioning subsystem analyzes and processes the sensor signals through a sensor information fusion technology to obtain the position and attitude information of the navigation positioning subsystem.
Furthermore, the navigation positioning subsystem comprises an inertial sensor, a Beidou satellite navigation system positioning module and a laser radar, and realizes the position and attitude measurement of the unmanned searching and explosion-removing robot and the obstacle information detection.
Further, the two-mechanical-arm cooperative control subsystem realizes intelligent judgment of target key parts based on a three-dimensional target image generated by a multi-sensor information fusion technology.
Further, the two-manipulator cooperative control subsystem comprises a manipulator motion path planning module, a manipulator cooperative operation module, a replaceable multifunctional manipulator design and control module and a coordinate system calibration and multi-coordinate system conversion module;
the mechanical arm motion path planning module intelligently plans the optimal paths of the two mechanical arms according to the task scene;
the mechanical arm cooperative operation module realizes cooperative operation and control of the two mechanical arms in the detection, identification and disposal processes;
the replaceable multifunctional manipulator design and control module is used for designing a manipulator grabbing mechanism aiming at professional detection equipment and explosive disposal scenes, is compatible with various processing tools and can execute accurate control;
and the coordinate system calibration and multi-coordinate system conversion module calibrates the coordinates of the mechanical arm and converts the coordinates among multi-unit coordinate systems.
Furthermore, the expert knowledge system can also be used for uniformly storing and classifying ion spectrums, fluorescence spectrums and X-ray imaging of various explosives, and adding detection results of each time to a cloud database;
establishing a filing and sorting system for equipment control and disposal schemes, wherein the system automatically selects and recommends an optimal disposal scheme in the disposal process;
and establishing an explosive searching, identifying and disposing expert database system based on autonomous learning, man-machine aided decision and a rapid reasoning mechanism.
A working method of an unmanned searching and explosion-removing robot system specifically comprises the following steps:
1) when the robot enters the scene, the visual perception subsystem intelligently analyzes scene information, three-dimensional reconstruction is carried out on the scene, suspected explosives are identified based on the expert knowledge system, and a suspected explosive detection area is determined;
2) the navigation positioning subsystem carries out path planning and guides the unmanned search and explosion-removal robot local platform to move to a detection working area;
3) the visual perception subsystem carries out visual positioning and feature extraction to determine the accurate position of the suspected explosive;
4) the double-mechanical-arm cooperative control subsystem controls the first flexible mechanical gripper and the second flexible mechanical gripper to respectively adopt anthropomorphic sensing equipment detection and professional equipment detection, and visually guides the mechanical grippers to remove surface shielding objects when necessary so as to determine whether explosive exists in a suspected area;
5) the platform of the unmanned searching and explosion-removing robot is moved to the position of an explosive to perform close-range detection, the first flexible mechanical gripper performs optical analysis and accurate positioning, and the second flexible mechanical gripper is guided by vision to grab special detection equipment for detection;
6) the double mechanical arms coordinate to control the subsystem to plan a detection path, control the first flexible mechanical gripper and the second flexible mechanical gripper to complete detection, and identify chemical properties and categories;
7) confirming whether a simple disposal scheme is adopted or not by a manual background, if so, performing simple disposal operation by the two mechanical arms, and if not, performing the manual background confirmation disposal scheme by the intelligent command center;
8) after the intelligent command center confirms the disposal scheme, the vision perception subsystem intelligently processes and guides the second flexible mechanical gripper to grab the special detection equipment;
9) the intelligent command center plans a disposal path and simultaneously displays an operation picture in real time;
10) and after the manual background confirmation, the two mechanical arms perform treatment operation, and the task is finished.
The invention has the following advantages:
according to the unmanned search and explosion-removal robot system, the intelligent vision module provides accurate positioning of a target and equipment, and the two mechanical arms are guided to cooperate to complete search and explosion-removal tasks, so that the problems that the existing search and explosion-removal robot is low in intelligentization degree and insufficient in task execution fineness degree are solved.
