A tracked explosive ordnance disposal robot and control method

Abstract

The application discloses a tracked explosive-handling robot and a control method, and relates to the technical field of explosive-handling robots, and comprises a closed space control mode, an open ruin control mode and an electromagnetic interference control mode. The closed space control mode is as follows: an operator wears a fingertip controller, the fingertip controller collects fingertip pinch force, generates an instruction for controlling the clamping force of a mechanical arm of the tracked explosive-handling robot, collects the wrist turning angle sensed by the fingertip controller to generate an instruction for controlling the rotation of the mechanical arm, and the fingertip controller communicates with the control unit of the tracked explosive-handling robot to interactively control the instruction. The control unit automatically switches the control mode based on sensor parameters, and manual intervention of the operator is not needed; hardware and control logic are deeply coordinated, the overall operation efficiency is greatly improved, common explosive-handling scenes such as pipelines, ruins and electromagnetic interference can be adapted, the on-site risk of explosive-handling personnel is significantly reduced, and reliable technical support is provided for explosive-handling operations in complex environments.

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 fields 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 moves 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, the existing tracked explosive ordnance disposal robot is difficult to meet the actual explosive ordnance disposal requirements of multi-scene precise control, strong interference reliable communication, emergency safety controllable and low operation threshold, and a control method and corresponding hardware architecture suitable for multi-scene, high reliability and easy operation are urgently needed. SUMMARY

[0008] In order to solve the above technical problems, the present application provides a tracked explosive ordnance disposal robot and a control method. The following technical scheme is adopted:

[0009] A tracked explosive ordnance disposal robot control method, comprising a closed space control mode, an open ruin control mode and an electromagnetic interference control mode;

[0010] The closed space control mode: the operator wears a fingertip controller, the fingertip controller collects the pinch force of the fingertips, generates an instruction for controlling the clamping force of the mechanical arm of the tracked explosive ordnance disposal robot, collects the wrist turning angle sensed by the fingertip controller to generate an instruction for controlling the rotation of the mechanical arm, and the fingertip controller communicates with the control unit of the tracked explosive ordnance disposal robot to interact with the control instruction;

[0011] The open ruin control mode: the operator views the robot binocular camera picture through the tablet computer controller end and the control unit of the tracked explosive ordnance disposal robot, clicks the screen to mark the explosive target, and the control unit automatically calculates the mechanical arm motion trajectory; when the end effector of the mechanical arm contacts the target, the force sensor feeds back the pressure value, and the operator operates the tablet computer controller to adjust the force of the end effector;

[0012] The electromagnetic interference control mode: if it is judged that the task target is in an electromagnetic interference environment, the preset trajectory and the local autonomous decision control strategy are enabled, the operator sets the explosive action data in advance through the tablet computer controller, and communicates and stores it in the control unit; after entering the electromagnetic interference area, the tracked explosive ordnance disposal robot disconnects the wireless communication, executes according to the preset trajectory, and simultaneously communicates the task execution state to the operation end infrared signal transceiver through the robot end infrared signal transceiver.

[0013] Optionally, it also includes a basic joystick control mode: the basic joystick module is operated to implement the issuance of core control instructions, the basic joystick module performs optical communication with the robot end infrared signal transceiver through the operation end infrared signal transceiver, and transmits the core control instructions, the core control instructions including tracked forward movement, backward movement, turning, and end effector clamping, releasing and rotating of the mechanical arm.

[0014] Optionally, the basic joystick module is integrated and installed on the top of the tablet computer controller, adopts a multi-directional joystick and a layout of four physical keys, and the four physical keys correspond to an emergency stop key, a clamping key, a releasing key and a posture reset key respectively.

