Crawler-type explosive ordnance disposal robot and control method

Abstract

The invention discloses a crawler-type explosive ordnance disposal robot and a control method, and relates to the technical field of explosive ordnance disposal robots, and the crawler-type explosive ordnance disposal robot comprises a closed space control mode, an open ruin control mode and an electromagnetic interference control mode. According to the closed space control mode, an operator wears a fingertip controller, the fingertip controller collects the fingertip kneading force, generates an instruction for controlling the clamping force of a mechanical arm of the crawler-type explosive-handling robot, collects the wrist overturning angle sensed by the fingertip controller and generates an instruction for controlling the mechanical arm to rotate, and the mechanical arm rotates. And the fingertip controller communicates with a control unit of the crawler-type explosive-handling robot to interact a control instruction. The control unit automatically switches control modes based on sensor parameters, and manual intervention of an operator is not needed; hardware and control logic are deeply coordinated, the overall operation efficiency is greatly improved, the method can adapt to common explosive-handling scenes such as pipelines, ruins and electromagnetic interference, the field risk of explosive-handling personnel is remarkably reduced, and reliable technical guarantee is provided for explosive-handling operation in a complex environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of explosive disposal robots, in particular to a tracked explosive disposal robot and a control method. BACKGROUND

[0002] Explosive disposal operation is a key link to ensure public safety and personal safety. Due to the complexity and danger of the environment of explosive devices (such as closed pipelines, open ruins, and strong electromagnetic interference areas), a tracked explosive disposal robot controlled remotely has become a core equipment. However, the control method and hardware architecture of the existing tracked explosive disposal robot still have the following technical defects to be solved urgently in terms of multi-scene adaptability, communication reliability, operation convenience, and emergency safety:

[0003] For closed spaces such as pipelines and basements, the existing technology mostly uses traditional joysticks or mice to control the arm movements: on the one hand, the joystick operation relies on the operator's experience to judge the rotation angle and clamping force of the arm, which is easy to cause the arm to collide with the inner wall of the pipeline, damage the explosive device or the robot; on the other hand, there is a lack of real-time environmental feedback mechanism, and the operator cannot perceive the distance between the robot and the wall, and can only indirectly judge through the camera screen, which has high operation delay and is difficult to complete millimeter-level precision tasks such as wire stripping and micro detonator removal.

[0004] In open ruins (such as earthquake and explosion sites), the obstacles are dense (the obstacle density is often > 5 / m²), and the existing control method requires the operator to manually plan the arm trajectory: first, identify the obstacles through the camera, and then adjust the arm posture joint by joint, which has up to 8-10 steps, and the training period of novice operators needs 1-2 weeks; at the same time, the clamping force of the end effector is mostly a fixed value, and there is a lack of real-time force feedback, which is easy to cause the explosive plastic explosive shell to be clamped due to excessive force, or the explosive device to fall off due to insufficient force, increasing the risk of explosive disposal.

[0005] In strong electromagnetic environments such as high-voltage electric areas and signal shielding rooms, the wireless communication of the existing robot is easily disturbed, and the error rate is high, which causes the interruption of command transmission; even if some schemes support preset trajectories, they also lack local autonomous decision-making capabilities; when the explosive device is displaced or the evacuation path is blocked, the robot cannot pause or adjust the action, which is easy to cause secondary danger; and there is no reliable state feedback channel, and the operator cannot know the execution progress of the preset trajectory, which makes it difficult to judge whether to intervene on site.

[0006] The emergency control of the existing robot is mostly single-stage switching, and if the standby link is also interrupted, the robot is easy to lose control; at the same time, there is a lack of operation permission grading mechanism, and novice operators may mistakenly modify the preset trajectory or adjust the electromagnetic interference mode parameters, which leads to operation errors; in addition, the operation log is mostly not stored locally, and after the explosive disposal task, the operation process cannot be reviewed, which is not conducive to technical optimization and responsibility tracing.

[0007] In summary, existing tracked bomb disposal robots cannot meet the actual bomb disposal needs of precise control in multiple scenarios, reliable communication under strong interference, controllable emergency safety, and low operating threshold. There is an urgent need for a control method and corresponding hardware architecture that is adaptable to multiple scenarios, highly reliable, and easy to operate. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides a tracked explosive ordnance disposal robot and its control method. The technical solution is as follows:

[0009] A control method for a tracked bomb disposal robot includes a confined space control mode, an open rubble control mode, and an electromagnetic interference control mode.

[0010] Confined space control mode: The operator wears a fingertip controller, which collects the pinching force of the fingertip and generates instructions to control the gripping force of the tracked bomb disposal robot's robotic arm. The fingertip controller also collects the wrist rotation angle and generates instructions to control the rotation of the robotic arm. The fingertip controller communicates and interacts with the control unit of the tracked bomb disposal robot to control the commands.

[0011] Open Ruins Control Mode: The operator views the robot's binocular camera image through the tablet controller and the control unit of the tracked bomb disposal robot, and marks the explosive target by clicking on the screen. The control unit automatically calculates the movement trajectory of the robotic arm. When the end effector of the robotic arm contacts the target, the force sensor feeds back the pressure value, and the operator operates the tablet controller to adjust the force of the end effector.

[0012] Electromagnetic interference control mode: If the target area is determined to be in an electromagnetic interference environment, the preset trajectory and local autonomous decision-making control strategy will be activated. The operator sets the bomb disposal action data in advance through the tablet controller and stores it in the control unit. After entering the electromagnetic interference area, the tracked bomb disposal robot disconnects the wireless communication and executes according to the preset trajectory. At the same time, the robot communicates the task execution status to the operator's infrared transceiver through the robot's infrared transceiver.

[0013] Optionally, a basic joystick control mode is also included: the basic joystick module is operated to issue core control commands. The basic joystick module communicates with the robot's infrared transceiver through the operator's infrared transceiver to transmit core control commands. The core control commands include the track moving forward, backward, and turning, and the end effector of the robotic arm gripping, releasing, and rotating.

[0014] Optionally, the basic joystick module is integrated and installed on the top of the tablet controller, using a layout of one multi-directional joystick and four physical buttons, which correspond to the emergency stop button, grip button, release button and attitude reset button respectively.

