WO2024094206A1 - 可智能拆弹方法及拆弹设备 - Google Patents
可智能拆弹方法及拆弹设备 Download PDFInfo
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- WO2024094206A1 WO2024094206A1 PCT/CN2023/129816 CN2023129816W WO2024094206A1 WO 2024094206 A1 WO2024094206 A1 WO 2024094206A1 CN 2023129816 W CN2023129816 W CN 2023129816W WO 2024094206 A1 WO2024094206 A1 WO 2024094206A1
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- circuit diagram
- bomb
- information comparison
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000010586 diagram Methods 0.000 claims abstract description 129
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 16
- 238000005516 engineering process Methods 0.000 claims description 14
- 230000008676 import Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000011161 development Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
Definitions
- the present invention relates to the technical field of special mechanical equipment, and in particular to an intelligent bomb disposal method and bomb disposal equipment.
- Machine vision technology is an interdisciplinary subject involving many fields such as artificial intelligence, image processing, and pattern recognition. Machine vision mainly uses computers to simulate human visual functions, extract information from the images of objective objects, process and understand them, and finally use them for actual detection, measurement and control.
- Bomb disposal requires professional bomb disposal personnel to handle the process.
- the bomb disposal robot of the existing technology cannot provide dismantling ideas based on the circuit of the bomb, and completely relies on the professional judgment of the bomb disposal personnel.
- Even professional bomb disposal personnel may have the risk of explosion due to improper operation.
- Establish an information comparison database for storing circuit diagrams import the circuit diagrams encountered before and preset the correct bomb disposal plan, preset the processing program according to the bomb disposal plan, associate the stored circuit diagram with the corresponding preset processing program and import it into the information comparison database; the device imports the known circuits and corresponding processing programs from the database; scans the bomb to obtain the circuit diagram of the bomb; compares the circuit diagram with the stored circuit diagrams in the information comparison database one by one; when the stored circuit diagram that is identical or similar to the circuit diagram exists in the information comparison database, control the manipulator to dismantle the bomb according to the preset processing program associated with the stored circuit diagram; when the stored circuit diagram that is identical or similar to the circuit diagram does not exist in the information comparison database When the circuit diagram has been stored, the scanned circuit diagram is stored in the information comparison database and the newly discovered circuit diagram is transmitted through cloud transmission technology.
- the manual mode is switched to allow the operator to defuse the bomb by remotely controlling the manipulator; whether the bomb defuse is successful is determined; when the bomb defuse result is a success, the circuit diagram is associated with the remote control processing program remotely controlled by the operator and stored in the information comparison database; when the bomb defuse result is a failure, the remote control processing program remotely controlled by the operator is corrected, and then the circuit diagram is associated with the corrected remote control processing program and stored in the information comparison database; the newly discovered circuit diagram and the correct remote control processing program are copied to other devices.
- This technology shortens bomb disposal time, makes experience easier to share, and avoids casualties among bomb disposal personnel.
- An information comparison database for storing circuit diagrams is established, circuit diagrams encountered before are imported and correct bomb disposal plans are preset, a processing program is preset according to the bomb disposal plan, the stored circuit diagram is associated with its corresponding preset processing program and imported into the information comparison database; the device imports known circuits and corresponding processing programs from the database; the bomb is scanned to obtain the circuit diagram of the bomb; the circuit diagram is compared one by one with the stored circuit diagrams in the information comparison database; when the stored circuit diagram that is identical or similar to the circuit diagram exists in the information comparison database, the manipulator is controlled to dismantle the bomb according to the preset processing program associated with the stored circuit diagram; when the stored circuit diagram that is identical or similar to the circuit diagram does not exist in the information comparison database, the scanned circuit diagram is stored in the information comparison database and the newly discovered circuit diagram is transmitted through cloud transmission technology, and the manual mode is switched at the same time, so that the operator can remotely control the manipulator to defuse the bomb.
