An intelligent water jet bomb disposal robot system and method

Abstract

The present application provides an intelligent water jet bomb disposal robot system and method, the system including a walking platform and: a water jet system including a water tank, a water jet generator and a nozzle connected in sequence; an end operating mechanism including a robotic arm connected to the nozzle; a multi-dimensional sensing device including a surround camera sensor, a monitoring sensor, a depth camera and a laser scanner; a control module connected to the walking platform, the water jet system, the end operating mechanism and the multi-dimensional sensing device respectively; and a remote control station connected to the control module for remote communication. The system provided by the present invention solves the problem that existing technologies and methods cannot meet the needs of high-precision bomb disposal operations for unknown environments and target objects.

Description

Technical Field

[0001] The present application relates to the technical field of bomb disposal robots, and in particular to an intelligent water jet bomb disposal robot system and method. Background Art

[0002] Currently, mobile bomb disposal robots are gaining widespread attention due to their long-range, safe, and flexible capabilities. They can replace personnel in entering dangerous areas to conduct reconnaissance, transfer, dismantling, and destruction of explosive devices or weapons. Typically, a bomb disposal robot consists of a wheeled or tracked mobile chassis, video monitoring equipment, manipulator arms, grippers, and other control mechanisms, as well as remote communication and remote control equipment. Due to the complexity of operational scenarios, the diversity of operational objects, and the uncertainty of bomb disposal targets, it is difficult for a single robot to complete all tasks. In recent years, a variety of bomb disposal robots, their associated mechanisms, and monitoring and operating devices have been continuously invented to address various difficult issues in bomb disposal operations.

[0003] Due to the unique nature of bomb disposal targets and environments, waterjet cutting (also known as water jet cutting), a cold cutting method, produces no thermal deformation or heat effects. It achieves excellent cutting results on both high-hardness materials like glass, ceramics, and metals, as well as soft materials like leather, rubber, and fabric. Therefore, it holds great promise for applications in bomb disposal robots targeting objects such as shelters, containers, and explosives. Inventions have already been developed to apply this technology to bomb disposal robots. However, waterjet cutting robots based on fixed platforms or bases can only perform predefined operations targeting specific targets or objects, and are unable to adapt to operational requirements in uncertain scenarios or targets. While mobile platform or vehicle-based waterjet cutting robots offer a certain degree of freedom, they are still based on proprietary scenarios and targets and lack the effective use of high-precision detection methods to assist in automated operations, severely limiting the robots' ability to operate in complex scenarios.

[0004] Therefore, existing bomb disposal robots are mostly based on proprietary scenarios and operating objects, lacking adaptability to unknown environments and intelligent high-precision operation capabilities. Summary of the Invention

[0005] In response to the above problems, one of the objectives of the present invention is to provide an intelligent water jet bomb disposal robot system and method to solve the problem that the existing technology cannot meet the needs of high-precision bomb disposal operations in unknown environments and target objects.

[0006] In the first aspect, the present invention provides an intelligent water jetting bomb disposal robot system, which adopts the following technical solutions:

[0007] An intelligent water jet bomb disposal robot system, comprising: a walking platform and:

[0008] The waterjet cutting system comprises a water tank, a water jet generator and a nozzle connected in sequence; an end operating mechanism comprises a robotic arm connected to the nozzle; a multi-dimensional sensing device comprises a surround view camera sensor, a surveillance sensor, a depth camera and a laser scanner; a control module respectively connected to the walking platform, the waterjet cutting system, the end operating mechanism and the multi-dimensional sensing device; and a remote control station remotely connected to the control module for communication;

[0009] Wherein, the remote control station is used for:

[0010] Acquire the surround view images collected by the surround view camera sensor to determine the walking direction of the walking platform;

[0011] Remotely send a walking instruction to control the walking platform to move to the working area according to the walking direction;

[0012] Acquire the front image captured by the monitoring sensor and determine the target object located in the operation area;

[0013] Acquire a three-dimensional image of the target object captured by the depth camera;

[0014] In response to a scanning instruction for a target area of ​​the three-dimensional image, acquiring a three-dimensional point cloud image obtained by scanning the target area with the laser scanner;

[0015] In response to a cutting instruction for a cutting center of the three-dimensional point cloud image, a preset operation trajectory with the cutting center as a starting point is obtained;

[0016] The robot arm is controlled to transfer the nozzle to the cutting center, and the nozzle is controlled to cut the target object along the preset operation trajectory, while obtaining the front image collected by the monitoring sensor during the cutting process.

[0017] As one of the preferred solutions, at least one surround view camera sensor is provided on at least one side of the walking platform, and the monitoring sensor is provided in front of the walking platform;

[0018] The laser scanner and the depth camera are installed in a first direction at the end of the robotic arm, and the nozzle is installed in a second direction at the end of the robotic arm, and the first direction and the second direction intersect.

[0019] As one of the preferred solutions, the remote control station includes a robotic arm simulation module, which is configured to simulate whether the robotic arm collides with the target object when moving along different preset trajectories, and if no collision occurs, sends a motion instruction to the control module to control the robotic arm to move along the preset trajectory; wherein the motion instruction includes a first motion instruction, a second motion instruction, and a third motion instruction;

[0020] The robotic arm simulation module is used to:

[0021] Sending the first motion instruction to control the robotic arm to flip along a first preset trajectory to obtain the three-dimensional image;

[0022] sending the second motion instruction to control the robotic arm to move along a second preset trajectory to obtain the three-dimensional point cloud image;

[0023] The third motion instruction is sent to control the robotic arm to cut the target object along the preset operation trajectory.

[0024] As one of the preferred solutions, the multi-dimensional sensing device further includes a flexible tube telescopic endoscope provided in the first direction of the robotic arm, and the remote control station is further used for:

[0025] After the cutting of the target object is completed, the flexible tube telescopic endoscope is inserted into the cut hole, the inspection information collected by the flexible tube telescopic endoscope is obtained, and the cutting result is output; and / or,

[0026] After the cutting of the target object is completed, the nozzle at the end of the robotic arm is controlled to flip, driving the depth camera toward the cut hole, obtaining a three-dimensional image captured by the depth camera, and outputting the cutting result.

[0027] As one of the preferred solutions, the walking platform includes a mobile chassis, and the mobile chassis is further provided with telescopic legs on all four sides;

[0028] Wherein, the control module is configured with a level sensor, and the control module is connected to each of the telescopic legs to control the telescopic height of each of the telescopic legs.

[0029] In a second aspect, the present invention provides an intelligent water jetting bomb disposal robot operation method, which adopts the following technical solutions:

[0030] An intelligent water jet bomb disposal robot operation method, the method comprising:

[0031] Obtain the surround view images collected by the surround view camera sensor to determine the walking direction of the walking platform;

[0032] Remotely send a walking instruction to control the walking platform to move to the working area according to the walking direction;

[0033] Acquire the front image captured by the monitoring sensor and determine the target object located in the operation area;

[0034] Acquire a three-dimensional image of the target object captured by a depth camera;

[0035] In response to a scanning instruction for a target area of ​​the three-dimensional image, acquiring a three-dimensional point cloud image obtained by scanning the target area with a laser scanner;

[0036] In response to a cutting instruction for a cutting center of the three-dimensional point cloud image, a preset operation trajectory with the cutting center as a starting point is obtained;

[0037] The robot arm is controlled to transfer the nozzle to the cutting center, and the nozzle is controlled to cut the target object along the preset operation trajectory, while obtaining the front image collected by the monitoring sensor during the cutting process.