[0015] Optionally, it also includes a two-stage emergency control mechanism, and an emergency button is installed on the side of the tablet computer controller; if the fingertip controller judges that the signal acquisition is abnormal or the wireless communication of the tablet computer controller is interrupted for a time greater than the set interruption time threshold, it is judged that the first-stage emergency control mechanism is triggered, and feedback is given to the operator through a warning action; the operator selects to press the emergency button to start the first-stage emergency control mechanism, and the communication between the emergency button and the control unit is switched to the basic joystick mode;

[0016] If the communication between the fingertip controller, the tablet computer controller, the basic joystick module and the control unit is interrupted, the control unit judges that the second-stage emergency control mechanism is triggered, the control unit starts the built-in vibration sensor and temperature sensor, and when the pre-explosion vibration frequency or the environmental temperature is greater than the set temperature threshold, the track is automatically controlled to retreat to the preset safety zone at a set maximum speed; if the retreat path is blocked, the mechanical arm is retracted into the body and the main power is cut off, and at the same time, the smoke warning sign on the top of the body is triggered.

[0017] Optionally, in the closed space control mode, the fingertip controller further includes the following interaction mechanism: the fingertip controller is built-in with 2 groups of micro vibration motors, when the micro ultrasonic radar of the track-type explosive ordnance disposal robot detects that the distance between the inner wall of the pipeline and the side of the track-type explosive ordnance disposal robot is less than 5 cm, the micro vibration motor on the side close to the obstacle generates a hierarchical vibration to remind the operator to avoid obstacles;

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

[0019] Optionally, the open ruin control mode further includes a force control closed loop optimization and trajectory correction step:

[0020] The pressure value fed back by the force sensor is displayed in real time on the screen of the tablet computer controller, and the operator adjusts the gripping force of the end effector through the sliding slider on the side of the screen;

[0021] When the control unit automatically calculates the motion trajectory of the mechanical arm, it combines the ruin obstacle data collected by the laser radar, judges the distance between the planned trajectory and the obstacle, automatically generates a trajectory correction scheme, and marks the corrected trajectory with a red dashed line on the screen of the tablet computer controller, and waits for the operator to click to execute.

[0022] Optionally, after the control unit is started, it automatically judges the task scene and switches the corresponding control mode through the following parameter combinations:

[0023] If the spatial diameter detected by the miniature ultrasonic radar is less than or equal to 30 cm and the electromagnetic intensity detected by the electromagnetic intensity sensor 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 through wireless communication;

[0024] If the obstacle density detected by the laser radar is greater than 5 per square meter, and the electromagnetic intensity is less than 50 dB, the open ruin control mode is automatically triggered, and the picture of the tablet computer controller is displayed with the text prompt that the ruin mode has been started, and the target is suggested to be marked;

[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 , the electromagnetic interference control mode is automatically triggered, and the operator is prompted to set the preset trajectory through the tablet computer controller.

[0026] Optionally, it further comprises an operation permission hierarchical management step:

[0027] The control unit supports two levels of permissions for novice operators and expert operators, and the permission verification is performed through the login interface of the tablet computer controller:

[0028] The novice operator permission opens the basic function of the closed space control mode, the target marking and intensity adjustment function of the open ruin control mode, and prohibits modification of the preset trajectory and the parameters of the electromagnetic interference mode;

[0029] The expert operator permission unlocks all the functions of the control mode, including the trajectory editing of the offline programming interface and the infrared beacon parameter configuration of the electromagnetic interference mode, and all control instructions during the operation process are stored in the local storage module of the control unit, supporting subsequent export of logs through the wired interface for task review.

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

[0031] The operator interaction module comprises a fingertip controller, a tablet computer controller, a basic joystick module, and an operation end infrared signal transceiver;

[0032] The fingertip controller is used to collect the pinch intensity and wrist turning angle signals of the operator's fingertips;

[0033] The tablet computer controller is used to display the binocular camera picture, mark the explosive target, and adjust the end effector intensity;

[0034] The basic joystick module is used to output the core control instructions of the tracked and end effector;

[0035] The operation end infrared signal transceiver is used for establishing an optical communication link with the robot end infrared signal transceiver; the environment sensing module comprises a miniature ultrasonic radar, a force sensor, a laser radar, an electromagnetic intensity sensor, a vibration sensor and a temperature sensor, and is respectively used for detecting a space size, an end contact pressure, an obstacle distribution, an electromagnetic environment intensity and an explosion precursor signal;

[0036] The environment sensing module is in communication connection with the control unit;

[0037] The execution module comprises an end effector, a track driving mechanism and a mechanical arm driving mechanism, the end effector is used for clamping or operating an explosive, the track driving mechanism is used for robot movement, and the mechanical arm driving mechanism is used for adjusting a spatial pose of the end effector;

[0038] The communication module comprises a wireless communication module, a robot end infrared signal transceiver and a wired communication interface, and is used for realizing instruction and state data interaction between the operator interaction module and the control unit.

