CN101259614A - Portable multiple freedom small-sized explosive process intelligent mobile robot system - Google Patents
Portable multiple freedom small-sized explosive process intelligent mobile robot system Download PDFInfo
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- CN101259614A CN101259614A CNA200810043257XA CN200810043257A CN101259614A CN 101259614 A CN101259614 A CN 101259614A CN A200810043257X A CNA200810043257X A CN A200810043257XA CN 200810043257 A CN200810043257 A CN 200810043257A CN 101259614 A CN101259614 A CN 101259614A
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Abstract
The invention relates to a minitype portable type intelligent mobile robot system with multiple degrees of freedom used for treating small explosives. The system comprises a mechanical movement part and an electric control part and is characterized in that the robot system comprises a control unit module, a moving platform module, an energy source module, a mechanical arm module, a picture sensor module and a remote control module; wherein, each independent functional module is mutually connected by adopting a standard mechanical interface; an embedded type computer APM 7 as a main controller is adopted among all the CPU and the Ethernet or CAN bus as a master controller is adopted and each CPU is connected by Ethernet or a CAN bus; all central processing units adopt standard TCP/IP or protocol communication and the body and arm of the robot are respectively provided with a camera. The robot system is light in weight and convenient in carrying; the robot is provided with 12 degrees of freedom and can be run autonomously and can be carried out by remote video control by adopting the mechanical arm which can remove explosive substance with 8 degrees of freedom; the robot system can be run in all weathers and in all terrain and can be applied to the field of actual combat.
Description
Technical field
The present invention relates to a kind of multi-freedom intelligent mobile robot platform, particularly disclose a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system, belong to the Robotics field.
Background technology
Explosive-removal robot is mainly used in and replaces manually, directly scout, get rid of and handle explosive in the spot, and other dangerous material, also can implement effective attack to some armed terrorists and offender, be requisite important equipment in the anti-terrorism professional contingent.Along with the development of remote control and local autonomous mobile technology, be used for anti-terrorism scouting and explosive ground mobile robot and begin to be applied.Ground mobile robot mainly contains crawler type, wheeled and both several modes such as combination.
Terrorist action in recent years is day by day rampant, and various countries have given greatly to pay attention to and more input to the explosion-proof technology and equipment of research and development anti-terrorism in order to maintain social stability and political demand.Especially since " 911 ", various countries have more strengthened the development work to anti-terror explosive removing robot.Wherein, Israel, the U.S., Britain, France, Japan and other countries maintain the leading position.Britain just successfully develops explosive-removal robot as far back as the sixties, and AB Precision Limited (ABP) aims at U.K. Ministry of Defence's production and supply EOD explosive and separates dismantling device.The explosive-removal robot of its production has Cyclops, Bison
TM, Groundhog
TM, model such as Lynx.U.S. REMOTEC company is the subsidiary of Northrop Grumman, use the explosive-removal robot manufacturer as traditional police, the explosion prevention robot that REMOTEC produces comprises: Andros F6-A, Wheelbarrow MK8 Plus II, Wheelbarrow Super M, Andros Wolverine, Andros Mini II, Andros V-A1, Swordfish and Marlincutting systems etc.U.S. iRobot company also produces the robot that explosive is handled, and represents model to be: Packbot-EOD.
With abroad compare, the explosive-removal robot of China is started late.The intelligent anti-terrorism explosion prevention robot of the first generation of 2004 annual proper motions developments " No. one, anti-terrorism " can be climbed angle less than 35 ° slope and stair, can freely get into the cave, the 0.4 meter high roadblock that can jump also can be equipped various weapons such as explosive substance destroy machine, running fire Shotgun and tear bombnoun according to instructions for use and finish corresponding function.Guangzhou Co., Ltd of Wei Fu robot is its industrialization, the explosive-removal robot that Wei Fu produces have PXJ-I (spy), PXJ-II (greatly) and PXJ-III (in) three kinds of models.Beijing auspicious outstanding great achievement technological development Co., Ltd mainly produces Dragon IV type EOD explosive-removal robot and RT3-EOD small-size multifunction safety check explosive-removal robot.Capital Jinwu mainly produces JW9 series explosive-removal robot.
Document " trailer type explosion-proof vent manipulator " (number of patent application: 03115111.6) described a kind of gown car formula explosion-proof vent manipulator, by the distant operation of operator, suspicious object is transferred to outside explosion-proof vent in the explosion-proof vent automatically, in explosion-proof vent, transferred to outside the explosion-proof vent again when needing.Document " a kind of flexible explosive arm of explosive-removal robot " (number of patent application: 200420077979.4) described a kind of explosive-removal robot arm.Document " robot for eliminating exploding and danger " (number of patent application: 200710175389.3) described a kind of small-sized robot for eliminating exploding and danger of band cloud platform video camera.