- Establish an information comparison database for storing circuit diagrams import the circuit diagrams encountered before and preset the correct bomb disposal plan, preset the processing program according to the bomb disposal plan, associate the stored circuit diagram with the corresponding preset processing program and import it into the information comparison database; the device imports the known circuits and corresponding processing programs from the database; scans the bomb to obtain the circuit diagram of the bomb; compares the circuit diagram with the stored circuit diagrams in the information comparison database one by one; when the stored circuit diagram that is identical or similar to the circuit diagram exists in the information comparison database, control the manipulator to dismantle the bomb according to the preset processing program associated with the stored circuit diagram; when the stored circuit diagram that is identical or similar to the circuit diagram does not exist in the information comparison database When the circuit diagram has been stored, the scanned circuit diagram is stored in the information comparison database and the newly discovered circuit diagram is transmitted through cloud transmission technology.
- the manual mode is switched to allow the operator to defuse the bomb by remotely controlling the manipulator; whether the bomb defuse is successful is determined; when the bomb defuse result is a success, the circuit diagram is associated with the remote control processing program remotely controlled by the operator and stored in the information comparison database; when the bomb defuse result is a failure, the remote control processing program remotely controlled by the operator is corrected, and then the circuit diagram is associated with the corrected remote control processing program and stored in the information comparison database; the newly discovered circuit diagram and the correct remote control processing program are copied to other devices.
- the scanned circuit diagram is stored in the information comparison database and the newly discovered circuit diagram is transmitted through cloud transmission technology, and the mode is switched to manual mode at the same time.
- the steps for an operator to defuse a bomb by remotely controlling the manipulator include: when the information comparison database does not contain the stored circuit diagram that is identical or similar to the circuit diagram, obtaining image information of the on-site situation through a camera; sending the image information to a user terminal to help the operator operate the manipulator to eliminate the bomb hazard; receiving control instructions generated by the operator when operating the manipulator, controlling the manipulator to defuse the bomb according to the control instructions, and generating the remote control processing program according to the control instructions.
- the present invention also proposes a bomb disposal device, which includes: a workbench; a detector, which is arranged on the workbench and is used to scan the circuit diagram inside the bomb; a camera, which is arranged on the workbench and is used to monitor the image information of the on-site situation to help on-site personnel operate the manipulator to eliminate the bomb danger; a manipulator, which is arranged on the workbench and is located on the same side of the workbench as the camera; a CNC scissors, which is hingedly connected to the manipulator; a storage module, which is used to store the information comparison database of the circuit diagram; a central The central processor is electrically connected to the detector, the storage module and the plurality of manipulators respectively; the central processor is used to search the stored circuit diagram in the information comparison database and the preset corresponding bomb disposal plan, establish a preset processing program according to the bomb disposal plan, associate the stored circuit diagram with the preset processing program corresponding to it and import it into the information comparison database; the central
- the bomb disposal device further comprises a remote controller, which is connected to the communication module by signal; the communication module is used to obtain image information of the scene through a camera when there is no stored circuit diagram identical or similar to the circuit diagram in the information comparison database; the image information is sent to the user terminal to help the operator operate the manipulator to eliminate the bomb danger; the communication module is also used to receive the control instructions generated by the operator when operating the manipulator, and send the control instructions to the central processor; the central processor is also used to control the manipulator to dismantle the bomb according to the control instructions, and generate the remote control processing program according to the control instructions.
- a remote controller which is connected to the communication module by signal; the communication module is used to obtain image information of the scene through a camera when there is no stored circuit diagram identical or similar to the circuit diagram in the information comparison database; the image information is sent to the user terminal to help the operator operate the manipulator to eliminate the bomb danger; the communication module is also used to receive the control instructions generated by the operator when operating the manipulator, and send the control instructions to the central processor;
- the central processor is also used to determine whether the bomb disposal is successful; when the bomb disposal result is successful, the circuit diagram is associated with the remote control processing program remotely controlled by the operator and stored in the information comparison database; when the bomb disposal result is a failure, the remote control processing program remotely controlled by the operator is corrected, and then the circuit diagram is associated with the corrected remote control processing program and stored in the information comparison database; the newly discovered circuit diagram and the correct remote control processing program are copied to other devices.