[0015] Optionally, a two-level emergency control mechanism is also included. An emergency button is installed on the side of the tablet controller. If the fingertip controller determines that the signal acquisition is abnormal or the wireless communication interruption duration of the tablet controller exceeds the set interruption duration threshold, it determines that the first-level emergency control mechanism is triggered and provides feedback to the operator through an alarm action. The operator can then press the emergency button to activate the first-level emergency control mechanism. The emergency button communicates with the control unit to switch to the basic joystick mode.

[0016] If communication between the fingertip controller, tablet controller, basic joystick module and control unit is interrupted, the control unit determines that a secondary emergency control mechanism has been triggered. The control unit activates the built-in vibration sensor and temperature sensor. When the pre-explosion vibration frequency or ambient temperature is detected to be greater than the set temperature threshold, the track is automatically controlled to evacuate to the preset safe zone at the set maximum speed. If the evacuation path is blocked, the robotic arm is controlled to retract into the body and the main power is cut off, while the smoke warning sign on the top of the body is triggered.

[0017] Optionally, in the confined space control mode, the fingertip controller also includes the following interaction mechanism: The fingertip controller has two built-in micro vibration motors. When the micro ultrasonic radar of the tracked bomb disposal robot detects that the distance between the inner wall of the pipe and the side of the tracked bomb disposal robot is less than 5cm, the micro vibration motor on the side closer to the obstacle generates graded vibrations to provide the operator with an obstacle avoidance reminder.

[0018] The wrist rotation angle acquisition range of the fingertip controller is extended to 0-180°, and the control unit automatically limits the rotation angle of the robotic arm based on the pipe inner diameter data collected by the miniature ultrasonic radar: when the pipe inner diameter is less than or equal to 25cm, the maximum rotation angle of the robotic arm is less than or equal to 90°.

[0019] Optionally, the open ruins control mode also includes force control closed-loop optimization and trajectory correction steps:

[0020] The pressure value fed back by the force sensor is displayed in real time on the screen of the tablet controller. The operator can steplessly adjust the clamping force of the end effector by sliding a slider on the side of the screen.

[0021] When the control unit automatically calculates the movement trajectory of the robotic arm, it combines the data of the ruins and obstacles collected by the lidar. If it determines the distance between the planned trajectory and the obstacles, it automatically generates a trajectory correction plan and marks the corrected trajectory with a red dotted line on the screen of the tablet controller, waiting for the operator to click to confirm and execute.

[0022] Optionally, after startup, the control unit automatically determines the task scenario and switches the corresponding control mode based on the following parameter combinations:

[0023] If the diameter of the space detected by the miniature ultrasonic radar is less than or equal to 30cm and the electromagnetic intensity detected by the electromagnetic intensity sensor is less than 50dB, the closed space control mode is automatically triggered, and the scene recognition result is fed back to the fingertip controller via wireless communication.

[0024] If the density of obstacles detected by the lidar is greater than 5 per square meter and the electromagnetic intensity is less than 50dB, the open ruins control mode will be automatically triggered. At the same time, the screen of the tablet controller will display that the ruins mode has been activated and a text prompt indicating that the target is marked will be displayed.

[0025] If the electromagnetic intensity detected by the electromagnetic intensity sensor is greater than or equal to 50 dB, or the bit error rate of the wireless communication signal is greater than 10... -4 It automatically triggers the electromagnetic interference control mode and prompts the operator to set a preset trajectory via the tablet controller.

[0026] Optionally, it also includes a hierarchical management process for operation permissions:

[0027] The control unit supports two levels of access control: novice and expert operators. Access verification is performed through the login interface on the tablet controller.

[0028] New operator privileges grant access to basic functions of the enclosed space control mode and target marking and intensity adjustment functions of the ruins control mode, but prohibit modification of preset trajectory and electromagnetic interference mode parameters;

[0029] Expert operator privileges unlock all control mode functions, including trajectory editing in the offline programming interface and infrared beacon parameter configuration in electromagnetic interference mode. All control commands during operation are stored in the local storage module of the control unit, and logs can be exported via a wired interface for task review.

[0030] A tracked explosive ordnance disposal robot is provided for implementing a control method for a tracked explosive ordnance disposal robot, comprising a tracked robot body, a control unit, an operator interaction module, an environmental perception module, and an execution module;

[0031] The operator interaction module includes a fingertip controller, a tablet controller, a basic joystick module, and an operator terminal infrared transceiver;

[0032] The fingertip controller is used to collect signals of the operator's fingertip pinching force and wrist rotation angle;

[0033] The tablet computer controller is used to display the binocular camera feed, mark explosive targets, and adjust the force of the end effector.

[0034] The basic joystick module is used to output the core control commands for the track and end effector;

[0035] The operator-side infrared transceiver is used to establish an optical communication link with the robot-side infrared transceiver; the environmental perception module includes a miniature ultrasonic radar, a force sensor, a lidar, an electromagnetic intensity sensor, a vibration sensor, and a temperature sensor, which are used to detect spatial dimensions, end-effector contact pressure, obstacle distribution, electromagnetic environment intensity, and pre-explosion signals, respectively.

[0036] The environmental sensing module is communicatively connected to the control unit;

[0037] The execution module includes an end effector, a track drive mechanism, and a robotic arm drive mechanism. The end effector is used to grasp or manipulate explosives, the track drive mechanism is used for robot movement, and the robotic arm drive mechanism is used to adjust the spatial attitude of the end effector.

[0038] The communication module includes a wireless communication module, a robot-end infrared transceiver, and a wired communication interface, which are used to enable the exchange of instructions and status data between the operator interaction module and the control unit.

[0039] Optionally, a safety warning module is also included, which includes a smoke warning sign device and a multi-color LED status light for location and status indication in the event of communication interruption or emergency. The control unit controls the execution of the smoke warning sign device and the multi-color LED status light.

[0040] In summary, the present invention has at least one of the following beneficial technical effects:

[0041] This invention provides a tracked bomb disposal robot and its control method. By collecting the pinching force of the fingertips and the wrist rotation angle through a fingertip controller, the robot's gripping force and rotational movements are directly mapped, reducing operation delay and joint rotation errors, and meeting the requirements of millimeter-level precision tasks. Combined with the hierarchical feedback of miniature ultrasonic radar and vibration motor, the operator can perceive the distance to the pipe wall in real time to avoid collisions. Furthermore, the control unit automatically limits the rotation angle of the robot based on the inner diameter of the pipe, further reducing operational risks and significantly improving the success rate of bomb disposal in confined spaces.