By the analysis showed that, mostly existing product is big-and-middle-sized robot for eliminating exploding and danger, the Mission Capability height, but volume is big, weight is big, the part of advancing of the especially big-and-middle-sized ground mobile robot wheel-leg combined types that adopt more, and the rear portion has enough big counterweight, cause structure huge and complicated, the overweight stability of robot when crossing stair that is unfavorable in rear portion.The robot research that relevant small-sized explosive is handled is less, and the Packbot-EOD stable performance of iRobot belongs to most advanced and sophisticated explosive-removal robot product.Domestic existing product landform adaptive capacity is relatively poor, the work capacity deficiency, and operation is reliable inadequately, also is in the laboratory research stage, the practicality deficiency.
Summary of the invention
The objective of the invention is to address the deficiencies of the prior art, disclose a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system.The present invention is in light weight, and is easy to carry; Have 8 frees degree and get rid of the mechanical arm of explosives, be connected by Ethernet or CAN bus between mechanical arm module node and master controller; Robot one has 12 frees degree, but autonomous operation and long-distance video control; Can be round-the-clock, full landform operation, operation intuitive and reliable, simple to operation, can be applied to field under battle conditions.
The present invention is achieved in that a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system, comprise the mechanical movement part, electric control system, it is characterized in that: robot system comprises the control module module, the mobile platform module, energy module, the mechanical arm module, image sensor module and remote control module, each standalone feature module adopts the mechanical interface of standard to interconnect, the control module module adopts Embedded computer A PM7 as master controller, is connected by Ethernet or CAN bus between each CPU of control module and each CPU of mechanical arm; The attitude information feedback that co-ordination between the control module CPU, control module are given control module to the control and the mechanical arm module of mechanical arm module all is to be undertaken by STD bus, adopts standard ICP/IP protocol or CAN protocol communication between all CPU.
Described control module module adopts Embedded computer as master controller, and integrated Embedded operating system makes robot realize autonomous walking by programming, independent navigation, and sensor information is handled and functions such as the stretching, extension of mechanical arm and extracting.
Described mobile platform module comprises robot frame, pedrail mechanism, driving and transmission mechanism, overturn arm mechanism etc.Robot landform operation entirely.Described robot frame comprises chassis, support and the cavity of robot; Pedrail mechanism comprises a crawler belt, a driving wheel, a driven pulley and several auxiliary wheels; Track driving mechanism comprises direct current generator, motor encoder, motor driver, gear drive and bearing; Overturn arm mechanism comprises a crawler belt, a driving wheel and a driven pulley; Flip-arm drives and transmission mechanism comprises upset motor, motor encoder, motor driver, gear drive and bearing.Described motor driver is controlled rotating speed of motor with the PWM mode, and each motor has an encoder, and open loop and closed loop dual mode are adopted in the motion control of robot, and closed loop comprises speed ring, position ring and electric current loop.
Described energy module comprises chargeable cell system and electric power management circuit, and for robot provides the energy, this robot can adorn 1 to 4 battery.Robot can be battery-powered, also can be powered by external direct current power supply, and electric power management circuit can be realized the function that external direct current power supply and battery switch mutually.
Above-mentioned mobile platform module, control module module and energy module constitute robot body.
Described mechanical arm module has 8 frees degree, adopts the worm and gear kind of drive, adopts that density is low, the aluminium alloy of high specific strength and modulus makes.Mechanical arm can stretch and shrink easily, and a plurality of frees degree and bigger extending range have guaranteed the flexibility of operation.The joint of each mechanical arm is by an independent CPU control, and each joint links to each other with the main control module as a standard control node, passes through Ethernet or the CAN bus and the mechanical arm module communication of standard each other.
Described image sensor module comprises and is meant the video camera that is contained on the robot body and is contained in video camera on the mechanical arm.The video camera that is installed on the body has one degree of freedom, can pitching swing, and residing position can be judged from the ambient image rice of seeing by robot, the operative goals of scenery, and searching on every side.The video camera that is installed on the mechanical arm has rotation and two frees degree of pitching swing, can accurately collect the information of target, makes robot manipulating task directly perceived, simple to operation.
Described remote control module is made up of remote computer, wireless communication module, a remote controller.The ICP/IP protocol of standard is adopted in wireless telecommunications between remote control module and the robot master controller.When adopting remote control mode, the operator sends control command by the keyboard of remote controller or remote computer, sends master controller to by wireless network, is controlled motion and other operations of robot by master controller.The information such as video that robot obtains send remote computer by master controller to by wireless network.The operator can see the residing environment of robot in real time, obtains the status information of robot, thus accurate manipulation robot.