- the equipment has simple structure, stable technology and is easy to produce.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提供一种可智能拆弹方法及拆弹设备，建立用于存储线路图的信息对比数据库，导入之前遇到的线路图并预设正确的拆弹方案，根据所述拆弹方案预设处理程序，将所述已存储线路图与其对应的预设处理程序关联并导入所述信息对比数据库中；设备从数据库中导入已知线路及对应的处理程序；扫描炸弹以获取所述炸弹的线路图；将线路图与已存储线路图一一比较；当存在相同或相似的时，根据预设控制程序控制机械手对炸弹进行拆除；当不存在相同或相似的时，根据遥控控制信息控制机械手对炸弹进行拆除；获取拆弹结果；根据拆弹结果将线路图与遥控控制信息存储至信息对比数据库中。本发明技术方案可自动根据线路图来控制多个机械手进行拆弹。
Description
本发明涉及特种机械设备技术领域，特别涉及一种可智能拆弹方法及拆弹设备。
在现代科学技术的发展中，电子化、信息化、网络化和智能化已成为发展的动向。视觉处理通常为拆弹机器人的核心技术。机器视觉技术是一门涉及人工智能、图像处理、模式识别等诸多领域的交叉学科。机器视觉主要用计算机来模拟人的视觉功能，从客观事物的图像中提取信息，进行处理并加以理解，最终用于实际检测、测量和控制。
在拆弹时需要专业的拆弹人员进行处理。然而面对炸弹中复杂的线路结构，现有技术的拆弹机器人无法根据炸弹的线路提供拆解思路，完全依靠拆弹人员的专业判断，即使专业的拆弹人员也可能存在操作不当导致爆炸的危险。
人工拆弹时间更久，经验难以分享，而且威胁拆弹人员的生命安全，导致拆弹人员伤亡。
建立用于存储线路图的信息对比数据库，导入之前遇到的线路图并预设正确的拆弹方案，根据所述拆弹方案预设处理程序，将所述已存储线路图与其对应的预设处理程序关联并导入所述信息对比数据库中；设备从数据库中导入已知线路及对应的处理程序；扫描炸弹以获取所述炸弹的线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹；判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的遥控处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，修正操作人员远程遥控的遥控处理程序，再将所述线路图与所述修正后的所述遥控处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述遥控处理程序复制到其它设备中。
该技术拆弹时间更短，经验更容易分享，避免拆弹人员伤亡。
10-底座，20-工作台，30-机械手，31-主机械臂，32-数控剪刀，33-辅机械臂，40-探测器，50-中央处理器，60-摄像头，70-通讯模块，80-升降组件，81-升降导轨，82-升降马达，91-滑动轮，92-驱动马达。
建立用于存储线路图的信息对比数据库，导入之前遇到的线路图并预设正确的拆弹方案，根据所述拆弹方案预设处理程序，将所述已存储线路图与其对应的预设处理程序关联并导入所述信息对比数据库中；设备从数据库中导入已知线路及对应的处理程序；扫描炸弹以获取所述炸弹的线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹。判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的遥控处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，修正操作人员远程遥控的遥控处理程序，再将所述线路图与所述修正后的所述遥控处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述遥控处理程序复制到其它设备中。
建立用于存储线路图的信息对比数据库，导入之前遇到的线路图并预设正确的拆弹方案，根据所述拆弹方案预设处理程序，将所述已存储线路图与其对应的预设处理程序关联并导入所述信息对比数据库中；设备从数据库中导入已知线路及对应的处理程序；扫描炸弹以获取所述炸弹的线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹；判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的遥控处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，修正操作人员远程遥控的遥控处理程序，再将所述线路图与所述修正后的所述遥控处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述遥控处理程序复制到其它设备中。可选地，当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹的步骤包括：当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，通过摄像头获取现场情况的图像信息；将所述图像信息发送至用户终端，以帮助操作人员操作所述机械手排除炸弹险情；接收操作人员操作所述机械手时产生的控制指令，根据所述控制指令控制所述机械手对所述炸弹进行拆除，并根据控制指令生成所述遥控处理程序。