[0038] As one of the preferred solutions, obtaining the front image captured by the monitoring sensor and determining the target object located in the operating area includes:

[0039] Acquire the front image captured by the monitoring sensor and the two-dimensional image captured by the depth camera to determine the position information of the target object located in the working area;

[0040] Based on the position information, the walking platform is controlled to move to a target position.

[0041] As one of the preferred solutions, obtaining a three-dimensional image of the target object acquired by the depth camera includes:

[0042] Sending a first motion instruction to control the robotic arm to flip along a first preset trajectory; the first motion instruction is characterized by simulating that the robotic arm does not collide with the target object when flipping along the first preset trajectory;

[0043] Acquire a three-dimensional image of the target object captured by the depth camera;

[0044] The step of acquiring a three-dimensional point cloud image obtained by scanning the target area with the laser scanner includes:

[0045] Sending a second motion instruction to control the robotic arm to move along a second preset trajectory within the target area; the second motion instruction is characterized by simulating that the robotic arm does not collide with the target object when moving along the second preset trajectory;

[0046] Acquire a three-dimensional point cloud image obtained by the laser scanner moving with the robotic arm scanning the target object in the target area;

[0047] The controlling the nozzle to cut the target object along the preset operation trajectory includes:

[0048] A third motion instruction is sent to control the robotic arm to move along the preset operation trajectory within the target area; the third motion instruction is characterized by simulating that the robotic arm does not collide with the target object when moving along the preset operation trajectory.

[0049] As one of the preferred solutions, controlling the walking platform to move to the target position based on the position information may include:

[0050] Obtaining level information of the walking platform to determine whether the walking platform is level;

[0051] When the walking platform is not horizontal, controlling the plurality of telescopic legs to extend to their respective corresponding telescopic heights;

[0052] When the walking platform is horizontal, the multiple telescopic legs are controlled to extend at the same preset height.

[0053] As one of the preferred solutions, the controlling the robot arm to transfer the nozzle to the cutting center and controlling the nozzle to cut the target object along the preset operation trajectory, then includes:

[0054] After the cutting of the target object is completed, the robot arm is controlled to drive the flexible tube telescopic endoscope to extend into the cut hole, obtain the inspection information collected by the flexible tube telescopic endoscope, and output the cutting result; and / or,

[0055] After the cutting of the target object is completed, the nozzle at the end of the robotic arm is controlled to flip, driving the depth camera toward the cut hole, obtaining a three-dimensional image captured by the depth camera, and outputting the cutting result.

[0056] Compared with the prior art, this application has the following advantages:

[0057] The system provided by the embodiments of the present application utilizes surround-view cameras and surveillance sensors to provide a wide field of view, determining the target's location and direction of travel. A depth camera performs a coarse scan to quickly generate a large-scale three-dimensional image, determining the target's general outline, locking in its position, distance, and size. This allows the subsequent laser scanner to plan its operating space and collision avoidance boundaries, providing the target area scanning range for the laser scanner. The laser scanner is capable of capturing high-precision details within a small area, performing fine scanning within the target area calibrated by the depth camera. Through localized, refined scanning, a precise three-dimensional model of the target is generated, ensuring accurate analysis and cutting motion planning. Thus, panoramic camera imaging and omnidirectional vision provide the robot with superior visual sensing for movement and operation, enabling it to acquire multi-dimensional visual information in complex and unknown environments, and achieve dynamic, omnidirectional target recognition and precise positioning. Furthermore, the coordinated functions of multiple modules across different dimensions enable a progressively refined perception process, making subsequent module acquisition more centralized and efficient, improving overall operational efficiency and safety. This multi-dimensional perception device enables the robot to possess environmental perception capabilities from broad to microscopic levels when performing tasks, effectively enhancing the accuracy and flexibility of recognition, positioning, and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] Figure 1 This is a schematic diagram of the overall structure of the intelligent water jet bomb disposal robot system according to one embodiment of the present application;

[0060] Figure 2 This is a flowchart of the steps of the intelligent water jet bomb disposal robot operation method described in one embodiment of the present application.

[0061] Description of reference numerals:

[0062] 1. Mobile chassis; 2. Support frame; 3. Telescopic legs; 4. Water tank; 5. Control module; 6. Surround view camera sensor; 7. Surveillance sensor; 8. Water jet generator; 9. Robotic arm; 10. Nozzle; 11. Laser scanner; 12. Depth camera; 13. Hose-type telescopic endoscope; 14. Remote control station. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0064] Explosive ordnance disposal (EOD) operations are often conducted in dangerous and complex environments, often with various obstacles and irregular terrain. Explosive ordnance disposal (EOD) targets are diverse, with complex shapes and structures, often hidden behind various containers or obstacles. However, existing EOD robots are primarily designed for specialized scenarios and operational objectives, lacking adaptability to unknown environments and intelligent, high-precision operational capabilities. Existing technologies, in particular, fail to provide effective solutions for long-range, beyond-visual-range (BLOS) operations, high-precision processing of complex, dynamic targets, and the integration of multi-functional operations.

[0065] In order to overcome the defects in the prior art, the present invention aims to propose an intelligent water jet bomb disposal robot system for high-precision water jet bomb disposal operations of uncertain objects in remote beyond-visual-range unknown environments.

[0066] Reference Figure 1 As shown, Figure 1 The figure is a schematic diagram of the overall structure of the intelligent water jet bomb disposal robot system shown in the present invention. Figure 1 As shown, the main purpose of the embodiment of the present invention is to provide the robot with good visual sensing for traveling and operating in an unknown environment through panoramic camera and omnidirectional vision, so as to make accurate operation decisions. An intelligent water jet bomb disposal robot system, the system includes: a walking platform and: a water jet system, including a water tank 4, a water jet generator 8 and a nozzle 10 connected in sequence; an end operating mechanism, including a robotic arm 9, which is connected to the nozzle 10; a multi-dimensional sensing device, including a surround camera sensor 6, a monitoring sensor 7, a depth camera 12 and a laser scanner 11; a control module 5, which is respectively connected to the walking platform, the water jet system, the end operating mechanism and the multi-dimensional sensing device; a remote control station 14, which is remotely connected to the control module 5;

[0067] Among them, the remote control station 14 is used to: obtain the surround image captured by the surround camera sensor 6 to determine the walking direction of the walking platform; remotely send walking instructions to control the walking platform to move to the working area according to the walking direction; obtain the front image captured by the monitoring sensor 7 to determine the target object located in the working area; obtain the three-dimensional image of the target object captured by the depth camera 12; respond to the scanning instruction for the target area of ​​the three-dimensional image, obtain the three-dimensional point cloud image obtained by the laser scanner 11 scanning the target area; respond to the cutting instruction for the cutting center of the three-dimensional point cloud image, and obtain a preset working trajectory with the cutting center as the starting point; control the robotic arm 9 to transfer the nozzle 10 to the cutting center, and control the nozzle 10 to cut the target object according to the preset working trajectory, and at the same time obtain the front image captured by the monitoring sensor 7 during the cutting process.