[0042] In open ruins mode, operators only need to perform three steps via a tablet controller: marking the target, adjusting the force, and confirming execution. The control unit automatically plans and corrects the trajectory using LiDAR data, significantly reducing the number of steps and shortening the training period for new operators. Force sensors provide real-time feedback on gripping pressure, enabling stepless adjustment with a sliding slider to prevent damage or dislodgement of explosives, thus reducing the error rate in open ruins scenarios. In electromagnetic interference mode, preset trajectories are stored locally on the control unit and can still be executed autonomously even after wireless communication is disconnected. The robot's infrared transceiver communicates with the operator via optical communication to resolve communication interruptions caused by electromagnetic interference.

[0043] In the dual-level emergency mechanism, the first-level emergency switches to the basic joystick mode, while the second-level emergency triggers autonomous evacuation or lockout with smoke warning, significantly reducing the risk of robot loss of control when communication is completely interrupted.

[0044] The control unit automatically switches control modes based on sensor parameters, eliminating the need for manual operator intervention. The deep collaboration between hardware and control logic significantly improves overall operational efficiency. It is adaptable to common bomb disposal scenarios such as pipelines, rubble, and electromagnetic interference, significantly reducing the on-site risks for bomb disposal personnel and providing reliable technical support for bomb disposal operations in complex environments. Attached Figure Description

[0045] Figure 1 This is a schematic diagram illustrating the structural principle of a tracked bomb disposal robot according to the present invention;

[0046] Figure 2 This is a schematic diagram illustrating the internal structure of the double-layer funnel of a tracked bomb disposal robot according to the present invention.

[0048] Explanation of reference numerals in the attached diagram: 1. Fingertip controller; 11. Miniature vibration motor; 2. Tablet controller; 21. Emergency button; 3. Basic joystick module; 4. Operating end infrared transceiver; 100. Control unit; 101. Robot end infrared transceiver; 102. Miniature ultrasonic radar; 103. Force sensor; 104. LiDAR; 105. Electromagnetic intensity sensor; 106. Vibration sensor; 107. Temperature sensor; 108. Smoke warning sign; 109. Multi-color LED status light; 110. End effector. Detailed Implementation

[0049] The present invention will be further described in detail below with reference to the accompanying drawings.

[0050] This invention discloses a tracked bomb disposal robot and its control method.

[0051] Reference Figure 1 - Figure 2 Example 1: A control method for a tracked bomb disposal robot, including a confined space control mode, an open rubble control mode, and an electromagnetic interference control mode.

[0052] Enclosed space control mode: The operator wears a fingertip controller 1. The fingertip controller 1 collects the pinching force of the fingertip and generates instructions to control the gripping force of the tracked bomb disposal robot's robotic arm. The fingertip controller also collects the wrist rotation angle sensed by the fingertip controller and generates instructions to control the rotation of the robotic arm. The fingertip controller 1 communicates and interacts with the control unit 100 of the tracked bomb disposal robot to control the commands.

[0053] Open Ruins Control Mode: The operator views the robot's binocular camera image through the tablet controller 2 and the control unit 100 of the tracked bomb disposal robot. The operator can click on the screen to mark the explosive target, and the control unit 100 automatically calculates the movement trajectory of the robotic arm. When the end effector 110 of the robotic arm contacts the target, the force sensor 103 feeds back the pressure value, and the operator operates the tablet controller 2 to adjust the force of the end effector 110.

[0054] Electromagnetic interference control mode: If the target location is determined to be in an electromagnetic interference environment, the control strategy of preset trajectory and local autonomous decision-making is activated. The operator sets the bomb disposal action data in advance through the tablet controller 2 and stores it in the control unit 100. After entering the electromagnetic interference zone, the tracked bomb disposal robot disconnects the wireless communication and executes according to the preset trajectory. At the same time, the robot end infrared transceiver 101 communicates with the operator end infrared transceiver 4 to provide feedback on the task execution status.

[0055] Example 2 also includes a basic joystick control mode: the basic joystick module 3 is operated to issue core control commands. The basic joystick module 3 communicates with the robot-end infrared transceiver 101 through the operator-end infrared transceiver 4 to transmit core control commands. The core control commands include track forward, backward, and turning, and the end effector 110 of the robotic arm gripping, releasing, and rotating.

[0056] By adopting the above technical solution, the operator wears a fingertip controller 1, which collects the operator's fingertip pinching force and wrist rotation angle in real time; based on the collected force signal, it generates control commands for the corresponding gripping force of the robotic arm, and based on the collected rotation angle signal, it generates control commands for the corresponding rotation of the robotic arm; the fingertip controller 1 establishes communication with the robot's control unit 100, and transmits the generated control commands to the control unit 100. After receiving the commands, the control unit 100 drives the robotic arm to perform gripping and rotation actions, and at the same time realizes bidirectional interaction of commands to ensure that the operation response and status feedback are synchronized.

[0057] The operator establishes a connection with the control unit 100 via the tablet controller 2 to view the live footage transmitted by the robot's binocular camera in real time. After clicking to mark the explosive target on the tablet screen, the control unit 100 receives the target marking information and automatically calculates and generates the motion trajectory of the robotic arm to reach the target position. When the end effector 110 of the robotic arm contacts the explosive target, the force sensor collects the contact pressure value in real time and feeds it back to the control unit 100. The control unit 100 transmits the pressure value to the tablet controller 2. The operator operates the tablet to adjust the gripping force of the end effector 110 according to the displayed pressure value, so as to achieve precise force control.

[0058] First, determine whether the target location is in an electromagnetic interference environment. If it is, activate the control strategy of preset trajectory and local autonomous decision-making. The operator sets the bomb disposal action data through the tablet controller 2. After setting, the data is transmitted to the control unit 100 for storage via communication. After the robot enters the electromagnetic interference area, the wireless communication link is automatically disconnected. The control unit 100 calls the pre-stored bomb disposal action data and drives the robot to perform the bomb disposal operation according to the preset trajectory. At the same time, the robot's infrared transceiver 101 continuously transmits task execution status information to the operator's infrared transceiver 4 to ensure that the operator knows the operation progress in real time.