The vision perception subsystem of the unmanned search and explosion-removing robot system can perform three-dimensional scene reconstruction, target position accurate positioning and interested object feature extraction based on a three-dimensional vision target intelligent identification and positioning technology, and can accurately acquire three-dimensional information and positions of suspected explosives.
According to the unmanned searching and explosion-removing robot system, the two mechanical arms cooperatively control subsystem realizes the planning of the movement paths of the two mechanical arms based on the two mechanical arms cooperative control technology, can accurately control the two mechanical arms to cooperatively operate in the processes of probing, identifying and disposing, and can select a processing tool from a special tool library to execute accurate control according to different disposing scenes.
Aiming at the requirements of complex operating environment and refinement of explosive ordnance disposal tasks, the explosive ordnance disposal robot system can realize the whole process of ' detecting ' -identifying ' -arranging ' unmanned ' by a plurality of key technologies such as three-dimensional scene intelligent analysis reconstruction, intelligent image identification, autonomous path planning, multi-sensor information fusion and the like, and the existence of explosives is confirmed in a determined task range in a detection stage; in the identification stage, the type, physicochemical characteristics and detonation mode of explosives are determined through accurate identification; the disposal capacity such as demolition of explosives is realized in the discharging stage, and the requirement for refinement of the explosion task in a complex operation environment can be met.
Drawings
FIG. 1 is a block diagram of an unmanned search and explosion-elimination robot system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a working process of an unmanned search and explosion elimination robot system according to an embodiment of the present invention;
in the figure: 1-unmanned searching and explosion-removing robot local platform, 101-walking platform, 102-first flexible mechanical gripper, 103-second flexible mechanical gripper, 104-special tool library, 105-first network bridge, 106-first switch, 10-visual perception subsystem, 20-navigation positioning subsystem, 30-double-mechanical-arm cooperative control subsystem, 40-driving subsystem, 2-intelligent command center, 201-central computer, 202-second switch, 203-second network bridge, 50-human-computer interaction subsystem, and 60-expert knowledge system.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are not intended to limit the invention thereto.
Referring to fig. 1, a block diagram of a structure of an unmanned search and explosion-elimination robot system in an embodiment of the present invention is shown. In this embodiment, the unmanned search and explosion-elimination robot system includes an unmanned search and explosion-elimination robot local platform 1 and an intelligent command center 2.
The platform 1 of the unmanned search and explosion-removing robot specifically comprises a walking platform 101, a first flexible mechanical gripper 102, a second flexible mechanical gripper 103, a special tool library 104, a first network bridge 105, a first switch 106, a visual perception subsystem 10, a navigation positioning subsystem 20, a double-mechanical-arm cooperative control subsystem 30 and a driving subsystem 40.
The intelligent command center 2 is in communication transmission with the unmanned search and explosion-elimination robot local platform 1 through the first network bridge 105; the first network bridge 105 is configured to receive a command control instruction sent by the intelligent command center 2, and transmit video and data processing information to the intelligent command center 2.
In this embodiment, the first switch 106 is configured to obtain a command control instruction sent by the intelligent command center 2 and received by the first network bridge 105, and distribute the instruction to the visual perception subsystem 10, the navigation positioning subsystem 20, the dual-robot cooperative control subsystem 30, and the driving subsystem 40; and receiving data processing information returned by the vision perception subsystem 10, the navigation positioning subsystem 20, the dual-manipulator cooperative control subsystem 30 and the driving subsystem 40, and sending the data processing information to the first network bridge 105.
The visual perception subsystem 10, the navigation positioning subsystem 20, the double-mechanical-arm cooperative control subsystem 30 and the driving subsystem 40 are respectively connected with the first switch 106; the visual perception subsystem 10, the navigation positioning subsystem 20, the two-robot cooperative control subsystem 30 and the driving subsystem 40 perform information interaction through the first switch 106.