[0068] In this embodiment, the walking platform is the foundational structure of the entire system, primarily used to carry the various modules (water jet cutting system, end-of-line mechanism, multi-dimensional sensing device, and control module 5) and move them to different work areas. The walking platform can be tracked or wheeled, enabling 360° rotation and multi-directional movement depending on environmental requirements, facilitating mobility across diverse terrains.

[0069] In this embodiment, the remote operator can control the walking platform to rotate 360 ​​degrees in place, then identify the direction of the suspicious object from the surrounding images captured by the forward surround-view camera sensor 6, and then continue to move in the direction of the suspicious object, finally moving into the operating area where the suspicious object is located, and then find the target object through the monitoring sensor 7. In some cases, the monitoring sensor 7 can be assisted by the depth camera 12 to further determine the target object.

[0070] Specifically, the waterjet cutting system includes a water tank 4, a waterjet generator 8, and a nozzle 10, all of which are interconnected and used to generate a high-pressure water jet for cutting materials. The water tank 4 stores the water needed for cutting, and abrasive can be added to the water flow according to the needs of the operation. The waterjet generator 8 includes a high-pressure plunger pump, a gasoline engine that powers the high-pressure plunger pump, and a pressure tank that stores a mixture of high-pressure water and abrasive for cutting. The high-pressure plunger pump pressurizes the water flow, forming a high-pressure slurry in the pressure tank. This high-pressure slurry is then passed through the nozzle 10 to form a high-speed abrasive water jet. During the cutting operation, water in the water tank 4 flows through a water pipe into the high-pressure plunger pump, where it is pressurized and fed into the pressure tank to form a high-pressure slurry. The high-pressure slurry is then delivered to the nozzle 10, which accelerates the high-pressure slurry to extremely high speeds, utilizing its high kinetic energy and the cutting action of the abrasive to separate or destroy the target object.

[0071] Specifically, the end-of-line operating mechanism includes a robotic arm 9, which is mounted with a nozzle 10 and drives the nozzle 10 in motion. Mounted at the front end of the system, the robotic arm 9 possesses six or more degrees of freedom and receives path commands from a remote control station 14. Optionally, the robotic arm 9 can be a flexible multi-jointed manipulator.

[0072] In some embodiments, the walking platform includes a support frame 2 and a mobile chassis 1. The robotic arm 9 is fixed to the support frame 2, while the control module 5 and the water jet cutting system are mounted on the mobile chassis 1. The mobile chassis 1 utilizes components with obstacle-crossing capabilities, capable of crossing steps over 100 mm and ditches over 300 mm. It also has the ability to move forward, backward, left, right, and right, and to spin 360° in place, as well as adjustable speed.

[0073] The improvement of this embodiment lies in the design and optimized application of a multi-dimensional sensing device, including a surround-view camera sensor 6, a surveillance sensor 7, a depth camera 12, and a laser scanner 11. The surround-view camera 6 captures panoramic images, providing a wide-angle field of view, enabling the robot to quickly obtain an overview of its surroundings. The mobile chassis 1 then rotates 360° on the spot, allowing the robot to easily locate a target and position it directly in front of the robot, thereby remotely and directly driving the robot forward and gradually approaching the target. The surveillance sensor 7 captures high-definition images of the front, allowing the operator to more clearly observe the details of the work ahead and adjust the robot to the appropriate position to observe the target within the work area. The depth camera 12 captures a three-dimensional image of the target, capturing both color and depth image data to generate three-dimensional visual data, enabling the creation of a three-dimensional virtual scene of an unknown work area. The laser scanner 11 performs high-precision scanning, generating a three-dimensional model of the target, providing an accurate reference for cutting path planning. The laser scanner 11 offers high precision and stability, enabling long-term operation in various environments.

[0074] In some embodiments, the depth camera 12 is an RGBD (Red Green Blue Depth) depth camera, and may further be a structured light camera, a TOF depth camera, or a binocular 3D camera.

[0075] In some embodiments, at least one surround-view camera sensor 6 may be installed. When one surround-view camera sensor 6 is installed, it is preferably installed on the front side of the robot; when two surround-view camera sensors 6 are installed, they are preferably installed on the front and back sides of the robot; when four surround-view camera sensors 6 are installed, they are preferably installed on the front, back, left, and right sides of the robot. The four cameras are installed on the support frame 2 to provide 360° panoramic visual data for the robot.

[0076] In some embodiments, the monitoring sensor 7 is installed in front of the support frame 2 of the robot, so as to capture a high-definition image of the target object when the remote-controlled robot faces the target object.

[0077] Specifically, the control module 5 is responsible for receiving data from various sensors, analyzing and processing this information, and generating corresponding control instructions. The control module 5 comprises a vehicle-mounted host computer, including functions such as platform control, data storage, robotic arm 9 control, water jet cutting control, and vehicle-mounted remote control. It also includes functions for collecting, processing, and transmitting data from the multi-dimensional sensing device.

[0078] The remote control station 14 realizes human-machine interaction, remote video monitoring, remote control of robot walking and docking, remote control of target scanning, remote control of water jet cutting operation, chassis status monitoring, operation process monitoring, remote operation command issuance, etc.

[0079] Exemplarily, the remote control station 14 typically includes a human-machine interface (HMI), a remote communication module, and a remote controller. The HMI displays real-time video, environmental information, and sensor data, providing an interactive interface for the operator. The remote communication module utilizes a broadband image transmission module, a 5G module, a 4G module, or a Wi-Fi module, enabling high-speed communication beyond line of sight. The remote controller includes various control buttons, a joystick, and indicator lights for manually controlling the movements of various robot components.

[0080] The remote control station 14 is remotely connected to the control module 5, enabling bidirectional data transmission between the remote and local ends. The user sends remote control commands via the human-machine interface (HMI). These commands are transmitted to the vehicle-mounted control module 5 via the image transmission module. The control module 5 ultimately transmits these remote control commands to the waterjet cutting system and robotic arm 9, which then control the waterjet cutting system and robotic arm 9 to perform the corresponding operations. Simultaneously, the control module 5 wirelessly transmits multidimensional information (surround view, forward image, 3D image, and 3D point cloud image) collected by the multidimensional sensing device to the remote image transmission module via the local wireless image transmission. The remote image transmission module then transmits the received multidimensional information to the HMI for display. Thus, the operator remotely controls the robot through the remote control station 14, while the robot's control module 5 remotely controls and interacts with the operator via wireless communication. The operator can control the robot's movement and operational flow from a safe location.

[0081] Therefore, during the operation of the robot bomb disposal system, the execution steps can be applied to the remote control station 14 during specific use. The remote control station 14 remotely controls the robot's movement, the movement of the robotic arm 9, the visual perception control and processing of the multi-dimensional sensing device, and the opening and closing of the high-pressure pump and high-pressure mortar tank of the waterjet cutting system. The execution steps can also be applied to the control module 5, which operates the robot to perform corresponding operations by responding to remote control commands output by the remote control station 14.

[0082] This embodiment uses the remote control station 14 as the control body to illustrate a method for performing bomb disposal operations using the robot system.