[0059] The operator operates the basic joystick module 3, generating core control commands for the track and the end effector of the robotic arm through the module's operation. The core commands cover track forward, backward, and turning, as well as end effector gripping, releasing, and rotating. The basic joystick module 3 establishes a connection with the operator's infrared transceiver 4, transmitting the generated core control commands to the transceiver. The operator's infrared transceiver 4 transmits the commands to the robot's infrared transceiver 101 via optical communication. After receiving the commands, the robot's infrared transceiver 101 transmits them to the control unit 100. The control unit 100 drives the track and end effector to perform the corresponding actions, achieving rapid response and stable control of the core operations.

[0060] In Example 3, the basic joystick module 3 is integrated and installed on the top of the tablet computer controller 2. It adopts a layout of one multi-directional joystick and four physical buttons, which correspond to the emergency stop button, grip button, release button and posture reset button respectively.

[0061] By adopting the above technical solution, the basic joystick module 3 is integrated and installed on the top of the tablet controller 2, forming an integrated operating structure, reducing the number of operating devices and improving operational convenience. This module uses a fixed layout of one multi-directional joystick and four physical buttons, with clearly defined functions and control command triggering logic for each component.

[0062] The multi-directional joystick is used to generate dynamic control commands for the track and the end effector of the robotic arm. The operator can trigger the track to move forward or backward by pushing the joystick in the forward or backward direction; trigger the track to turn by pushing the joystick in the left or right direction; and trigger the rotation command of the end effector of the robotic arm by rotating the joystick.

[0063] The four physical buttons correspond to specific function commands: when the emergency stop button is triggered, it directly generates a command to stop all robot movements; when the grip button is triggered, it generates a command for the end effector to grip; when the release button is triggered, it generates a command for the end effector to release; when the attitude reset button is triggered, it generates a command for the robotic arm to retract to the initial center position and the tracks to stop moving.

[0064] All commands generated by the multi-directional joystick and physical buttons are transmitted to the operator's infrared transceiver 4 via the tablet controller 2, and then transmitted to the robot's infrared transceiver 101 via optical communication. Finally, the control unit 100 receives and drives the corresponding execution module to perform actions, thereby realizing centralized and rapid triggering of operation commands.

[0065] Example 4 also includes a two-level emergency control mechanism. An emergency button 21 is installed on the side of the tablet controller 2. If the fingertip controller 1 determines that the signal acquisition is abnormal or the wireless communication interruption duration of the tablet controller 2 exceeds the set interruption duration threshold, it determines that the first-level emergency control mechanism is triggered and provides feedback to the operator through an alarm action. The operator selects to press the emergency button 21 to activate the first-level emergency control mechanism. The emergency button 21 communicates with the control unit 100 to switch to the basic joystick mode.

[0066] If communication between the fingertip controller 1, tablet controller 2, basic joystick module 3 and control unit 100 is interrupted, control unit 100 determines that a secondary emergency control mechanism has been triggered. Control unit 100 activates the built-in vibration sensor 106 and temperature sensor 107. When the pre-explosion vibration frequency or ambient temperature is detected to be greater than the set temperature threshold, the track is automatically controlled to evacuate to the preset safe zone at the set maximum speed. If the evacuation path is blocked, the robotic arm is controlled to retract into the body and the main power is cut off, while the smoke warning sign on the top of the body is triggered.

[0067] By adopting the above technical solution, an emergency button 21 is installed on the side of the tablet controller 2. The system monitors the signal acquisition status of the fingertip controller 1 and the wireless communication status of the tablet controller 2 in real time. If the fingertip controller 1 determines that the signal acquisition is abnormal, or the wireless communication interruption duration of the tablet controller 2 exceeds the set interruption duration threshold, the system determines to trigger the first-level emergency control mechanism. At this time, the system provides emergency trigger information to the operator through an alarm action. After receiving the feedback, the operator selects to press the emergency button 21 to activate the first-level emergency control mechanism. The emergency button 21 establishes communication with the control unit 100 and transmits the switching command to the control unit 100. After receiving the command, the control unit 100 drives the robot to switch from the current control mode to the basic joystick mode to ensure that the core operation is not interrupted.

[0068] The system continuously monitors the communication status between the fingertip controller 1, tablet controller 2, basic joystick module 3, and control unit 100. If communication between all three and control unit 100 is interrupted, control unit 100 determines that a secondary emergency control mechanism is triggered. Control unit 100 activates the built-in vibration sensor 106 and temperature sensor 107, which respectively detect the pre-explosion vibration frequency and ambient temperature in the environment in real time. When the detected vibration frequency exceeds the set threshold, or the detected ambient temperature exceeds the set temperature threshold, control unit 100 automatically controls the track to move towards the pre-marked safe zone at the set maximum speed. If the evacuation path is blocked during the track movement, control unit 100 drives the robotic arm to retract into the robot body, cuts off the robot's main power supply, and triggers the smoke warning sign on the top of the robot body, realizing safe handling and positioning prompts in emergency situations.

[0069] Example 5: In the confined space control mode, the fingertip controller 1 also includes the following interaction mechanism:

[0070] The fingertip controller 1 has two built-in miniature vibration motors 11. When the miniature ultrasonic radar 102 of the tracked bomb disposal robot detects that the distance between the inner wall of the pipe and the side of the tracked bomb disposal robot is less than 5cm, the miniature vibration motor 11 on the side closer to the obstacle will generate graded vibrations to provide the operator with an obstacle avoidance reminder.

[0071] The wrist rotation angle acquisition range of the fingertip controller 1 is extended to 0-180°, and the control unit 100 automatically limits the rotation angle of the robotic arm based on the pipe inner diameter data acquired by the miniature ultrasonic radar 102: when the pipe inner diameter is less than or equal to 25cm, the maximum rotation angle of the robotic arm is less than or equal to 90°.

[0072] By adopting the above technical solution, an interactive mechanism is added to the fingertip controller 1 for the control mode of confined spaces:

[0073] On one hand, the fingertip controller 1 is equipped with two sets of miniature vibration motors 11. The miniature ultrasonic radar 102 of the tracked bomb disposal robot continuously detects the distance between the inner wall of the pipe and the side of the robot. When the detection result is less than 5 centimeters, the robot determines the side that is close to the obstacle, and then triggers the miniature vibration motor 11 on that side to generate graded vibrations. The vibrations transmit obstacle avoidance reminders to the operator, helping the operator to adjust the operation in time.