The first flexible gripper 102, the second flexible gripper 103 and the specialized tool magazine 104 are rigidly connected to the walking platform 101. The first flexible mechanical gripper 102, the second flexible mechanical gripper 103, the special tool library 104 and the walking platform 101 are driven and controlled by the visual perception subsystem 10, the navigation positioning subsystem 20, the dual-mechanical-arm cooperative control subsystem 30 and the driving subsystem 40.
The intelligent command center 2 comprises a central computer 201, a second switch 202, a second network bridge 203, a human-computer interaction subsystem 50 and an expert knowledge system 60. The central computer 201, the second network bridge 203, the human-computer interaction subsystem 50 and the expert knowledge system 60 are connected through the second switch 202 to carry out information interaction. The central computer 201 is used for sending the command control instruction to the second network bridge 203 through the second switch 202, and sending the command control instruction to the first network bridge 105 through the second network bridge 203; and, obtaining, by the second switch 202, backhaul data processing information received from the first bridge 105 via the second bridge 203.
The unmanned searching and explosion-eliminating robot local platform 1 and the intelligent command center 2 carry out communication transmission through the first bridge 105 and the second bridge 203.
The vision perception subsystem 10 is configured to shoot an environment around the search and explosion-elimination robot, acquire three-dimensional appearance and position information of a suspected explosive through image processing, and transmit shot image information and data processing information back to the intelligent command center 2 through the first switch 106.
Preferably, the vision perception subsystem 10 may include a binocular visible light camera module and a multiple degree of freedom vision bearing platform. The binocular visible light camera module is installed on the multi-degree-of-freedom vision bearing platform and used for three-dimensional scene reconstruction, target position accurate positioning and interesting operation object feature extraction.
The navigation positioning subsystem 20 analyzes and processes the sensor signals through a multi-sensor information fusion technology, so as to obtain position and posture information of the navigation positioning subsystem, plan a path, give a motion control instruction of the walking platform 101, interact data processing information to the driving subsystem 40, and transmit the data processing information back to the intelligent command center 2 through the first switch 106.
Preferably, the navigation positioning subsystem 20 may include: the position and the attitude measurement of the unmanned searching and explosion-removing robot and the obstacle information detection can be realized by the inertial sensor, the Beidou satellite navigation system positioning module, the laser radar and the like.
The two-robot cooperative control subsystem 30 intelligently judges the key part of the target by combining the three-dimensional target image generated by the multi-sensor information fusion technology, gives a command control instruction, interacts data processing information to the driving subsystem 40, and transmits the data processing information back to the intelligent command center 2 through the first switch 106.
Specifically, the two-robot cooperative control subsystem 30 may include a robot motion path planning module, a robot cooperative operation module, a replaceable multifunctional robot design and control module, and a coordinate system calibration and multi-coordinate system conversion module. The mechanical arm motion path planning module intelligently plans the optimal paths of the two mechanical arms according to the task scene; the mechanical arm cooperative operation module can realize cooperative operation and control of the two mechanical arms in the detection, identification and treatment processes; removable multi-functional manipulator design and control module: the manipulator grabbing mechanism can be designed aiming at professional detection equipment and explosive disposal scenes, is compatible with various processing tools, and can execute accurate control; and the coordinate system calibration and multi-coordinate system conversion module is used for calibrating the coordinates of the mechanical arm and converting the coordinates of multi-unit (visual perception unit, mechanical arm unit and the like) coordinate systems, so that the position accuracy of detection identification or treatment operation is ensured.
The driving subsystem 40 receives the motion control instruction interacted by the navigation positioning subsystem 20 and is used for driving the walking platform 101; and receiving a command control instruction interacted by the dual-robot arm cooperative control subsystem 30, and driving the first flexible manipulator 102, the second flexible manipulator 103 and the special tool library 104 to cooperatively operate.
The human-computer interaction subsystem 50 is used for displaying the running state of each sensor in real time, visualizing the data processing information returned by the second switch 202, and sending the command control instruction directly input by a person to the central computer 201 through the second switch 202.