[0039] Optionally, the safety warning module further comprises a smoke warning marking device and a multi-color LED state lamp, and is used for positioning and state prompting in a communication interruption or emergency scene, and the control unit controls execution actions of the smoke warning marking device and the multi-color LED state lamp.

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

[0041] The present application can provide a track-type explosive disposal robot and a control method, the fingertip controller is used for collecting a fingertip pinch force and a wrist turning angle, a mechanical arm clamping force and a rotating action are directly mapped, operation delay and mechanical arm joint rotation error are reduced, and millimeter-level precision task requirements are met; in combination with the hierarchical feedback of the miniature ultrasonic radar and the vibration motor, an operator can realize real-time sensing of a pipe wall distance and avoid collision; and the control unit automatically limits a mechanical arm rotation angle according to a pipe inner diameter, further reduces operation risk, and greatly improves a closed space explosive disposal success rate.

[0042] In an open ruin mode, an operator only needs to mark a target, adjust a force and confirm execution through a tablet computer controller, the control unit automatically plans a track and corrects in combination with laser radar data, operation steps are greatly reduced, a novice training cycle is shortened, a force sensor realizes real-time feedback of a clamping pressure, a sliding slider is used for realizing stepless adjustment, explosive clamping damage or clamping separation is avoided, and an open ruin scene explosive disposal failure rate is reduced. In an electromagnetic interference mode, a preset track is stored in the control unit locally, and the robot can still be autonomously executed after wireless communication is disconnected; the robot end infrared signal transceiver and the operation end feed back a state through optical communication, and a communication interruption problem caused by electromagnetic interference is solved.

[0043] The first level emergency switching of the double-level emergency mechanism switches to a basic rocker mode, and the second level emergency triggers autonomous evacuation or lock and smoke warning, which greatly reduces the risk of robot out of control when the communication is completely interrupted.

[0044] The control unit automatically switches the control mode based on the sensor parameters without manual intervention of the operator; the hardware and control logic are deeply coordinated, the overall operation efficiency is greatly improved, the common explosive ordnance disposal scenes such as pipelines, ruins and electromagnetic interference can be adapted, the on-site risk of explosive ordnance disposal personnel is significantly reduced, and reliable technical support is provided for explosive ordnance disposal operation in complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a structural principle schematic diagram of a tracked explosive ordnance disposal robot of the present application;

[0046] Figure 2 is a structural principle schematic diagram of a double-layer funnel of a tracked explosive ordnance disposal robot of the present application;

[0047] The reference signs are explained as follows: 1, fingertip controller; 11, micro vibration motor; 2, tablet computer controller; 21, emergency button; 3, basic rocker module; 4, operation end infrared signal transceiver; 100, control unit; 101, robot end infrared signal transceiver; 102, micro ultrasonic radar; 103, force sensor; 104, laser radar; 105, electromagnetic intensity sensor; 106, vibration sensor; 107, temperature sensor; 108, smoke warning sign device; 109, multi-color LED state lamp; 110, end effector. DETAILED DESCRIPTION

[0048] The present application will be further described in detail below with reference to the accompanying drawings.

[0049] The present application discloses a tracked explosive ordnance disposal robot and a control method.