[0074] On the other hand, the wrist rotation angle acquisition range of the fingertip controller 1 is expanded to 0 to 180 degrees, enabling it to capture a wider range of wrist movement signals. Simultaneously, the control unit 100 receives pipe inner diameter data acquired by the miniature ultrasonic radar 102 and automatically limits the robotic arm's rotation angle based on this data. When the pipe inner diameter is less than or equal to 25 centimeters, the control unit 100 limits the maximum rotation angle of the robotic arm to less than or equal to 90 degrees to prevent the robotic arm from colliding with the pipe inner wall due to excessive rotation.

[0075] Example 6, the open ruins control mode also includes force control closed-loop optimization and trajectory correction steps:

[0076] The pressure value fed back by the force sensor 103 is displayed in real time on the screen of the tablet controller 2. The operator can steplessly adjust the clamping force of the end effector by sliding the slider on the side of the screen.

[0077] When automatically calculating the movement trajectory of the robotic arm, the control unit 100 combines the data of the ruins and obstacles collected by the lidar 104. If the distance between the planned trajectory and the obstacle is determined, the control unit 100 automatically generates a trajectory correction scheme and marks the corrected trajectory with a red dotted line on the screen of the tablet controller 2, which is then clicked by the operator to confirm and execute.

[0078] By adopting the above technical solution, the force sensor 103 collects the pressure value when the end effector contacts the target in real time, transmits the pressure value to the control unit, and the control unit then synchronizes the pressure value to the screen of the tablet computer controller for display. The operator observes the pressure value displayed on the screen and operates the sliding slider on the side of the screen. The sliding action of the slider realizes the stepless adjustment of the clamping force of the end effector, so that the clamping force is adapted to the characteristics of the explosive and avoids the operational risks caused by improper force.

[0079] During the automatic calculation of the robotic arm's trajectory, the control unit 100 simultaneously receives obstacle data collected by the lidar 104 and analyzes the trajectory data in conjunction with the obstacle data. If the distance between the planned robotic arm trajectory and the obstacle meets the correction conditions, the control unit 100 automatically generates a trajectory correction scheme. After generating the correction scheme, the control unit 100 marks the corrected trajectory as a red dotted line on the tablet controller screen. After the operator views the marked corrected trajectory and clicks the confirmation button, the control unit drives the robotic arm to execute the action according to the confirmed corrected trajectory.

[0080] In Example 7, after startup, the control unit 100 automatically determines the task scenario and switches the corresponding control mode based on the following parameter combinations:

[0081] If the diameter of the space detected by the miniature ultrasonic radar 102 is less than or equal to 30cm and the electromagnetic intensity detected by the electromagnetic intensity sensor 105 is less than 50dB, the closed space control mode is automatically triggered, and the scene recognition result is fed back to the fingertip controller 1 via wireless communication.

[0082] If the obstacle density detected by LiDAR 104 is greater than 5 per square meter and the electromagnetic intensity is less than 50dB, the open ruins control mode will be automatically triggered. At the same time, the screen of the tablet controller 2 will display that the ruins mode has been activated and suggest marking the target with text prompts.

[0083] If the electromagnetic intensity detected by the electromagnetic intensity sensor 105 is greater than or equal to 50 dB, or the bit error rate of the wireless communication signal is greater than 10... -4 It automatically triggers the electromagnetic interference control mode and prompts the operator to set a preset trajectory through the tablet controller 2.

[0084] By adopting the above technical solution, after the control unit 100 starts up, it collects parameters from multiple types of sensors, combines and judges them, automatically matches the task scenario, and switches the corresponding control mode. The specific logic is as follows:

[0085] The control unit 100 acquires the spatial diameter detected by the miniature ultrasonic radar 102 and the electromagnetic intensity detected by the electromagnetic intensity sensor 105. If the spatial diameter is less than or equal to 30 cm and the electromagnetic intensity is less than 50 dB, the closed space control mode is automatically triggered. At the same time, the scene recognition result is transmitted to the fingertip controller 1 via wireless communication so that the operator knows the current mode status.

[0086] The control unit 100 acquires the obstacle density detected by the lidar 104 and the electromagnetic intensity detected by the electromagnetic intensity sensor 105. If the obstacle density is greater than 5 per square meter and the electromagnetic intensity is less than 50 decibels, the open ruin control mode is automatically triggered. At the same time, a text prompt is displayed on the screen of the tablet controller 2, indicating that the ruin mode has been activated and suggesting that the target be marked.

[0087] The control unit 100 acquires the electromagnetic intensity detected by the electromagnetic intensity sensor 105 and the bit error rate of the wireless communication signal. If the electromagnetic intensity is greater than or equal to 50 dB, or the bit error rate of the wireless communication signal is greater than 10 dB... -4 It automatically triggers the electromagnetic interference control mode and prompts the operator to set the preset trajectory through the tablet controller 2.

[0088] Example 8 also includes a hierarchical management step for operation permissions:

[0089] The control unit 100 supports two levels of access control: novice and expert operators. Access verification is performed through the login interface of the tablet controller 2.

[0090] New operator privileges grant access to basic functions of the enclosed space control mode and target marking and intensity adjustment functions of the ruins control mode, but prohibit modification of preset trajectory and electromagnetic interference mode parameters;

[0091] Expert operator privileges unlock all control mode functions, including trajectory editing in the offline programming interface and infrared beacon parameter configuration in electromagnetic interference mode. During operation, all control commands are stored in the local storage module of the control unit 100, and logs can be exported via a wired interface for task review.

[0092] By adopting the above technical solution, the control unit 100 supports two levels of operation permissions: novice operator and expert operator. Permission verification is completed through the login interface of the tablet controller 2.

[0093] After novice operators complete login verification, only the basic functions of the enclosed space control mode and the target marking and force adjustment functions of the ruins control mode are enabled. They cannot modify the preset trajectory and related parameters of the electromagnetic interference mode to avoid accidental operation of the core configuration.