[0083] See also Figure 2 , Figure 2 This is a flowchart of the steps of the intelligent water jet bomb disposal robot operation method. An intelligent water jet bomb disposal robot operation method includes the following steps:

[0084] S1, obtain the surround view image collected by the surround view camera sensor 6 and determine the walking direction of the walking platform;

[0085] The remote control station 14 establishes a bidirectional communication link with the control module 5. The bomb disposal mission officially begins, and the surround-view camera sensor 6 captures images of the surrounding environment. The operator observes the captured surround-view images on the human-machine interface of the remote control station 14, identifies the target object or the transit station required to reach the target, and thus determines the direction of movement of the walking platform. The walking platform's direction is the direction of the target object or the transit station required to reach the target, so the chassis is controlled to move toward the target object or the transit station required to reach the target.

[0086] S2. Remotely send walking instructions to control the walking platform to move to the working area according to the walking direction;

[0087] After discovering the target object, the operator controls the mobile chassis 1 through the remote control handle to move forward, backward, turn left or right, etc., to move to the working area where the target object is located, and approach the explosive to observe the explosive.

[0088] Specifically, during movement, the robot collects surround images and rotates the chassis 360° in place to position the detected target directly in front of the crawler robot. The left and right control buttons adjust the robot's movement direction to always face the EOD object, while driving the robot forward directly allows it to move closer to the object. Along the way, the surround image provided by the surround camera sensor 6 continuously provides information about the robot's surroundings.

[0089] S3, obtaining the front image captured by the monitoring sensor 7 and determining the target object in the working area;

[0090] After the robot is near and facing the explosive, the monitoring sensor 7 provides a high-definition image in front of it to determine the video image of the target object that needs to be detonated, and adjusts the robot to a suitable position through the front image to meet the subsequent operating space of the robotic arm 9.

[0091] Furthermore, step S3 includes:

[0092] S31, obtaining the front image captured by the monitoring sensor 7 and the two-dimensional image captured by the depth camera 12, and determining the position information of the target object in the working area;

[0093] S32. Based on the position information, control the walking platform to move to the target position.

[0094] The chassis position of the robot is adjusted by the monitoring sensor 7 and the depth camera 12. The monitoring sensor 7 fixed in front of the bomb disposal robot cannot see and judge the distance and relative position relationship between the target object and the bomb disposal robot. In this embodiment, the depth camera 12 fixed on the robotic arm has a two-dimensional visual function. By controlling the robotic arm to be in a suitable posture, the two-dimensional image captured by the depth camera 12 can observe the relative position relationship between the target object and the bomb disposal robot. According to the acquired two-dimensional image, the bomb disposal robot can then be driven closer to the target object until the robot is in the target position. Among them, the target position can be understood as the most suitable position between the current robot and the target object. When the robotic arm 9 is operated at this position, the target object is just within the reach of the nozzle fixed to the robotic arm 9. The robotic arm 9 and the nozzle fixed to the robotic arm 9 do not interfere with the target object and other parts of the robot body.

[0095] Therefore, the image of the target explosive and the information from the depth camera 12 are presented on the human-machine interface by using the forward image captured by the monitoring sensor 7 and the two-dimensional image captured by the depth camera 12. The chassis 1 is moved to the most suitable target position by the remote control handle, so that the monitoring sensor 7 can observe the entire target object and the depth information scanned by the depth camera 12 satisfies the working space of the robot arm 9 to cut the target object.

[0096] In some scenarios, while the robot is moving, the operator can simultaneously operate the robotic arm 9 through the remote control handle on the remote control station 14, so as to conduct omnidirectional close observation of any suspicious objects in the surrounding area through the depth camera 12 installed thereon, and further determine the target object within the working area.

[0097] S4, obtaining a three-dimensional image of the target object captured by the depth camera 12;

[0098] After the target object is identified and the robot is positioned appropriately between them, a binocular depth camera 12 is used to perform a rough scan to generate a three-dimensional image of the object. In this embodiment, the depth camera 12 is remotely operated to perform a rough scan of the target object, and the resulting three-dimensional image is processed using RGBD and other techniques, with the final result displayed on a human-computer interface.

[0099] The depth camera 12 can switch from 2D vision to 3D scanning, using this 3D scanning function to capture 3D data of the target object from multiple angles. This multi-angle data is then stitched together in 3D, and the stitched point cloud data is reconstructed in 3D to create a 3D virtual scene with the robot as the coordinate system, restoring the approximate outline of the target object. Finally, the reconstructed 3D image is displayed on the remote human-computer interaction interface. Thus, the 3D image represents the approximate 3D model of the target object, obtaining its approximate outer contour and depth information, thereby determining the operating space and collision avoidance boundary for the subsequent laser scanner 11, providing visual data for subsequent manual selection of fine-grained local scanning areas for the laser scanner 11.

[0100] S4, in response to a scanning instruction for a target area of ​​the three-dimensional image, obtaining a three-dimensional point cloud image obtained by scanning the target area by the laser scanner 11;

[0101] Because the depth camera 12 is not accurate enough, using only the workspace information captured by the 3D image to perform cutting with the robotic arm 9 could result in the cutting head colliding with suspected EOD material (risking detonation) or moving too far away from the material (risking incomplete cutting). Therefore, the laser scanner 11 is used to obtain more accurate 3D information. Based on the 3D image of the work area viewed on the remote control station, the operator selects a laser scanning area, completes the laser scanning and processing of the selected area, and scans the target area using the laser scanner 11 to generate a 3D point cloud image. This processed 3D point cloud image is then displayed on the human-computer interface, allowing the operator to confirm the center of the material to be cut.

[0102] Specifically, the user selects the target area to be cut, such as a point or a surface, from the 3D image obtained by a rough scan on the touchscreen. The laser scanner 11 then plans the scanning path based on the selected target area and the 3D image. After confirming the accuracy, the system generates scanning instructions for the robotic arm 9, initiating the scan. The system simultaneously records the robotic arm 9's trajectory (the end-of-arm position) and the laser scanning data, reconstructing the target object through 3D reconstruction to create a precise 3D model. This model is then stored in the vehicle's host computer in a file format such as a point cloud.

[0103] S5, in response to a cutting instruction for a cutting center of the three-dimensional point cloud image, obtaining a preset operation trajectory with the cutting center as a starting point;

[0104] The operator selects the center to be cut using the 3D point cloud image, obtains the coordinates of the cutting path's starting point, and obtains the normal vector of the cutting surface at that point by fitting the 3D point cloud data. This completes the cutting path planning for the nozzle 10 and enables the cutting operation at the selected cutting center. After preprocessing the 3D model point cloud file, the operator locates the surface to be cut using the current viewing angle of the laser scanner 11 on the image transmission module's screen. The captured point cloud data from the laser scanner 11 within the defined area is transmitted to the CAM (Computer-Aided Manufacturing) system, where the operator selects the cutting hole center point and sends feedback to the onboard system. The CAM software on the onboard host automatically generates a hole-cutting script based on the cutting center point location and normal vector data, which can be simulated. This script is then converted into a robotic motion control program format compatible with the robotic arm 9 system, resulting in the preset waterjet cutting trajectory.

[0105] S7, controlling the robot arm 9 to transfer the nozzle 10 to the cutting center, and controlling the nozzle 10 to cut the target object along a preset operation trajectory, while obtaining the front image collected by the monitoring sensor 7 during the cutting process.