[0050] Reference Figure 1 - Figure 2 , embodiment 1, a tracked explosive ordnance disposal robot control method, including airtight space control mode, open ruin control mode and electromagnetic interference control mode;

[0051] Airtight space control mode: the operator wears a fingertip controller 1, the fingertip controller 1 collects the pinch force of the fingertips and generates a control tracked explosive ordnance disposal robot mechanical arm clamping force instruction, collects the fingertip controller sensing wrist turning angle to generate a control mechanical arm rotating instruction, and the fingertip controller 1 communicates with the control unit 100 of the tracked explosive ordnance disposal robot to interact the control instruction;

[0052] Open ruin control mode: the operator views the robot binocular camera picture through the tablet controller 2 end control unit 100, clicks the screen to mark the explosive target, and the control unit 100 automatically calculates the mechanical arm motion trajectory; when the end effector 110 of the mechanical 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;

[0053] Electromagnetic interference control mode: if it is judged that the task target is in an electromagnetic interference environment, the preset trajectory and local autonomous decision control strategy are enabled, the operator sets the explosive action data in advance through the tablet controller 2, and communicates and stores in the control unit 100, after entering the electromagnetic interference area, the tracked explosive robot disconnects the wireless communication, executes according to the preset trajectory, and simultaneously communicates the task execution state to the operation end infrared signal transceiver 4 through the robot end infrared signal transceiver 101.

[0054] Embodiment 2 further comprises a basic rocker control mode: the operation of the basic rocker module 3 realizes the issuance of core control instructions, the basic rocker module 3 communicates with the robot end infrared signal transceiver 101 through the operation end infrared signal transceiver 4, and transmits the core control instructions, which include tracked forward, backward, steering, and end effector 110 of the mechanical arm clamping, releasing, and rotating.

[0055] By adopting the above technical scheme, the operator wears the fingertip controller 1, which collects the operator's fingertip pinch force and wrist rotation angle in real time; based on the collected force signal, the control instruction corresponding to the mechanical arm clamping force is generated, and based on the collected rotation angle signal, the control instruction corresponding to the mechanical arm rotation is generated; the fingertip controller 1 and the control unit 100 of the robot establish communication, and the generated control instruction is transmitted to the control unit 100, and the control unit 100 receives the instruction and drives the mechanical arm to execute the clamping and rotating action, while realizing the bidirectional interaction of the instruction, ensuring the synchronization of operation response and state feedback.

[0056] The operator establishes connection with the control unit 100 through the tablet controller 2, and views the live picture transmitted by the robot binocular camera in real time; the operator clicks to mark the explosive target on the tablet screen, the control unit 100 receives the target marking information, automatically calculates the motion trajectory of the mechanical arm to reach the target position; when the end effector 110 of the mechanical arm contacts the explosive target, the force sensor collects the contact pressure value in real time and feeds back to the control unit 100, and the control unit 100 transmits the pressure value to the tablet controller 2, and the operator adjusts the clamping force of the end effector 110 according to the displayed pressure value, realizing accurate force control.

[0057] Firstly, it is judged whether the task target is in an electromagnetic interference environment. If it is in the environment, the preset trajectory and the local autonomous decision control strategy are enabled. The operator sets the explosive action data through the tablet computer controller 2. After the setting is completed, the data is transmitted to the control unit 100 through communication and stored. After the robot enters the electromagnetic interference area, the wireless communication link is automatically disconnected. The control unit 100 calls the pre-stored explosive action data to drive the robot to perform the explosive operation according to the preset trajectory. At the same time, the robot end infrared signal transceiver 101 continuously transmits the task execution state information to the operation end infrared signal transceiver 4, ensuring that the operator knows the operation progress in real time.

[0058] The operator operates the basic rocker module 3 to generate the core control instructions of the track and the mechanical arm end effector through the operation action of the module. The core instructions include track forward, backward, turning, end effector clamping, releasing and rotating. The basic rocker module 3 is connected with the operation end infrared signal transceiver 4 to transmit the generated core control instructions to the transceiver. The operation end infrared signal transceiver 4 transmits the instructions to the robot end infrared signal transceiver 101 through optical communication. After receiving the instructions, the robot end infrared signal transceiver 101 transmits them to the control unit 100. The control unit 100 drives the track and the end effector to perform corresponding actions to realize the quick response and stable control of the core operation.

[0059] In embodiment 3, the basic rocker module 3 is integrated and installed on the top of the tablet computer controller 2. A multi-directional rocker and four physical keys are adopted. The four physical keys correspond to the emergency stop key, the clamping key, the releasing key and the posture reset key respectively.