[0094] After the expert operator completes login verification, all control modes are unlocked, including trajectory editing in the offline programming interface and configuration of infrared beacon parameters in electromagnetic interference mode. Simultaneously, all control commands generated by the expert operator during operation are stored in the local storage module of the control unit 100. The stored operation logs can be exported via a wired interface for post-bomb disposal analysis.

[0095] Example 9: A tracked explosive ordnance disposal robot, used to implement a control method for a tracked explosive ordnance disposal robot, including a tracked robot body, a control unit 100, an operator interaction module, an environmental perception module, and an execution module;

[0096] The operator interaction module includes a fingertip controller 1, a tablet controller 2, a basic joystick module 3, and an operator terminal infrared transceiver 4;

[0097] Fingertip controller 1 is used to collect signals of the operator's fingertip pinching force and wrist rotation angle;

[0098] The tablet computer controller 2 is used to display the binocular camera image, mark explosive targets, and adjust the force of the end effector;

[0099] Basic joystick module 3 is used to output core control commands for the track and end effector;

[0100] The operator-side infrared transceiver 4 is used to establish an optical communication link with the robot-side infrared transceiver 101.

[0101] The environmental perception module includes a miniature ultrasonic radar 102, a force sensor 103, a lidar 104, an electromagnetic intensity sensor 105, a vibration sensor 106, and a temperature sensor 107, which are used to detect spatial dimensions, end contact pressure, obstacle distribution, electromagnetic environment intensity, and pre-explosion signals, respectively.

[0102] The environmental sensing module is communicatively connected to the control unit 100;

[0103] The execution module includes an end effector 110, a track drive mechanism, and a robotic arm drive mechanism. The end effector 110 is used to grip or manipulate explosives, the track drive mechanism is used for robot movement, and the robotic arm drive mechanism is used to adjust the spatial attitude of the end effector 110.

[0104] The communication module includes a wireless communication module, a robot-end infrared transceiver 101, and a wired communication interface, which are used to enable the interaction of instructions and status data between the operator interaction module and the control unit 100.

[0105] Example 10 also includes a safety warning module, which includes a smoke warning sign device 108 and a multi-color LED status light 109 for location and status prompts in communication interruption or emergency scenarios. The control unit 100 controls the execution of the smoke warning sign device 108 and the multi-color LED status light 109.

[0106] The following specific embodiments illustrate the implementation principle of the present invention:

[0107] Bomb disposal personnel placed the tracked robot in a safe area of ​​the substation ruins and checked the status of the execution modules: confirming that the end effector 110 was securely installed (using a gripper-wire cutter integrated type), the track drive mechanism was free of jamming, and the joints of the robotic arm drive mechanism moved normally. The robot's main power was turned on, and the control unit 100 automatically performed a hardware self-test, sequentially checking the environmental perception module (miniature ultrasonic radar 102, force sensor 103, lidar 104, electromagnetic intensity sensor 105, vibration sensor 106, temperature sensor 107), the communication module (wireless communication module, robot-end infrared transceiver 101), and the safety warning module (smoke warning sign device 108, multi-color LED status light 109). After passing the self-test, the multi-color LED status light 109 flashed green three times.

[0108] The operator enters their expert access account and password through the login interface of the tablet controller 2. After the control unit 100 completes the access verification, all control mode functions are unlocked. The operator's infrared transceiver 4 is fixed on a tripod at the edge of the ruins and aligned with the direction of the robot's infrared transceiver 101. The electromagnetic intensity sensor 105 starts detecting the environmental electromagnetic intensity and feeds back the data to the control unit 100 in real time, displaying the current electromagnetic intensity as 48dB (below the 50dB threshold). The lidar 104 starts scanning and reports that the density of obstacles in the ruins is 7 per square meter, which meets the triggering conditions for the open ruins control mode.

[0109] The operator marks the preset safety zone on the tablet controller 2, sets the wireless communication interruption duration threshold for Level 1 emergency control to 3 seconds, and the vibration frequency threshold and temperature threshold for Level 2 emergency control to 55Hz and 75℃, respectively. After receiving the parameters, the control unit 100 stores them in the local storage module, and simultaneously sets the initial gripping force of the end effector 110 to 1N and the initial posture of the robotic arm to the neutral position.

[0110] The control unit 100, in conjunction with the obstacle density of 7 obstacles per square meter detected by the lidar 104 and the electromagnetic intensity of 48 dB detected by the electromagnetic intensity sensor 105, automatically triggers the open ruins control mode. It sends a mode activation signal to the tablet controller 2 via wireless communication. The tablet screen displays the text prompt "Ruins mode activated, it is recommended to mark the target", and the multi-color LED status light 109 remains constantly green.

[0111] The operator views the rubble images transmitted by the binocular camera through the tablet controller 2, and uses the virtual joystick on the screen to control the tracked drive mechanism to start the robot, which moves towards the suspected explosive area inside the rubble at a speed of 0.8 m / s. During the movement, the lidar 104 continuously scans for obstacle distribution, and the data is transmitted to the control unit 100 in real time. The control unit 100 dynamically adjusts the tracked movement path to avoid large concrete blocks and steel reinforcement components; if small obstacles (height ≤10cm) are encountered, the tracked drive mechanism automatically increases the driving force to overcome the obstacles.

[0112] As the robot moved deeper into the ruins, the binocular camera captured images of a suspected explosive device (a cylindrical object with a black wire). The operator then marked the target location on the tablet controller 2 screen. After receiving the target marking information, the control unit 100, combined with obstacle data collected by the lidar 104, automatically calculated the trajectory of the robotic arm's drive mechanism, planned a path to avoid the steel bars and rubble around the target, and displayed the trajectory data synchronously as a solid blue line on the tablet screen.

[0113] During trajectory calculation, the control unit 100 detects that the planned trajectory is only 7cm away from a tilted concrete slab on the right. It immediately generates a trajectory correction plan (raising the robotic arm by 6cm), and the corrected trajectory is marked with a red dotted line on the tablet controller 2 screen. After the operator reviews and clicks "Confirm," the control unit 100 drives the robotic arm to move along the corrected trajectory, and the end effector 110 slowly approaches the explosive. When the end effector 110 contacts the explosive casing, the force sensor 103 collects a pressure value of 1.2N, which is fed back to the control unit 100 in real time and then transmitted to the tablet controller 2 screen for display. After observing the pressure value, the operator slides the slider on the side of the tablet screen to adjust the clamping force of the end effector 110 to 1.8N, ensuring a secure grip on the explosive without damaging the casing. The force sensor 103 continuously feeds back pressure changes, forming a force control closed loop to avoid force fluctuations.