此外，为解决上述问题，本发明还提出了一种拆弹设备，所述拆弹设备包括：工作台；探测器，所述探测器设置在所述工作台上，所述探测器用于扫描炸弹内部的线路图；摄像头，所述摄像头设置在所述工作台上，所述摄像头用于监测现场情况的图像信息，以帮现场人员操作所述机械手排除炸弹险情；机械手，所述机械手设置在所述工作台上，所述机械手与所述摄像头位于所述工作台的同一侧；数控剪刀，所述数控剪刀与所述机械手铰接连接；存储模块，所述存储模块用于存储线路图的信息对比数据库；中央处理器，所述中央处理器分别与所述探测器、所述存储模块以及多个所述机械手电连接；所述中央处理器用于查找所述信息对比数据库中已存储线路图以及预设对应的拆弹方案，根据所述拆弹方案建立预设处理程序，将所述已存储线路图与其对应的所述预设处理程序关联并导入所述信息对比数据库中；所述中央处理器还用于接收所述线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹；所述中央处理器还用于判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的遥控处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，修正操作人员远程遥控的遥控处理程序，再将所述线路图与所述修正后的所述遥控处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述遥控处理程序复制到其它设备中；显示屏，所述显示屏设置在所述中央处理器上，并与所述中央处理器电连接；通讯模块，所述通讯模块与所述摄像头电连接，所述通讯模块用于接收所述图像信息，并将所述图像信息发送至外部用户终端；云服务器，所述云服务器用于为其他拆弹装置提供上传和下载服务；所述云服务器与所述通讯模块信号连接。可选地，所述拆弹装置还包括遥控器，所述遥控器与所述通讯模块信号连接；所述通讯模块用于当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，通过摄像头获取现场情况的图像信息；将所述图像信息发送至用户终端，以帮操作人员操作所述机械手排除炸弹险情；所述通讯模块还用于接收操作人员操作所述机械手时产生的控制指令，并将所述控制指令发送至所述中央处理器；所述中央处理器还用于根据所述控制指令控制所述机械手对所述炸弹进行拆除，并根据控制指令生成所述遥控处理程序。可选地，所述中央处理器还用于判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的遥控处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，修正操作人员远程遥控的遥控处理程序，再将所述线路图与所述修正后的所述遥控处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述遥控处理程序复制到其它设备中。
该设备结构简单，技术稳定，易于生产。
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Claims (6)
- 一种可智能拆弹方法，其特征在于，所述可智能拆弹方法包括：建立用于存储线路图的信息对比数据库，导入之前遇到的线路图并预设正确的拆弹方案，根据所述拆弹方案预设处理程序，将所述已存储线路图与其对应的所述预设处理程序关联并导入所述信息对比数据库中；设备从所述信息对比数据库中导入所述已存储线路图及对应的所述预设处理程序；扫描炸弹以获取所述炸弹的线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹；判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的正确处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，操作人员修正错误的处理程序，再将所述线路图与所述修正后的标准处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述标准处理程序复制到其它设备中。
- 根据权利要求1所述的可智能拆弹方法，其特征在于，当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹的步骤包括：当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，通过摄像头获取现场情况的图像信息；将所述图像信息发送至用户终端，以帮助操作人员操作所述机械手排除炸弹险情；接收操作人员操作所述机械手时产生的控制指令，根据所述控制指令控制所述机械手对所述炸弹进行拆除，并根据控制指令遥控生成所述处理程序。