[0060] By adopting the above technical scheme, the basic rocker module 3 is integrated and installed on the top of the tablet computer controller 2 to form an integrated operation structure, thereby reducing the number of operation devices and improving the operation convenience. The module adopts a fixed layout of a multi-directional rocker and four physical keys. The functions of the components and the control instruction triggering logic are clear.

[0061] The multi-directional rocker is used to generate the dynamic control instructions of the track and the mechanical arm end effector. The operator pushes the front and back directions of the rocker to trigger the track forward or backward instructions. The operator pushes the left and right directions of the rocker to trigger the track turning instructions. The operator rotates the rocker to trigger the rotating instructions of the mechanical arm end effector.

[0062] The four physical keys correspond to specific function instructions respectively. When the emergency stop key is triggered, the instructions for stopping all actions of the robot are generated. When the clamping key is triggered, the instructions for clamping the end effector are generated. When the releasing key is triggered, the instructions for releasing the end effector are generated. When the posture reset key is triggered, the instructions for retracting the mechanical arm to the initial middle position and stopping the track from moving are generated.

[0063] All instructions generated by the multi-directional rocker and physical buttons are transmitted to the infrared transceiver 4 of the tablet controller 2, then transmitted to the infrared transceiver 101 of the robot through optical communication, and finally received by the control unit 100 and driving the corresponding execution module to realize the centralized and rapid triggering of the operation instructions.

[0064] The embodiment 4 further comprises a two-stage emergency control mechanism, and the emergency button 21 is installed on the side of the tablet controller 2. When the fingertip controller 1 judges that the signal acquisition is abnormal or the wireless communication interruption time of the tablet controller 2 is longer than the set interruption time threshold, the first-stage emergency control mechanism is triggered, and the operator is fed back through the warning action. The operator selects to press the emergency button 21 to start the first-stage emergency control mechanism, and the communication between the emergency button 21 and the control unit 100 is switched to the basic rocker mode.

[0065] When the communication between the fingertip controller 1, the tablet controller 2, the basic rocker module 3 and the control unit 100 is interrupted, the control unit 100 judges to trigger the second-stage emergency control mechanism, and the control unit 100 starts the built-in vibration sensor 106 and temperature sensor 107. When the pre-explosion vibration frequency or the environmental temperature is greater than the set temperature threshold, the control unit 100 automatically controls the caterpillar to retreat to the preset safety zone at the set maximum speed. If the retreat path is blocked, the mechanical arm is retracted into the body and the main power is cut off, and at the same time the smoke warning sign on the top of the body is triggered.

[0066] By adopting the above technical scheme, the emergency button 21 is installed on the side of the tablet controller 2, and the system monitors the signal acquisition state of the fingertip controller 1 and the wireless communication state of the tablet controller 2 in real time. If the fingertip controller 1 judges that the signal acquisition is abnormal, or the wireless communication interruption time of the tablet controller 2 exceeds the set interruption time threshold, the system judges to trigger the first-stage emergency control mechanism. At this time, the system feeds back the emergency trigger information to the operator through the warning action. After receiving the feedback, the operator selects to press the emergency button 21 to start the first-stage emergency control mechanism. The emergency button 21 establishes communication with the control unit 100, transmits the switching instruction to the control unit 100, and the control unit 100 receives the instruction, drives the robot to switch from the current control mode to the basic rocker mode, and ensures that the core operation is not interrupted.

[0067] The system continuously monitors the communication state of the fingertip controller 1, the tablet controller 2, the base rocker module 3, and the control unit 100. If the communication of the three with the control unit 100 is interrupted, the control unit 100 determines to trigger the secondary emergency control mechanism. The control unit 100 starts the built-in vibration sensor 106 and temperature sensor 107, which respectively detect the explosion precursor vibration frequency and the environment temperature in real time. When the detected vibration frequency exceeds the set threshold or the detected environment temperature exceeds the set temperature threshold, the control unit 100 automatically controls the track to move away at the set maximum speed to the pre-marked safety zone; if the track is detected to be blocked during movement, the control unit 100 drives the mechanical arm to retract into the robot body, simultaneously cuts off the robot main power supply, and triggers the smoke warning sign on the top of the robot body, realizing safe disposal and positioning prompt in the emergency state.