[0106] After selecting the cutting center point, a preset operation trajectory is obtained with the cutting center point as the starting point. Based on this preset operation trajectory, the control module 5 moves the robotic arm 9 to the cutting center. Under the control of the waterjet cutting system, the engine is turned on, and then the high-pressure pump is activated, outputting a high-pressure water jet from the nozzle 10. When the pressure reaches the preset value (the monitoring sensor 7 observes a large amount of water mist), the valve of the high-pressure mortar tank is opened, and the nozzle 10 is controlled to move along the preset operation trajectory to complete the cutting operation of the selected area. During the cutting process, the operator obtains real-time video images from the vehicle terminal through image communication between the remote terminal and the vehicle terminal. The video images collected by the monitoring sensor 7 show the cutting process, monitor the cutting status, and remotely pause or stop the cutting operation if a fault is detected.

[0107] In summary, the surround-view camera 6 and surveillance sensor 7 provide a wide field of view to determine the target's position and direction of travel. The depth camera 12 performs a coarse scan to quickly generate a large-scale three-dimensional image, determining the target's general outline, locking in its position, distance, and size. This allows the subsequent laser scanner 11 to plan its operating space and collision avoidance boundaries, providing the target area scanning range. The laser scanner is capable of capturing high-precision details within a small area, performing fine scanning within the target area calibrated by the depth camera 12. This localized, refined scan generates a precise three-dimensional model of the target, ensuring accurate analysis and segmentation of the target. In this way, panoramic camera imaging and omnidirectional vision provide the robot with excellent visual sensing for movement and operation, enabling it to acquire multi-dimensional visual information in complex and unknown environments, and achieve dynamic, omnidirectional target recognition and precise operational positioning. Furthermore, the synergistic functions of multiple modules across different dimensions enable a gradually refined perception process, making the acquisition of subsequent modules more centralized and efficient, improving overall operational efficiency. The multi-dimensional sensing device enables the robot to have environmental perception capabilities from wide-area to microscopic when performing tasks, effectively improving the accuracy and flexibility of identification, positioning and operation, as well as safety.

[0108] Therefore, bomb disposal robots are expected to achieve higher intelligence and precision, and be able to cope with the bomb disposal mission requirements of various and uncertain obstacles (such as obstacles in the environment, hidden trenches, other dangerous materials, etc.) and irregular terrain (such as urban streets, rugged outdoor terrain, small spaces, etc.).

[0109] As a specific explanation of this embodiment, the related art does not have an omnidirectional terminal mechanism that integrates high-precision detection and operation. Therefore, even if the bomb disposal robot is equipped with a camera or other type of visual sensor, the detection equipment and the operating mechanism are spatially independent and separated, which can lead to deviations in the operating position. Moreover, the independent detection equipment is not only limited to a fixed installation position or viewing angle, and cannot flexibly follow the operating mechanism for real-time adjustments, but also cannot fully observe and obtain detailed information about the explosive disposal ordnance in complex or confined spaces, making operation more difficult and limiting the robot's flexibility.

[0110] In view of this, another object of the present invention is to implement omnidirectional operations on dynamic objects using a high-precision end-operation mechanism that integrates detection and operation with a robotic arm 9. The laser scanner 11 and depth camera 12 are mounted at the end of the robotic arm 9 in a first direction, and the nozzle 10 is mounted at the end of the robotic arm 9 in a second direction, with the first and second directions intersecting.

[0111] Specifically, a robotic arm 9, with six or more degrees of freedom, is mounted at the front end of the robot. A laser scanner 11, a depth camera 12, and a flexible endoscope 13 are mounted in a first direction at the end of the robotic arm 9. A nozzle 10 is mounted in a second direction, opposite the first direction. This multi-degree-of-freedom robotic arm 9 can be flipped and used alternately (i.e., switching between the first and second directions). It performs multi-dimensional recognition before cutting, and then proceeds with the waterjet cutting operation after recognition is complete, ensuring that the multi-dimensional recognition and cutting functions do not interfere with each other.

[0112] In this embodiment, when the first direction is toward the target object, multi-dimensional recognition is performed by the laser scanner 11, the depth camera 12, and the hose telescopic endoscope 13. When the second direction is toward the target object, the water jet cutting operation of the nozzle 10 is performed.

[0113] Therefore, the components fixed at the end of the robot arm 9 include a depth camera 12, a laser scanner 11, and a nozzle 10. After the remote-controlled mobile chassis 1 reaches the target position, the movement of the robot arm 9 is controlled to achieve the required movement of the components fixed at the end of the robot arm 9.

[0114] The end of the robotic arm 9 is equipped with a depth camera 12, a laser scanner 11, and a nozzle 10. Both the depth camera 12 and the laser scanner 11 face the nozzle 10. When the nozzle 10 is operating, the high-pressure water jet will splash around while cutting the object, preventing it from splashing onto the sensing device. Therefore, the depth camera 12, laser scanner 11, and nozzle 10 are arranged in a specific orientation on the robotic arm 9, forming a turret-like structure. While the equipment in one direction is operating, the equipment in the other direction is relatively isolated. This ensures that the equipment does not interfere with each other while providing good isolation and protection.

[0115] In some embodiments, the depth camera 12 and the laser scanner 11 are also protected from water.

[0116] Furthermore, the multi-dimensional sensing device includes a flexible telescopic endoscope 13 positioned in the first direction of the robotic arm 9. In this embodiment, the flexible telescopic endoscope 13 detects hidden objects in areas difficult to directly observe or confined spaces, thereby enabling endoscopic inspection of the cutting process. Therefore, after the cutting operation is completed, the water jet generator 8 is turned off, the distal end of the robotic arm 9 is reversed, and the RGBD depth camera and flexible telescopic endoscope 13 are oriented toward the cutting object. The operator, through the remote control station 14, controls the robotic arm 9 to observe the cutting process up close, or inserts the flexible telescopic endoscope 13 into the cutting hole for endoscopic inspection.

[0117] Therefore, after the cutting is completed, the control robot arm 9 drives the flexible tube telescopic endoscope 13 to extend into the hole after the cutting, obtains the inspection information collected by the flexible tube telescopic endoscope 13, and outputs the cutting result; and / or, after the cutting of the target object is completed, the control robot arm 9 controls the nozzle 10 at the end to flip, drives the depth camera 12 toward the hole after the cutting, obtains the three-dimensional image collected by the depth camera 12, and outputs the cutting result.

[0118] This embodiment integrates a multi-dimensional sensing device at the end of the robotic arm 9, achieving the integration of detection and operation. By integrating a laser scanner 11, an RGBD depth camera, and a flexible telescopic endoscope 13 at the end in specific orientations, the multi-dimensional sensing device can move with the robotic arm 9 in complex or confined environments. The multi-degree-of-freedom motion of the robotic arm 9 directly brings the detection equipment close to the object being observed, accurately locating the detailed features of the suspicious object. Furthermore, because the high-precision detection equipment and the robotic arm 9 share the same coordinate system, coordinate conversion errors between detection and operation are reduced, avoiding offsets in the operating position. This significantly improves the accuracy of detection and positioning, as well as the precision of the cutting operation, meeting the requirements of high-precision bomb disposal operations.