The expert knowledge system 60 autonomously screens and judges the type of the explosive according to the image data received by the second switch 202 and returned by the visual perception subsystem 10, recommends an optimal disposal scheme, and transmits data processing information to the dual-robot cooperative control subsystem 30 to guide the second flexible manipulator 103 and the special tool library 104 to perform cooperative explosive disposal operation.
Specifically, the expert knowledge system 60 may implement: 1) uniformly storing and classifying ion spectrums, fluorescence spectrums and X-ray imaging of various explosives, and adding detection results of each time to a cloud database; 2) establishing a filing and sorting system for equipment control and disposal schemes, wherein the system automatically selects and recommends an optimal disposal scheme in the disposal process; 3) and establishing an explosive searching, identifying and disposing expert database system based on autonomous learning, man-machine aided decision and a rapid reasoning mechanism.
Referring to fig. 2, a flowchart of a work flow of an unmanned search and explosion elimination robot system in an embodiment of the present invention is shown, which specifically includes the following steps:
1) when the robot enters the scene, the visual perception subsystem 10 intelligently analyzes scene information, three-dimensional reconstruction is carried out on the scene, suspected explosives are identified based on the expert knowledge system 50, and a suspected explosive detection area is determined;
2) the navigation positioning subsystem 20 carries out path planning and guides the platform 1 of the unmanned search and explosion-elimination robot to move to a detection working area;
3) the visual perception subsystem 10 performs visual positioning and feature extraction to determine the accurate position of the suspected explosive;
4) the double-mechanical-arm cooperative control subsystem 30 controls the first flexible mechanical gripper 102 and the second flexible mechanical gripper 103 to respectively adopt anthropomorphic sensing equipment detection and professional equipment detection, and visually guides the mechanical grippers to remove surface shielding objects and determine whether explosive exists in a suspected area or not when necessary;
5) the platform 1 of the unmanned searching and explosion-removing robot is moved to the position of an explosive to perform close-range detection, the first flexible mechanical gripper 102 performs optical analysis and accurate positioning, and the second flexible mechanical gripper 103 is guided by vision to grab special detection equipment for detection;
6) the double mechanical arms cooperate with the control subsystem 30 to plan a detection path, control the first flexible mechanical gripper 102 and the second flexible mechanical gripper 103 to complete detection, and identify chemical properties and categories;
7) confirming whether a simple disposal scheme is adopted or not by a manual background, if so, performing simple disposal operation by the two mechanical arms, and if not, performing the manual background confirmation disposal scheme, such as transfer, destruction, removal or invalidation, by the intelligent command center 2;
8) after the intelligent command center confirms the disposal scheme, the vision perception subsystem 10 intelligently processes the disposal scheme and guides the second flexible mechanical gripper 103 to grab the special detection equipment;
9) the intelligent command center 2 plans a disposal path and simultaneously displays an operation picture in real time;
10) after the manual background confirmation, the two mechanical arms perform the handling operation, and the task is finished.