[0114] The operator controls the robotic arm drive mechanism to rotate via the tablet controller 2, aligning the explosive wire with the cutting edge of the end effector 110. Clicking the "Cut Wire" button on the tablet screen triggers the control unit 100 to close the cutting edge, severing the wire. Upon completion of the cutting, the force sensor 103 detects a sudden drop in cutting edge pressure, and the control unit 100 sends a "Cut Wire Complete" notification to the tablet controller 2. Simultaneously, the operator drives the robotic arm to raise the explosive to a height of 20cm above the ground to prevent collisions with obstacles during movement.

[0115] During the evacuation of the explosives, a brief electromagnetic interference occurred at the substation, causing the bit error rate of the wireless communication signal to rise to 1.2 × 10⁻⁶. -4 (Still below 10) -4 The threshold is reached, but the communication interruption duration reaches 4 seconds (exceeding the 3-second threshold). The control unit 100 determines that the first-level emergency control mechanism has been triggered and immediately provides feedback to the operator through the vibration function of the tablet controller 2 and the red flashing of the screen; the operator presses the emergency button 21 on the side of the tablet controller 2, the emergency button 21 establishes communication with the control unit 100, and the control unit 100 switches to the basic joystick mode.

[0116] The operator operates the multi-directional joystick via the basic joystick module 3 integrated on top of the tablet controller 2. Pushing the joystick forward triggers the track forward command, while rotating the joystick adjusts the robot arm angle, continuing the retreat towards the preset safe zone. The commands generated by the basic joystick module 3 are transmitted via the operator's infrared transceiver 4 to the robot's infrared transceiver 101, and then sent by the robot's infrared transceiver 101 to the control unit 100, ensuring stable command transmission (optical communication is unaffected by electromagnetic interference).

[0117] When the robot approaches the preset safe zone, the operator presses the attitude reset button on the basic joystick module 3, and the control unit 100 drives the robotic arm to retract into the body, while the end effector 110 remains in the gripping state; the track drive mechanism continues to move forward, bringing the robot into the preset safe zone, and then the operator presses the release button, and the end effector 110 releases the explosive and places it into the pre-placed explosion-proof container.

[0118] After disposing of the explosives, the operator cuts off the power to the track drive mechanism and shuts down the robot's main power supply by using the emergency stop button on the basic joystick module 3. The operator retrieves the infrared transceiver 4 and the tablet controller 2, and inspects all robot components: confirming that the end effector 110's wire-cutting edge is undamaged, the tracks show no obvious wear, and the environmental perception module's sensor connections are intact; the smoke warning device 108 of the safety warning module is not triggered, and the multi-color LED status light 109 is switched to the off state.

[0119] The operator connects the tablet controller 2 and control unit 100 via a wired communication interface to export the operation log for this task (including track speed, robotic arm angle, gripping force, sensor detection data, and emergency switching records at each time point). The log shows that during the first-level emergency switch, the command transmission delay of the basic joystick module 3 is 80ms, which meets the requirements for stable control. Combined with the feedback data from the force sensor 103, the analysis shows that the explosive device is best secured when the gripping force of the end effector 110 is in the range of 1.5-2.0N, providing parameter reference for subsequent similar tasks.

[0120] The robot body, operator interaction module, environmental perception module, and other equipment are packed into an explosion-proof transport container and transported back to the storage warehouse for maintenance. The operator fills out a task report on the tablet controller, recording the environmental parameters of the rubble, the type of explosives, key operational steps, and emergency response procedures, thus completing the bomb disposal mission.

[0121] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A control method for a tracked explosive ordnance disposal robot, characterized in that: This includes closed space control mode, open ruins control mode, and electromagnetic interference control mode; Closed space control mode: The operator wears a fingertip controller (1). The fingertip controller (1) collects the pinching force of the fingertip and generates an instruction to control the gripping force of the tracked explosive ordnance disposal robot's mechanical arm. The fingertip controller collects the wrist rotation angle and generates an instruction to control the rotation of the mechanical arm. The fingertip controller (1) communicates and interacts with the control unit (100) of the tracked explosive ordnance disposal robot to control the instructions. Open ruins control mode: The operator views the robot's binocular camera image through the tablet controller (2) and the control unit (100) of the tracked bomb disposal robot, and clicks the screen to mark the explosive target. The control unit (100) automatically calculates the movement trajectory of the robotic arm. When the end effector (110) of the robotic arm contacts the target, the force sensor (103) feeds back the pressure value, and the operator operates the tablet controller (2) to adjust the force of the end effector (110). Electromagnetic interference control mode: If the target location is determined to be in an electromagnetic interference environment, the control strategy of preset trajectory and local autonomous decision-making is activated. The operator sets the bomb disposal action data in advance through the tablet controller (2) and stores it in the control unit (100). After entering the electromagnetic interference zone, the tracked bomb disposal robot disconnects the wireless communication and executes according to the preset trajectory. At the same time, it communicates the task execution status to the operator infrared transceiver (4) through the robot end infrared transceiver (101).

2. The control method for a tracked explosive ordnance disposal robot according to claim 1, characterized in that: It also includes a basic joystick control mode: the basic joystick module (3) is operated to issue core control commands. The basic joystick module (3) communicates with the robot end infrared transceiver (101) through the operator end infrared transceiver (4) to transmit core control commands. The core control commands include the forward, backward, and turning of the track and the gripping, releasing, and rotating of the end effector (110) of the robotic arm.

3. The control method for a tracked explosive ordnance disposal robot according to claim 2, characterized in that: The basic joystick module (3) is integrated and installed on the top of the tablet controller (2). It adopts a layout of one multi-directional joystick and four physical buttons. The four physical buttons correspond to the emergency stop button, grip button, release button and attitude reset button respectively.