[0119] In a further technical solution, the remote control station 14 includes a manipulator simulation module, which is configured to simulate whether the manipulator 9 collides with the target object when moving along different preset trajectories, and send a motion instruction to the control module 5 to control the manipulator 9 to move along the preset trajectory when no collision occurs; wherein the motion instruction includes a first motion instruction, a second motion instruction, and a third motion instruction; wherein,

[0120] The robotic arm simulation module is used to: send a first motion instruction to control the robotic arm 9 to flip along a first preset trajectory to obtain a three-dimensional image; send a second motion instruction to control the robotic arm 9 to move along a second preset trajectory to obtain a three-dimensional point cloud image; send a third motion instruction to control the robotic arm 9 to cut the target object along a preset operation trajectory.

[0121] In this embodiment, considering the absence of an operator on-site, remote operation of the robotic arm 9 can easily cause collisions. If it collides with a suspected EOD object, there is a risk of detonation. The remote control station 14 uses CAM software to simulate the robotic arm 9. During the simulation, the system simulates the movement of the robotic arm 9, verifying that its trajectory meets the requirements and does not interfere with the target object. Only after confirming through robot simulation that there is no interference or collision does the robotic arm 9 move.

[0122] In this embodiment, when the depth camera 12 mounted at the end of the robotic arm 9 begins a rough scan of the target object, the operator adjusts the posture of the robotic arm 9 through the remote control system. Using the robotic arm simulation module of the system's CAM software, the operator confirms through robot simulation that there is no interference or collision before actual movement. Then, the operator sends a first motion instruction to the control module 5, which then executes the movement of the robotic arm 9 corresponding to the first motion instruction, causing the robotic arm 9 to flip so that the depth camera 12 faces the target object. The depth camera 12 then obtains a three-dimensional image of the target object.

[0123] When the laser scanner 11 mounted at the end of the robotic arm 9 is used to precisely scan the target object, the robotic arm simulation module of the system's CAM software is also used to first confirm through robot simulation that there is no interference or collision. Then, a second motion instruction is sent to the control module 5, and the movement of the robotic arm 9 corresponding to the second motion instruction is executed.

[0124] Through the second motion instruction, the robotic arm 9 is controlled to adjust the position of the laser scanner 11, and the laser scanner 11 is used to scan the target area with a second preset trajectory to obtain a more accurate three-dimensional point cloud image.

[0125] For example, the second motion instruction is an instruction to perform a high-precision autonomous scan of the selected target area using uniform linear motion. Therefore, in step S5, the second motion instruction is used to move the robotic arm 9, causing the robotic arm 9 to drive the laser scanner 11 to move along a specific trajectory within the target area, allowing the laser scanner 11 to acquire a more accurate three-dimensional point cloud image of the target area.

[0126] When cutting a target object using a nozzle 10 mounted at the end of a robotic arm 9, the system's CAM software's robotic arm simulation module, after confirming through robot simulation that there are no interference collisions, sends a third motion instruction to the control module 5, which then executes the movement of the robotic arm 9 corresponding to the third motion instruction. The third control instruction controls the movement of the robotic arm 9 along a pre-set trajectory. After flipping the end of the robotic arm 9, the nozzle 10 is positioned at the cutting center, i.e., the starting point of the pre-set cutting trajectory. The water jet generator 8 is activated to generate a high-pressure, sand-laden water stream that is supplied to the nozzle 10, further controlling the nozzle 10 to perform the cutting operation according to the planned trajectory.

[0127] For example, the third motion instruction is a circular motion instruction controlling the robotic arm 9 with the cutting center as its starting point. Therefore, in step S7, the robotic arm 9 is moved by the third motion instruction, causing the robotic arm 9 to drive the nozzle 10 along a preset operating trajectory, thereby cutting a circular hole. Due to the characteristics of nozzle cutting, a small amount of residual material on the bottom surface of the target sheet material is often not completely cut away where the circular hole is cut. To ensure that the material in the circular hole is completely separated and falls out, facilitating subsequent observation of the hole, the circular cutting motion is planned to be greater than 360° (for example, 370°). This additional 10° of circular cutting motion ensures that the material in the circular hole is completely separated.

[0128] It is understood that the need to use the robot arm simulation module to simulate each movement of the robot arm 9 can be determined based on actual circumstances. For example, after confirming that there is no interference or collision through robot simulation, a fourth motion instruction is sent to the control module 5 to operate the robot arm 9 to conduct an omnidirectional close-up observation of any surrounding suspicious objects. The fourth motion instruction can be a command to control the movement of the robot arm 9, such as forward, backward, left, and right.

[0129] In yet another technical solution, the present invention further aims to construct a modular platform adaptable to various environments and objectives, enhancing the robot's adaptability and stability in complex terrain and diverse tasks. Mobile chassis 1 is further provided with telescopic legs 3 on all four sides. A control module 5 is configured with a level sensor and connected to each telescopic leg 3 to control the telescopic height of each leg.

[0130] In this embodiment, the telescopic legs 3 include four hydraulic or electric cylinder-driven telescopic balancing legs mounted at the four corners of the support frame 2. Therefore, when high-precision cutting operations are required, the walking platform can be moved to the target position of the target object. After the robot moves to the target position, the chassis remains fixed at the current position. On uneven or sloping terrain, the telescopic legs 3 are automatically adjusted by an electric push rod or hydraulic cylinder to enable the robot to maintain balance on the unstable terrain. After being fixed, the depth camera 12 mounted at the end of the robotic arm 9 is used to begin scanning the target object. Therefore, moving to the target position and then fixing the working position not only facilitates global scanning of the multi-dimensional sensing device, but also reduces the impact of vibration caused by the water jet system on the cutting operation.

[0131] The control module 5 is connected to each electric telescopic leg 3, and the four telescopic legs 3 can be independently adjusted in height. The control module 5 is equipped with a level sensor to detect the horizontal state of the robot in real time. When the robot is in the appropriate target position, the four legs of the telescopic legs 3 are released, and the level sensor is used to detect whether the robot is level. If the walking platform is judged to be non-horizontal, the control system will instruct each telescopic leg 3 to extend by a different amount until it is horizontal. If the walking platform is already judged to be horizontal, the system will control all telescopic legs 3 to extend by the same amount until they reach the preset height.

[0132] For example, if the four telescopic legs 3 have different tilt angles, the control module 5 receives this data and calculates the required height adjustment for each leg based on the tilt angle. After the telescopic legs 3 are adjusted, the control module 5 reads the level information from the level sensor again to confirm the adjustment effect. If tilt is still detected after adjustment, the control module 5 continues to make fine adjustments. If the level is still level, the adjustment stops.

[0133] In some embodiments, the hydraulic drive can be connected to a hydraulic station. The electric cylinder drive can be connected to a battery system that comes with the robot, such as the battery in the walking platform.

[0134] In some embodiments, when not in use, the telescopic legs 3 are retracted away from the ground, meaning the bottom of the legs are higher than the bottom of the chassis. When in use, the telescopic legs 3 can be raised to a greater height, lifting the mobile chassis 1 off the ground. The preset height can be set to allow the walking platform to lift off the ground, accommodating uneven terrain or obstacles. Alternatively, the legs can be raised just enough to land flush with the mobile chassis 1. The preset height can be set to be flush with the bottom surface of the walking platform, improving support on flat work surfaces.