The present invention is described in detail with reference to the above embodiments, and those skilled in the art will understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (8)
1. The utility model provides an unmanned robot system that explodes of searching arranges which characterized in that: the system comprises an unmanned searching and explosion-removing robot local platform (1) and an intelligent command center (2);
the unmanned searching and explosion-removing robot local platform (1) comprises a walking platform (101), a first flexible mechanical gripper (102), a second flexible mechanical gripper (103), a special tool library (104), a first bridge (105), a first switch (106), a visual perception subsystem (10), a navigation positioning subsystem (20), a double-mechanical-arm cooperative control subsystem (30) and a driving subsystem (40);
the visual perception subsystem (10), the navigation positioning subsystem (20), the double-mechanical-arm cooperative control subsystem (30) and the driving subsystem (40) are respectively connected with a first switch (106) and carry out information interaction through the first switch (106); the first flexible mechanical gripper (102), the second flexible mechanical gripper (103), the special tool library (104) and the walking platform (101) are connected with a first switch (106) and are driven and controlled by a visual perception subsystem (10), a navigation positioning subsystem (20), a double-mechanical-arm cooperative control subsystem (30) and a driving subsystem (40);
the first bridge (105) is connected with a first switch (106), and the first switch (106) is used for acquiring command control instructions received by the first bridge (105) and sent by the intelligent command center (2), distributing the instructions to subsystems of the unmanned search and explosion-elimination robot local platform (1), receiving data processing information returned by the subsystems of the unmanned search and explosion-elimination robot local platform (1), and sending the data processing information to the first bridge (105);
the intelligent command center (2) is in communication transmission with the unmanned search and explosion-elimination robot local platform (1) through the first network bridge (105), and the first network bridge (105) is used for receiving command control instructions sent by the intelligent command center (2) and transmitting video and data processing information to the intelligent command center (2);
the intelligent command center (2) comprises a central computer (201), a second switch (202), a second network bridge (203), a man-machine interaction subsystem (50) and an expert knowledge system (60); the central computer (201), the second network bridge (203), the man-machine interaction subsystem (50) and the expert knowledge system (60) are connected through the second switch (202) to carry out information interaction, the central computer (201) is used for sending the command control instruction to the second network bridge (203) through the second switch (202), and obtaining return data processing information received from the first network bridge (105) through the second network bridge (203) through the second switch (202);
the visual perception subsystem (10) is used for shooting the surrounding environment of the search and explosion-removing robot, acquiring the three-dimensional appearance and position information of suspected explosives through image processing, and transmitting the shot image information and data processing information back to the intelligent command center (2) through the first switch (106);
the navigation positioning subsystem (20) acquires position and posture information of the navigation positioning subsystem, carries out path planning to give a motion control instruction of the walking platform (101), interacts data processing information to the driving subsystem (40), and transmits the data processing information back to the intelligent command center (2) through the first switch (106);
the double-mechanical-arm cooperative control subsystem (30) intelligently judges the target key part to give a command control instruction, and exchanges data processing information to the driving subsystem (40) and transmits the data processing information back to the intelligent command center (2) through the first switch (106);
the driving subsystem (40) receives a motion control command interacted by the navigation positioning subsystem (20) and is used for driving the walking platform (101), and receives a command control command interacted by the double-mechanical-arm cooperative control subsystem (30) to drive the first flexible mechanical gripper (102), the second flexible mechanical gripper (103) and the special tool library (104) to cooperatively work;
the human-computer interaction subsystem (50) is used for displaying the running state of each sensor in real time, visualizing the data processing information returned by the second switch (202) and sending a command control instruction directly input by a person to the central computer (201) through the second switch (202);
the expert knowledge system (60) autonomously screens and judges the types of explosives and recommends an optimal disposal scheme according to image data returned by the visual perception subsystem (10) and received by the second switch (202), and transmits data processing information to the double-mechanical-arm cooperative control subsystem (30) to guide the second flexible mechanical gripper (103) and the special tool library (104) to carry out cooperative explosion elimination operation.
2. The unmanned search and explosion-elimination robot system according to claim 1, characterized in that: the vision perception subsystem (10) comprises a binocular visible light camera module and a multi-degree-of-freedom vision bearing platform, wherein the binocular visible light camera module is installed on the multi-degree-of-freedom vision bearing platform and used for reconstructing a three-dimensional scene, accurately positioning a target position and extracting the characteristics of an interested operation object.
3. The unmanned search and explosion-elimination robot system according to claim 1, characterized in that: the navigation positioning subsystem (20) analyzes and processes the sensor signals through a multi-sensor information fusion technology to obtain the position and attitude information of the navigation positioning subsystem.
4. The unmanned search and explosion-elimination robot system according to claim 3, characterized in that: the navigation positioning subsystem (20) comprises an inertial sensor, a Beidou satellite navigation system positioning module and a laser radar, and realizes the position and attitude measurement of the unmanned searching and explosion-removing robot and the obstacle information detection.
5. The unmanned search and explosion-elimination robot system according to claim 1, characterized in that: the double-mechanical-arm cooperative control subsystem (30) realizes intelligent judgment of target key parts based on a three-dimensional target image generated by a multi-sensor information fusion technology.