[0068] In the closed space control mode, the fingertip controller 1 further includes the following interaction mechanism.

[0069] The fingertip controller 1 is built-in with two groups of 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 pipeline and the side of the tracked explosive ordnance disposal robot is less than 5 cm, the micro vibration motor 11 on the side close to the obstacle generates a hierarchical vibration to feedback the obstacle avoidance reminder to the operator.

[0070] The wrist rotation angle collection range of the fingertip controller 1 is expanded to 0-180°, and the control unit 100 automatically limits the mechanical arm rotation angle according to the pipeline inner diameter data collected by the micro ultrasonic radar 102: when the pipeline inner diameter is less than or equal to 25 cm, the maximum mechanical arm rotation angle is less than or equal to 90°.

[0071] By adopting the above technical scheme, for the closed space control mode, the interaction mechanism is added on the fingertip controller 1:

[0072] On the one hand, two groups of micro vibration motors 11 are arranged in the fingertip controller 1. The micro ultrasonic radar 102 of the tracked explosive ordnance disposal robot continuously detects the distance between the inner wall of the pipeline and the side of the robot. When the detection result is less than 5 cm, the robot determines the side close to the obstacle, and then triggers the micro vibration motor 11 on the side to generate a hierarchical vibration, which transmits the obstacle avoidance reminder to the operator through the vibration, helping the operator to adjust the operation action in time.

[0073] On the other hand, the wrist flip angle acquisition range of the fingertip controller 1 is expanded to 0-180 degrees, and more extensive wrist motion signals can be captured. At the same time, the control unit 100 receives the pipeline inner diameter data collected by the miniature ultrasonic radar 102, and automatically limits the mechanical arm rotation angle according to the data. When the pipeline inner diameter is less than or equal to 25 cm, the control unit 100 limits the maximum rotation angle of the mechanical arm to be less than or equal to 90 degrees, so as to avoid the mechanical arm colliding with the inner wall of the pipeline due to excessive rotation angle.

[0074] In embodiment 6, the open ruin control mode further includes a force control closed loop optimization and trajectory correction step:

[0075] The pressure value fed back by the force sensor 103 is displayed in real time on the screen of the tablet computer controller 2, and the operator adjusts the end effector clamping force steplessly through the sliding slider on the side of the screen.

[0076] When automatically calculating the mechanical arm motion trajectory, the control unit 100 combines the ruin obstacle data collected by the laser radar 104, and if it is judged that the distance between the planned trajectory and the obstacle meets the correction condition, the control unit automatically generates a trajectory correction scheme, and marks the corrected trajectory in the picture of the tablet computer controller 2 in a red dashed line, and waits for the operator to click to execute.

[0077] By adopting the above technical scheme, 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 synchronously displays the pressure value on the screen of the tablet computer controller in real time. The operator observes the pressure value displayed on the screen, operates the sliding slider on the side of the screen, and adjusts the end effector clamping force steplessly through the sliding action of the slider, so that the clamping force is adapted to the characteristics of the explosive, and the operation risk caused by improper force is avoided.

[0078] In the process of automatically calculating the mechanical arm motion trajectory, the control unit 100 synchronously receives the ruin obstacle data collected by the laser radar 104, and combines and analyzes the trajectory data and the obstacle data. If it is judged that the distance between the planned mechanical arm motion trajectory and the obstacle meets the correction condition, the control unit 100 automatically generates a trajectory correction scheme. After generating the correction scheme, the control unit 100 marks the corrected trajectory in the picture of the tablet computer controller in a red dashed line, and the operator views the marked corrected trajectory and clicks to confirm the operation, and the control unit drives the mechanical arm to execute the action according to the confirmed corrected trajectory.

[0079] In embodiment 7, after the control unit 100 is started, it automatically judges the task scene and switches the corresponding control mode through the following parameter combinations:

[0080] If the space diameter 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 through wireless communication;

[0081] If the obstacle density detected by the laser radar 104 is greater than 5 per square meter, and the electromagnetic intensity is less than 50 dB, the open ruin control mode is automatically triggered, and the picture of the tablet computer controller 2 is displayed. The text prompt of the ruin mode has started and suggests marking the target;

[0082] 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 , the electromagnetic interference control mode is automatically triggered, and the operator is prompted to set the preset trajectory through the tablet computer controller 2.