[0135] Preferably, the mobile chassis 1 of the bomb disposal robot system is flexibly connected to the support frame 2, and then supported horizontally on the ground by telescopic balancing legs, so that the loading equipment is seismically isolated from the robotic arm 9 that requires high precision, ensuring the high-precision scanning of the laser scanner 11 and the high-precision operation of the nozzle 10.

[0136] As a further explanation of this embodiment, the control module 5 includes a first controller and a second controller. The first controller is responsible for controlling the mobile chassis 1 and robotic arm 9, as well as processing and remotely transmitting visual images from the surround-view camera 6, RGBD depth camera, and flexible telescopic endoscope 13. The second controller is responsible for creating a three-dimensional virtual scene, performing CAM calculations and conversions, and optimizing paths. Therefore, each task can be executed independently, avoiding control delays caused by information overload.

[0137] In summary, the intelligent water jet bomb disposal robot system provided by the present invention includes: a mobile chassis 1, a support frame 2, a telescopic support leg 3, a water tank 4, a control module 5, a surround view camera sensor 6, a monitoring sensor 7, a water jet generator 8, a robotic arm 9, a nozzle 10, a laser scanner 11, an RGBD depth camera, a hose telescopic endoscope 13, and a remote control station 14. The robot has an IP65 protection level and is suitable for field operations. The innovative design of the omnidirectional visual sensor, the retractable support leg provides a stable working platform, the end operation mechanism based on the high-precision detection and operation integration of the robotic arm 9, and the remote interactive three-dimensional visual detection and planning realize intelligent and flexible cutting operations, so that the bomb disposal robot can perform cutting operations more accurately and comprehensively in a complex and dynamic bomb disposal environment.

[0138] It can be seen that the structure of a bomb disposal robot is usually more complex and sophisticated, including several modules and subsystems. For a bomb disposal robot system such as a walking platform, a water cutting system, an end operating mechanism, a control module 5 and a remote control station 14, etc., it usually includes more functional modules. These modules are relatively mature in the existing technology in the relevant field, and their basic functions and structures are well known to the industry. For the sake of clarity and simplicity, they are not described in detail in this technical solution. For example, the walking platform usually includes a power system, an obstacle avoidance module, a positioning and navigation system, etc. For example, the water cutting system also includes an abrasive tank connected to a high-pressure plunger pump through a pipe, a regulation system, a generator and a battery, etc. For example, the end operating mechanism includes an end tool interface, a multi-joint structure, a multi-joint control system that provides posture adjustment, etc. For example, the control module 5 also includes a remote communication module, a power module, a fault detection and diagnosis system, etc. For example, the remote control station 14 includes a power supply, an audio prompt system, etc.

[0139] Correspondingly, for the second aspect, please refer again Figure 2 The present invention also provides an intelligent water jet bomb disposal robot operation method, which is executed by a remote control station 14 and is utilized in the intelligent water jet bomb disposal robot system provided in the first aspect of the present invention. The method includes the following steps:

[0140] S1, obtain the surround view image collected by the surround view camera sensor 6 and determine the walking direction of the walking platform;

[0141] S2. Remotely send walking instructions to control the walking platform to move to the working area according to the walking direction;

[0142] S3, obtaining the front image captured by the monitoring sensor 7 and determining the target object in the working area;

[0143] S4, obtaining a three-dimensional image of the target object captured by the depth camera 12;

[0144] S5. In response to a scanning instruction for a target area of ​​the three-dimensional image, obtaining a three-dimensional point cloud image obtained by scanning the target area by the laser scanner 11;

[0145] S6. In response to a cutting instruction for a cutting center of the three-dimensional point cloud image, a preset operation trajectory with the cutting center as a starting point is obtained;

[0146] S7, controlling the robot arm 9 to transfer the nozzle 10 to the cutting center, and controlling the nozzle 10 to cut the target object along a preset operation trajectory, while obtaining the front image collected by the monitoring sensor 7 during the cutting process.

[0147] Furthermore, step S3 includes:

[0148] S31, obtaining the front image captured by the monitoring sensor 7 and the two-dimensional image captured by the depth camera 12, and determining the position information of the target object in the working area;

[0149] S32. Based on the position information, control the walking platform to move to the target position.

[0150] Furthermore, step S4 includes:

[0151] S41, sending a first motion instruction to control the robotic arm 9 to flip along a first preset trajectory so that the depth camera 12 faces the target object; the first motion instruction is characterized by simulating that the robotic arm 9 does not collide with the target object when flipping along the first preset trajectory;

[0152] S42: Acquire a three-dimensional image of the target object captured by the depth camera 12.

[0153] Step S5 includes:

[0154] S51, sending a second motion instruction to control the robot arm 9 to move along a second preset trajectory within the target area; the second motion instruction is characterized by simulating that the robot arm 9 does not collide with the target object when moving along the second preset trajectory;

[0155] S52 , obtaining a three-dimensional point cloud image obtained by scanning the target object in the target area by the laser scanner 11 moving along with the robot arm 9 .

[0156] Step S7 includes:

[0157] S71 , sending a third motion instruction to control the robot arm 9 to move along a preset operation trajectory within the target area; the third motion instruction is characterized by simulating that the robot arm 9 does not collide with the target object when moving along the preset operation trajectory.

[0158] Furthermore, after step S32, the following steps are included:

[0159] S33, obtaining the level information of the walking platform and determining whether the walking platform is level;

[0160] S34, when the walking platform is not horizontal, controlling the multiple telescopic legs 3 to extend to their respective corresponding telescopic heights;

[0161] S35 . When the walking platform is horizontal, control the multiple telescopic legs 3 to extend to the same preset height.

[0162] Furthermore, after step S7, the following steps are included:

[0163] S8. After the target object is cut, the robot arm 9 is controlled to drive the flexible tube telescopic endoscope 13 into the cut hole, obtain the inspection information collected by the flexible tube telescopic endoscope 13, and output the cutting result; and / or,

[0164] S9. After the cutting of the target object is completed, the nozzle 10 at the end of the robotic arm 9 is controlled to flip, driving the depth camera 12 toward the cut hole, obtaining a three-dimensional image captured by the depth camera 12, and outputting the cutting result.

[0165] Furthermore, after step S8 or S9, the following steps are included:

[0166] S10, the robot resets and evacuates. After the bomb disposal operation is completed, the operator controls the bomb disposal robot to return through the remote control station 14.

[0167] In summary, through the gradually refined perception process, the system can effectively reduce unnecessary scanning and calculation time and improve overall operational efficiency. The spatial information provided by the depth camera 12 when establishing a three-dimensional virtual scene enables the laser scanner to lock on the target more accurately and reduce errors. The laser scanner can focus on smaller and more precise areas for detailed scanning to ensure that the subsequent water cutting process is carried out on the optimal path. The specific perception device combination operation method enables the robot to have environmental perception capabilities from wide-area to microscopic when performing tasks, effectively improving the accuracy and flexibility of identification, positioning and operation, and ensuring the speed, accuracy and safety of bomb disposal operations.

[0168] It should be noted that, for the method embodiments, the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously.

[0169] As for the above method embodiment, since it is basically similar to the system embodiment, the description is relatively simple, and the relevant parts can continue to refer to the partial description of the system embodiment.

[0170] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0171] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations, nor can they be understood as indicating or implying relative importance. Moreover, the term "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or terminal device.