4. The control method for a tracked explosive ordnance disposal robot according to claim 3, characterized in that: It also includes a two-level emergency control mechanism. An emergency button (21) is installed on the side of the tablet controller (2). If the fingertip controller (1) determines that the signal acquisition is abnormal or the wireless communication interruption duration of the tablet controller (2) exceeds the set interruption duration threshold, it determines that the first-level emergency control mechanism is triggered and provides feedback to the operator through a warning action. The operator selects to press the emergency button (21) to activate the first-level emergency control mechanism. The emergency button (21) communicates with the control unit (100) to switch to the basic joystick mode. If communication between the fingertip controller (1), tablet controller (2), basic joystick module (3) and control unit (100) is interrupted, the control unit (100) determines that a secondary emergency control mechanism is triggered. The control unit (100) activates the built-in vibration sensor (106) and temperature sensor (107). When the pre-explosion vibration frequency or ambient temperature is detected to be greater than the set temperature threshold, the track is automatically controlled to evacuate to the preset safe zone at the set maximum speed. If the evacuation path is blocked, the robotic arm is controlled to retract into the body and the main power is cut off. At the same time, the smoke warning sign on the top of the body is triggered.

5. The control method for a tracked explosive ordnance disposal robot according to claim 4, characterized in that: In the confined space control mode, the fingertip controller (1) also includes the following interaction mechanism: The fingertip controller (1) has two built-in micro vibration motors (11). When the micro ultrasonic radar (102) of the tracked explosive ordnance disposal robot detects that the distance between the inner wall of the pipe and the side of the tracked explosive ordnance disposal robot is less than 5cm, the micro vibration motor (11) on the side closer to the obstacle generates graded vibration and provides the operator with an obstacle avoidance reminder. The wrist rotation angle acquisition range of the fingertip controller (1) is extended to 0-180°, and the control unit (100) automatically limits the rotation angle of the robotic arm according to the pipe inner diameter data collected by the micro ultrasonic radar (102): when the pipe inner diameter is less than or equal to 25cm, the maximum rotation angle of the robotic arm is less than or equal to 90°.

6. The control method for a tracked explosive ordnance disposal robot according to claim 5, characterized in that: The open ruins control mode also includes force control closed-loop optimization and trajectory correction steps: The pressure value fed back by the force sensor (103) is displayed on the screen of the tablet controller (2) in real time. The operator can steplessly adjust the clamping force of the end effector by sliding the slider on the side of the screen. When the control unit (100) automatically calculates the movement trajectory of the robotic arm, it combines the data of the ruins and obstacles collected by the laser radar (104). If it determines the distance between the planned trajectory and the obstacle, it automatically generates a trajectory correction scheme and marks the corrected trajectory with a red dotted line on the screen of the tablet controller (2). The operator clicks to confirm and execute.

7. The control method for a tracked explosive ordnance disposal robot according to claim 6, characterized in that: After startup, the control unit (100) automatically determines the task scenario and switches the corresponding control mode based on the following parameter combinations: If the diameter of the space detected by the miniature ultrasonic radar (102) is less than or equal to 30 cm and the electromagnetic intensity detected by the electromagnetic intensity sensor (105) is less than 50 dB, the closed space control mode is automatically triggered, and the scene recognition result is fed back to the fingertip controller (1) via wireless communication. If the density of obstacles detected by the lidar (104) is greater than (5) per square meter and the electromagnetic intensity is less than 50dB, the open ruin control mode will be automatically triggered. At the same time, the ruin mode will be displayed on the screen of the tablet controller (2), and a text prompt indicating that the target is marked will be displayed. If the electromagnetic intensity detected by the electromagnetic intensity sensor (105) is greater than or equal to 50 dB, or the bit error rate of the wireless communication signal is greater than 10 dB... -4 The electromagnetic interference control mode is automatically triggered, and the operator is prompted to set a preset trajectory through the tablet controller (2).

8. The control method for a tracked explosive ordnance disposal robot according to claim 7, characterized in that: It also includes a hierarchical management process for operation permissions: The control unit (100) supports two levels of permissions: novice operator and expert operator. Permission verification is performed through the login interface of the tablet controller (2). New operator privileges grant access to basic functions of the enclosed space control mode and target marking and intensity adjustment functions of the ruins control mode, but prohibit modification of preset trajectory and electromagnetic interference mode parameters; Expert operator privileges unlock all control mode functions, including trajectory editing in the offline programming interface and infrared beacon parameter configuration in electromagnetic interference mode. During operation, all control commands are stored in the local storage module of the control unit (100), and logs can be exported via a wired interface for task review.

9. A tracked bomb disposal robot, characterized in that: The method for implementing the control method of the tracked explosive ordnance disposal robot as described in claim 8 includes a tracked robot body, a control unit (100), an operator interaction module, an environmental perception module, and an execution module; The operator interaction module includes a fingertip controller (1), a tablet controller (2), a basic joystick module (3), and an operator terminal infrared transceiver (4). The fingertip controller (1) is used to collect signals of the operator's fingertip pinching force and wrist rotation angle; The tablet computer controller (2) is used to display the binocular camera image, mark explosive targets, and adjust the force of the end effector; The basic joystick module (3) is used to output the core control commands of the track and end effector; the operator infrared transceiver (4) is used to establish an optical communication link with the robot infrared transceiver (101); The environmental perception module includes a miniature ultrasonic radar (102), a force sensor (103), a lidar (104), an electromagnetic intensity sensor (105), a vibration sensor (106), and a temperature sensor (107), which are used to detect spatial dimensions, end contact pressure, obstacle distribution, electromagnetic environment intensity, and pre-explosion signals, respectively. The environmental sensing module is communicatively connected to the control unit (100); The execution module includes an end effector (110), a track drive mechanism and a robotic arm drive mechanism. The end effector (110) is used to grip or manipulate explosives, the track drive mechanism is used for robot movement, and the robotic arm drive mechanism is used to adjust the spatial attitude of the end effector (110). The communication module includes a wireless communication module, a robot-end infrared transceiver (101), and a wired communication interface, which are used to enable the operator interaction module to interact with the control unit (100) for instructions and status data.

10. A tracked bomb disposal robot according to claim 9, characterized in that: It also includes a safety warning module, which includes a smoke warning sign device (108) and a multi-color LED status light (109) for positioning and status prompts in the event of communication interruption or emergency. The control unit (100) controls the execution of the smoke warning sign device (108) and the multi-color LED status light (109).

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