- 一种拆弹设备，其特征在于，所述拆弹设备包括：工作台；探测器，所述探测器设置在所述工作台上，所述探测器用于扫描炸弹内部的线路图；摄像头，所述摄像头设置在所述工作台上，所述摄像头用于监测现场情况的图像信息，以帮助现场人员操作所述机械手排除炸弹险情；机械手，所述机械手设置在所述工作台上，所述机械手与所述摄像头位于所述工作台的同一侧；数控剪刀，所述数控剪刀与所述机械手铰接连接；存储模块，所述存储模块用于存储线路图的信息对比数据库；通讯模块，所述通讯模块与所述摄像头电连接，所述通讯模块用于接收所述图像信息，并将所述图像信息发送至外部用户终端；中央处理器，所述中央处理器分别与所述探测器以及多个所述机械手电连接，所述中央处理器与所述存储模块导通连接、所述中央处理器与所述通讯模块通讯连接；所述中央处理器用于查找所述信息对比数据库中已存储线路图以及预设对应的拆弹方案，根据所述拆弹方案建立预设处理程序，将所述已存储线路图与其对应的所述预设处理程序关联并导入所述信息对比数据库中；所述中央处理器还用于接收所述线路图；将所述线路图与所述信息对比数据库的所述已存储线路图一一比较；当所述信息对比数据库中存在与所述线路图相同或相似的所述已存储线路图时，根据所述已存储线路图关联的所述预设处理程序控制机械手对所述炸弹进行拆除；当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，将扫描出的所述线路图存储至所述信息对比数据库中并通过云传输技术将新发现的所述线路图传送出去，同时切换成人工模式，操作人员可通过远程遥控所述机械手进行拆弹；所述中央处理器还用于判断拆弹是否成功；当所述拆弹结果为拆弹成功时，将所述线路图与操作人员远程遥控的正确处理程序相关联并存储至所述信息对比数据库中；当所述拆弹结果为拆弹失败时，操作人员修正错误的处理程序，再将所述线路图与所述修正后的标准处理程序相关联并存储至所述信息对比数据库中；将所述新发现的所述线路图和正确的所述标准处理程序复制到其它设备中；显示屏，所述显示屏设置在所述中央处理器前方，并与所述中央处理器电连接；云服务器，所述云服务器用于为其他拆弹装置提供上传和下载服务；所述云服务器与所述存储模块以及所述通讯模块通讯连接。
- 根据权利要求3所述的拆弹设备，其特征在于，所述拆弹装置还包括遥控器，所述遥控器与所述通讯模块通讯连接；所述通讯模块用于当所述信息对比数据库中不存在与所述线路图相同或相似的所述已存储线路图时，通过摄像头获取现场情况的图像信息；将所述图像信息发送至用户终端，以帮助操作人员操作所述机械手排除炸弹险情；所述通讯模块还用于接收操作人员操作所述机械手时产生的控制指令，并将所述控制指令发送至所述中央处理器；所述中央处理器还用于根据所述控制指令控制所述机械手对所述炸弹进行拆除，并根据控制指令遥控生成所述处理程序。
- 根据权利要求3所述的拆弹设备，其特征在于，所述数控剪刀可更换其他拆弹工具。
- 根据权利要求3所述的拆弹设备，其特征在于，所述机械臂可根据实际需求安装多条。
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| CN107253204A (zh) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | 远程遥控排爆机器人 |
| CN112060109A (zh) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | 一种室内拆弹机器人及其工作方法 |
| CN212287657U (zh) * | 2020-09-29 | 2021-01-05 | 南京工程学院 | 一种室内拆弹机器人 |
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| CN216448712U (zh) * | 2021-11-18 | 2022-05-06 | 湖南数军物联网科技有限公司 | 模拟炸弹和拆弹训练系统 |
| US20220348409A1 (en) * | 2021-04-30 | 2022-11-03 | Dexterity, Inc. | Robotic system for identifying items |
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| CN107253204A (zh) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | 远程遥控排爆机器人 |
| CN112060109A (zh) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | 一种室内拆弹机器人及其工作方法 |
| CN212287657U (zh) * | 2020-09-29 | 2021-01-05 | 南京工程学院 | 一种室内拆弹机器人 |
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| CN114260923A (zh) * | 2022-02-09 | 2022-04-01 | 航天科工智能机器人有限责任公司 | 一种排爆机器人及其排爆方法 |
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