[0172] The above is a detailed introduction to the intelligent water jet bomb disposal robot system and method provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application, and the content of this specification should not be construed as limiting the present application. At the same time, for those skilled in the art, according to the present application, there will be different forms of changes in the specific implementation methods and application scopes. It is not necessary and impossible to list all implementation methods here, and the obvious changes or modifications derived therefrom are still within the scope of protection of the present application.

Claims

1. An intelligent water jet bomb disposal robot system, characterized in that: The system includes: a walking platform and: The waterjet cutting system comprises a water tank, a water jet generator and a nozzle connected in sequence; an end operating mechanism comprises a robotic arm connected to the nozzle; a multi-dimensional sensing device comprises a surround view camera sensor, a surveillance sensor, a depth camera and a laser scanner; a control module respectively connected to the walking platform, the waterjet cutting system, the end operating mechanism and the multi-dimensional sensing device; and a remote control station remotely connected to the control module for communication; Wherein, the remote control station is used for: Acquire the surround view images collected by the surround view camera sensor to determine the walking direction of the walking platform; Remotely send a walking instruction to control the walking platform to move to the working area according to the walking direction; Acquire the front image captured by the monitoring sensor and determine the target object located in the operation area; Acquire a three-dimensional image of the target object captured by the depth camera; In response to a scanning instruction for a target area of ​​the three-dimensional image, acquiring a three-dimensional point cloud image obtained by scanning the target area with the laser scanner; In response to a cutting instruction for a cutting center of the three-dimensional point cloud image, a preset operation trajectory with the cutting center as a starting point is obtained; The robot arm is controlled to transfer the nozzle to the cutting center, and the nozzle is controlled to cut the target object along the preset operation trajectory, while obtaining the front image collected by the monitoring sensor during the cutting process.

2. The intelligent water jet bomb disposal robot system according to claim 1, characterized in that: At least one surround view camera sensor is provided on at least one side of the walking platform, and the monitoring sensor is provided in front of the walking platform; The laser scanner and the depth camera are installed in a first direction at the end of the robotic arm, and the nozzle is installed in a second direction at the end of the robotic arm, and the first direction and the second direction intersect.

3. The intelligent water jet bomb disposal robot system according to claim 2, characterized in that: in, The remote control station includes a robotic arm simulation module, wherein the robotic arm simulation module is configured to simulate whether the robotic arm collides with the target object when moving along different preset trajectories, and, if no collision occurs, send a motion instruction to the control module to control the robotic arm to move along the preset trajectory; wherein the motion instruction includes a first motion instruction, a second motion instruction, and a third motion instruction; The robotic arm simulation module is used to: Sending the first motion instruction to control the robotic arm to flip along a first preset trajectory to obtain the three-dimensional image; sending the second motion instruction to control the robotic arm to move along a second preset trajectory to obtain the three-dimensional point cloud image; The third motion instruction is sent to control the robotic arm to cut the target object along the preset operation trajectory.

4. The intelligent water jet bomb disposal robot system according to claim 2, characterized in that: The multi-dimensional sensing device further includes a flexible tube telescopic endoscope provided in the first direction of the robotic arm, and the remote control station is further configured to: After the cutting of the target object is completed, the flexible tube telescopic endoscope is inserted into the cut hole, the inspection information collected by the flexible tube telescopic endoscope is obtained, and the cutting result is output; and / or, After the cutting of the target object is completed, the nozzle at the end of the robotic arm is controlled to flip, driving the depth camera toward the cut hole, obtaining a three-dimensional image captured by the depth camera, and outputting the cutting result.

5. The intelligent water jet bomb disposal robot system according to claim 1, characterized in that: The walking platform includes a mobile chassis, and the four sides of the mobile chassis are respectively provided with telescopic legs; Wherein, the control module is configured with a level sensor, and the control module is connected to each of the telescopic legs to control the telescopic height of each of the telescopic legs.

6. An intelligent water jet bomb disposal robot operation method, characterized in that: The method comprises: Obtain the surround view images collected by the surround view camera sensor to determine the walking direction of the walking platform; Remotely send a walking instruction to control the walking platform to move to the working area according to the walking direction; Acquire the front image captured by the monitoring sensor and determine the target object located in the operation area; Acquire a three-dimensional image of the target object captured by a depth camera; In response to a scanning instruction for a target area of ​​the three-dimensional image, acquiring a three-dimensional point cloud image obtained by scanning the target area with a laser scanner; In response to a cutting instruction for a cutting center of the three-dimensional point cloud image, a preset operation trajectory with the cutting center as a starting point is obtained; The robot arm is controlled to transfer the nozzle to the cutting center, and the nozzle is controlled to cut the target object along the preset operation trajectory, while obtaining the front image collected by the monitoring sensor during the cutting process.

7. The intelligent water jet bomb disposal robot operation method according to claim 6 is characterized in that: The acquiring of the front image captured by the monitoring sensor and determining the target object located in the operation area includes: Acquire the front image captured by the monitoring sensor and the two-dimensional image captured by the depth camera to determine the position information of the target object located in the working area; Based on the position information, the walking platform is controlled to move to a target position.

8. The intelligent water jet bomb disposal robot operation method according to claim 6 is characterized in that: Acquiring a three-dimensional image of the target object acquired by the depth camera, comprising: Sending a first motion instruction to control the robotic arm to flip along a first preset trajectory; the first motion instruction is characterized by simulating that the robotic arm does not collide with the target object when flipping along the first preset trajectory; Acquire a three-dimensional image of the target object captured by the depth camera; The step of acquiring a three-dimensional point cloud image obtained by scanning the target area with the laser scanner includes: Sending a second motion instruction to control the robotic arm to move along a second preset trajectory within the target area; the second motion instruction is characterized by simulating that the robotic arm does not collide with the target object when moving along the second preset trajectory; Acquire a three-dimensional point cloud image obtained by scanning the target object in the target area by the laser scanner moving with the robotic arm; The controlling the nozzle to cut the target object along the preset operation trajectory includes: A third motion instruction is sent to control the robotic arm to move along the preset operation trajectory within the target area; the third motion instruction is characterized by simulating that the robotic arm does not collide with the target object when moving along the preset operation trajectory.

9. The intelligent water jet bomb disposal robot operation method according to claim 7, characterized in that: The step of controlling the walking platform to move to a target position based on the position information further comprises: Obtaining level information of the walking platform to determine whether the walking platform is level; When the walking platform is not horizontal, controlling the plurality of telescopic legs to extend to their respective corresponding telescopic heights; When the walking platform is horizontal, the multiple telescopic legs are controlled to extend at the same preset height.

10. The intelligent water jet bomb disposal robot operation method according to claim 6, characterized in that: The controlling the robot arm to transfer the nozzle to the cutting center and controlling the nozzle to cut the target object along the preset operation trajectory further includes: After the cutting of the target object is completed, the robot arm is controlled to drive the flexible tube telescopic endoscope to extend into the cut hole, obtain the inspection information collected by the flexible tube telescopic endoscope, and output the cutting result; and / or, After the cutting of the target object is completed, the nozzle at the end of the robotic arm is controlled to flip, driving the depth camera toward the cut hole, obtaining a three-dimensional image captured by the depth camera, and outputting the cutting result.

Images