The invention has the beneficial effects as follows:
1, each standalone feature module of robot system of the present invention adopts the mechanical interface of standard to interconnect, and forms whole robot system.Functional module can be matched, be replaced, so that finish specific function.Modular structural design makes things convenient for the installation of intermodule, can be according to requirements of different users mounter people platform rapidly, reduced the cost of the design, expansion of robot system, integrated, installation, maintenance, update.
2, each joint of each external sensor assembly of robot system of the present invention and manipulator is all by independent CPU control.Be connected by Ethernet or CAN bus between each node and between master controller and the node, connecting interface has identical feature with bus communication protocol.The priority of module can preestablish and revise as required.The feature reduction of standard electronic module interface the ROBOT CONTROL design, for reality use in the accessory expansion of robot convenience is provided.
3, robot system of the present invention can adopt from main control and Long-distance Control dual mode, and the wireless video remote control system can guarantee the intuitive and the convenience of operation.
4, robot system of the present invention has 12 frees degree altogether, has guaranteed the flexibility of robot manipulating task.
5, robot system of the present invention is towards the actual combat field, and in light weight, speed is fast, and load capacity is strong, can round-the-clock, full landform operation.
The invention will be further described below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is robot system architecture's sketch of the present invention;
Fig. 2 is a remote control unit structure diagram of the present invention;
Fig. 3 is a mobile platform structure diagram of the present invention;
Fig. 4 is a pedrail mechanism structure diagram of the present invention;
Fig. 5 is an overturn arm mechanism structure diagram of the present invention;
Fig. 6 is a mechanical arm structure diagram of the present invention;
Fig. 7 is a CAN bus control circuit schematic diagram of the present invention.
The specific embodiment
With reference to the accompanying drawings 1,2, a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system comprises that mobile platform module 10, body image sensor module 20, control module module 30, mechanical arm module 40, arm image sensor module 50, remote control unit 60 form.
With reference to the accompanying drawings 3, mobile platform 10 comprises robot frame 11, power-supply system 12, left pedrail mechanism 14L, the 14R of right-hand track chiain mechanism, left flip-arm 13L, right flip-arm 13R, a left side drives and transmission mechanism 15L, right drive and transmission mechanism 15R, flip-arm drive and transmission mechanism 16 etc.
With reference to the accompanying drawings 4, left and right sides pedrail mechanism 14L and 14R comprise 141, one driving wheels of a crawler belt 142, driven pulley 143 and 12 auxiliary wheels 144 respectively.Driving mechanism comprises DC servo motor, motor encoder, motor driver.Transmission mechanism comprises gear, bearing etc.Driver receives instruction from control module and comes drive motors, arrives driving wheel via transmission mechanism, drives whole caterpillar drive by driving wheel again, thus driven machine people walking.Motor driver is controlled rotating speed of motor with the PWM mode, the rotation direction of the signal control motor that sends according to the control module module.Each motor has the incremental encoder of one 500 line, and collection position information realizes robot motion's closed-loop control.Open loop and closed loop dual mode are adopted in the motion control of robot, and closed loop comprises speed ring, position ring and electric current loop.
With reference to the accompanying drawings 5, left and right sides overturn arm mechanism 13L and 13R comprise a crawler belt 131, a driving wheel 132 and a driven pulley 133 respectively.Two overturn arm mechanism have that a flip-arm drives and transmission mechanism 16,16 is made up of overturn motor, motor encoder, motor driver, gear drive and bearing.The signal that sends from the control module module drives the rotation of upset motor, drives the rotation of flip-arm driving wheel again, thereby whole flip-arm is rotated around drive sprocket axle.Flip-arm plays a supportive role in actions such as robot stair climbing, upset, is the vitals that makes the all-terrain adaptable operation of robot.
With reference to the accompanying drawings 6, body image sensor module 20 is mounted in a video camera on the robot moving platform module, has one degree of freedom, but the pitching swing, and its effect is the ambient image of gathering robot the place ahead, information is provided for the motion of robot.
An arm image sensor module 50 is installed on the mechanical arm 40, is had two frees degree, can pitching swing and rotation,, make operation directly perceived, simple to operation so that collect the information of target.
The robot system weight that present embodiment is built into is less than 30kg, speed 2m/s, arm exhibition 1.8m, maximum elongation load 3kg can climb 40 ° of stair, can round-the-clock, full landform move, but the individual soldier bears, and is the reliable portable explosive handling machine people platform towards the actual combat field.