6. The unmanned search and explosion-elimination robot system according to claim 5, characterized in that: the dual-mechanical-arm cooperative control subsystem (30) comprises a mechanical arm motion path planning module, a mechanical arm cooperative operation module, a replaceable multifunctional mechanical arm design and control module and a coordinate system calibration and multi-coordinate system conversion module;
the mechanical arm motion path planning module intelligently plans the optimal paths of the two mechanical arms according to the task scene;
the mechanical arm cooperative operation module realizes cooperative operation and control of the two mechanical arms in the detection, identification and disposal processes;
the replaceable multifunctional manipulator design and control module is used for designing a manipulator grabbing mechanism aiming at professional detection equipment and explosive disposal scenes, is compatible with various processing tools and can execute accurate control;
and the coordinate system calibration and multi-coordinate system conversion module calibrates the coordinates of the mechanical arm and converts the coordinates among multi-unit coordinate systems.
7. The unmanned search and explosion-elimination robot system according to any one of claims 1 to 6, characterized in that: the expert knowledge system (60) can also be used for uniformly storing and classifying ion spectrums, fluorescence spectrums and X-ray imaging of various explosives, and adding detection results of each time to a cloud database;
establishing a filing and sorting system for equipment control and disposal schemes, wherein the system automatically selects and recommends an optimal disposal scheme in the disposal process;
and establishing an explosive searching, identifying and disposing expert database system based on autonomous learning, man-machine aided decision and a rapid reasoning mechanism.
8. An operating method of the unmanned search and explosion-elimination robot system according to any one of claims 1 to 7, which is characterized by comprising the following steps:
1) when the robot enters the scene, the visual perception subsystem (10) intelligently analyzes scene information, three-dimensional reconstruction is carried out on the scene, suspected explosives are identified based on the expert knowledge system (50), and a suspected explosive detection area is determined;
2) the navigation positioning subsystem (20) carries out path planning and guides the unmanned search and explosion-removal robot local platform (1) to move to a detection working area;
3) the visual perception subsystem (10) performs visual positioning and feature extraction to determine the accurate position of the suspected explosive;
4) the double-mechanical-arm cooperative control subsystem (30) controls the first flexible mechanical gripper (102) and the second flexible mechanical gripper (103) to respectively adopt anthropomorphic sensing equipment detection and professional equipment detection, and visually guides the mechanical grippers to remove surface shielding objects and determine whether explosive exists in a suspected area or not when necessary;
5) the platform (1) of the unmanned searching and explosion-removing robot is moved to the position of an explosive to perform close-range detection, the first flexible mechanical gripper (102) performs optical analysis and accurate positioning, and the second flexible mechanical gripper (103) is guided by vision to grab special detection equipment for detection;
6) the double-mechanical-arm cooperative control subsystem (30) plans a detection path, controls the first flexible mechanical gripper (102) and the second flexible mechanical gripper (103) to finish detection, and identifies chemical properties and categories;
7) confirming whether a simple disposal scheme is adopted or not by a manual background, if so, performing simple disposal operation by the two mechanical arms, and if not, performing the manual background confirmation disposal scheme by the intelligent command center (2);
8) after the intelligent command center confirms the disposal scheme, the vision perception subsystem (10) intelligently processes and guides the second flexible mechanical gripper (103) to grab special detection equipment;
9) the intelligent command center (2) plans a treatment path and simultaneously displays an operation picture in real time;
10) and after the manual background confirmation, the two mechanical arms perform treatment operation, and the task is finished.
Priority Applications (1)
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| 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 |
| CN115179301A (en) * | 2022-09-13 | 2022-10-14 | 中国人民解放军国防科技大学 | Behavior tree-based ground target object automatic grabbing control method and system |
| CN117718985A (en) * | 2024-02-07 | 2024-03-19 | 西安中科光电精密工程有限公司 | Search and explosion venting robot based on intelligent three-dimensional vision |
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