[0083] By adopting the above technical scheme, after the control unit 100 is started, parameters are collected by multiple sensors and combined for judgment, the task scene is automatically matched and the corresponding control mode is switched, and the specific logic is as follows:

[0084] The control unit 100 obtains the space diameter detected by the miniature ultrasonic radar 102 and the electromagnetic intensity detected by the electromagnetic intensity sensor 105. If the space 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, and the scene recognition result is transmitted to the fingertip controller 1 through wireless communication, so that the operator knows the current mode state.

[0085] The control unit 100 obtains the obstacle density detected by the laser radar 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 dB, the open ruin control mode is automatically triggered, and a text prompt is displayed on the screen picture of the tablet computer controller 2, which is that the ruin mode has started and suggests marking the target.

[0086] The control unit 100 obtains 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⁻ 4 , the electromagnetic interference control mode is automatically triggered, and the operator is prompted to set the preset trajectory through the tablet computer controller 2.

[0087] Embodiment 8 further comprises an operation permission hierarchical management step:

[0088] The control unit 100 supports two levels of permissions for novice operators and expert operators, and the permission verification is performed through the login interface of the tablet computer controller 2:

[0089] The novice operator permission opens the basic function of the closed space control mode, opens the target marker and force adjustment function of the ruin control mode, and prohibits modifying the preset trajectory and the parameter of the electromagnetic interference mode;

[0090] The expert operator permission unlocks all the functions of the control modes, including the trajectory editing of the offline programming interface and the infrared beacon parameter configuration of the electromagnetic interference mode, and all the control instructions during the operation are stored in the local storage module of the control unit 100, supporting subsequent export of logs through a wired interface for task review.

[0091] By adopting the above technical solutions, the control unit 100 supports two levels of operation permissions of the novice operator and the expert operator, and the permission verification is completed through the login interface of the tablet computer controller 2.

[0092] After the novice operator completes the login verification, only the basic function of the closed space control mode, the target marker function and the force adjustment function of the ruin control mode are opened, and the related parameters of the preset trajectory and the electromagnetic interference mode cannot be modified to avoid misoperation of core configurations.

[0093] After the expert operator completes the login verification, all the functions of the control modes are unlocked, including the trajectory editing operation of the offline programming interface and the configuration operation of the infrared beacon parameter in the electromagnetic interference mode. At the same time, all the control instructions generated by the expert operator during the operation are stored in the local storage module of the control unit 100, and the stored operation logs can be exported through a wired interface for subsequent review and analysis after the explosive task.

[0094] Embodiment 9, a tracked explosive disposal robot, for realizing a tracked explosive disposal robot control method, comprising a tracked robot body, a control unit 100, an operator interaction module, an environment perception module and an execution module;

[0095] The operator interaction module comprises a fingertip controller 1, a tablet computer controller 2, a basic joystick module 3 and an operation end infrared signal transceiver 4;

[0096] The fingertip controller 1 is used for collecting the pinch force and wrist turning angle signals of the operator's fingertips;

[0097] The tablet computer controller 2 is used for displaying the binocular camera picture, marking the explosive target and adjusting the force of the end effector;

[0098] The basic joystick module 3 is used for outputting the core control instructions of the tracked and end effector;

[0099] The operation end infrared signal transceiver 4 is used for establishing an optical communication link with the robot end infrared signal transceiver 101;

[0100] The environmental perception module comprises a miniature ultrasonic radar 102, a force sensor 103, a laser radar 104, an electromagnetic intensity sensor 105, a vibration sensor 106 and a temperature sensor 107, which are respectively used for detecting the space size, the end contact pressure, the obstacle distribution, the electromagnetic environment intensity and the explosion precursor signal;

[0101] The environmental perception module is in communication connection with the control unit 100.

[0102] The execution module comprises an end effector 110, a track driving mechanism and a mechanical arm driving mechanism, the end effector 110 is used for clamping or operating the explosive, the track driving mechanism is used for robot movement, and the mechanical arm driving mechanism is used for adjusting the spatial pose of the end effector 110.