Claims (8)
1. portable multiple freedom small-sized explosive process intelligent mobile robot system, comprise the mechanical movement part, electric control system, it is characterized in that: robot system comprises the control module module, the mobile platform module, energy module, the mechanical arm module, image sensor module and remote control module, each standalone feature module adopts the mechanical interface of standard to interconnect, the control module module adopts Embedded computer A PM7 as master controller, is connected by Ethernet or CAN bus between each CPU of control module and each CPU of mechanical arm; It all is to be undertaken by STD bus that co-ordination between the control module CPU, control module are given its attitude of feedback of control module to the control of mechanical arm module and mechanical arm module, adopts standard TCP/IP or CAN protocol communication between all CPU.
2. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: its mechanical arm of described mechanical arm module adopts the turbine and worm transmission, mechanical arm has 8 frees degree, each joint is as standard nodes, each joint is all controlled by independent CPU, and links to each other with master controller.
3. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: machinery that described mobile platform module is robot fortune merit carrier, comprise robot frame, about two pedrail mechanisms, about two overturn arm mechanism, about two track driving mechanism and about two flip-arms drive and transmission mechanism.
4. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 3 system, it is characterized in that: described robot frame comprises chassis, support and the cavity of robot; Pedrail mechanism comprises a crawler belt, a driving wheel, a driven pulley and several auxiliary wheels; Track driving mechanism comprises direct current generator, motor encoder, motor driver, gear drive and bearing; Overturn arm mechanism comprises a crawler belt, a driving wheel and a driven pulley; Flip-arm drives and transmission mechanism comprises upset motor, motor encoder, motor driver, gear drive and bearing.
5. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 4 system, it is characterized in that: described motor driver is controlled rotating speed of motor with the PWM mode, each motor has an encoder, open loop and closed loop dual mode are adopted in the motion control of robot, and closed loop comprises speed ring, position ring and electric current loop.
6. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: Embedded operating system that described Embedded computer is integrated makes robot realize that autonomous walking, free navigation, sensor information are handled and the stretching, extension of mechanical arm and extracting function by programming.
7. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system is characterized in that: described image sensor module comprises that being arranged on the robot body mobile platform has the video camera of pitching swing one degree of freedom and be arranged on and have rotation on the mechanical arm and the video camera of two frees degree is swung in pitching.
8. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: described robot system adopts from main control and Long-distance Control dual mode, Long-distance Control is to adopt a remote computer to communicate by letter with the robot master controller by wireless network, carry out the transmission of order and video, realize the remote operation of robot.
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| CN102133754A (en) * | 2010-12-31 | 2011-07-27 | 山西华鑫电气有限公司 | Heavy explosion-proof manipulator |
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| CN102039589B (en) * | 2009-10-16 | 2012-06-13 | 李路 | Modularized disaster rescue robot |
| CN102802881B (en) * | 2010-01-14 | 2015-12-16 | 工程服务公司 | Mobile robot |
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| CN102133754A (en) * | 2010-12-31 | 2011-07-27 | 山西华鑫电气有限公司 | Heavy explosion-proof manipulator |
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| CN107081764A (en) * | 2017-03-27 | 2017-08-22 | 常州明景智能科技有限公司 | Light anti-interference explosive-removal robot and its application method |
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| CN108312154A (en) * | 2018-03-01 | 2018-07-24 | 晋芳芳 | A kind of robot |
| CN108582044B (en) * | 2018-05-23 | 2024-04-23 | 北京华信智航科技有限公司 | 8-Degree-of-freedom integrated mechanical arm based on double paws |
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN109048933A (en) * | 2018-08-17 | 2018-12-21 | 北京中科盾科技有限公司 | The manipulator and control method of a kind of explosive dismantling robot |
| CN110315549A (en) * | 2019-06-12 | 2019-10-11 | 北京中安吉泰科技有限公司 | A kind of charging equipment cleaning robot |
| CN110653807A (en) * | 2019-09-19 | 2020-01-07 | 浙江工业大学 | High-precision explosive-handling robot device |
| CN110653807B (en) * | 2019-09-19 | 2024-05-28 | 浙江工业大学 | High-precision explosive-handling robot device |
| CN110744521A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Stretching and containing structure of bionic robot and control method thereof |
| CN111136672A (en) * | 2020-01-22 | 2020-05-12 | 深圳国信泰富科技有限公司 | Police robot and control method thereof |
| CN114147468A (en) * | 2021-11-16 | 2022-03-08 | 新兴际华集团有限公司 | Rapid assembling and matching method for high-mobility modularized crawler-type rescue robot |
| CN114102627A (en) * | 2021-11-30 | 2022-03-01 | 国网黑龙江省电力有限公司黑河供电公司 | Electric power machine room inspection robot |
| CN116372954A (en) * | 2023-05-26 | 2023-07-04 | 苏州融萃特种机器人有限公司 | AR immersed teleoperation explosive-handling robot system, control method and storage medium |
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