[0103] The communication module comprises a wireless communication module, a robot end infrared signal transceiver 101 and a wired communication interface, which are used for realizing the instruction and state data interaction between the operator interaction module and the control unit 100.

[0104] Embodiment 10 further comprises a safety warning module, the safety warning module comprises a smoke warning marking device 108 and a multi-color LED state lamp 109, which are used for positioning and state prompting in the communication interruption or emergency scene, and the control unit 100 controls the execution action of the smoke warning marking device 108 and the multi-color LED state lamp 109.

[0105] The following uses specific embodiments to illustrate the implementation principle of the present application:

[0106] The explosive disposal personnel places the track robot body in a safe area of the ruins around the substation, checks the execution module state: confirms that the end effector 110 is firmly installed (selects a clamping-line integrated type), the track driving mechanism is not jammed, and the mechanical arm driving mechanism joint moves normally. Start the robot main power supply, and the control unit 100 automatically performs a hardware self-check, sequentially detects the environmental perception module (the miniature ultrasonic radar 102, the force sensor 103, the laser radar 104, the electromagnetic intensity sensor 105, the vibration sensor 106 and the temperature sensor 107), the communication module (the wireless communication module and the robot end infrared signal transceiver 101) and the safety warning module (the smoke warning marking device 108 and the multi-color LED state lamp 109), and after the self-check is passed, the multi-color LED state lamp 109 flashes green light for 3 times.

[0107] The operator inputs the expert permission account password through the login interface of the tablet controller 2. After the control unit 100 completes the permission verification, all control mode functions are unlocked. The operator fixes the infrared signal transceiver 4 on the tripod at the edge of the ruins, and aligns it with the direction of the infrared signal transceiver 101 of the robot. The electromagnetic intensity sensor 105 starts to detect the environmental electromagnetic intensity, and feeds back the real-time data to the control unit 100. The current electromagnetic intensity is 48dB (lower than the 50dB threshold). The laser radar 104 starts scanning, and feeds back the obstacle density of the ruins as 7 / m2, which meets the open ruins control mode triggering condition.

[0108] The operator sets the preset safety zone on the tablet controller 2, sets the wireless communication interruption time threshold of the first level emergency control as 3 seconds, and sets the vibration frequency threshold of the second level emergency control as 55Hz and the temperature threshold as 75℃. After the control unit 100 receives the parameters, it stores them in the local storage module, and sets the initial gripping force of the end effector 110 as 1N and the initial posture of the robot arm as the middle position.

[0109] The control unit 100 automatically triggers the open ruins control mode in combination with the 7 / m2 obstacle density detected by the laser radar 104 and the 48dB electromagnetic intensity detected by the electromagnetic intensity sensor 105. It sends a mode start signal to the tablet controller 2 through wireless communication. The tablet screen displays the text prompt "Ruins mode has started, please mark the target". The multi-color LED status lamp 109 remains green and always on.

[0110] The operator views the ruins screen transmitted by the binocular camera through the tablet controller 2. The virtual joystick control of the operation screen starts the track driving mechanism. The robot moves at a speed of 0.8m / s to the suspected explosive area inside the ruins. During the movement, the laser radar 104 continuously scans the obstacle distribution, and the data is transmitted to the control unit 100 in real time. The control unit 100 dynamically adjusts the track movement path to avoid large concrete blocks and steel components. If a small obstacle (height ≤10cm) is encountered, the track driving mechanism automatically increases the driving force to realize obstacle crossing.

[0111] When the robot moves to the deep part of the ruins, the binocular camera screen captures a suspected explosive object (a cylindrical object with a black wire). The operator clicks to mark the target position on the tablet controller 2 screen. After the control unit 100 receives the target marking information, it automatically calculates the motion trajectory of the robot arm driving mechanism in combination with the obstacle data collected by the laser radar 104, plans a path to avoid the steel and rubble around the target, and synchronously displays the trajectory data on the tablet screen as a blue solid line.

[0112] The control unit 100 finds that the planned trajectory is only 7 cm away from the right side of the inclined cement board during the trajectory calculation process, and immediately generates a trajectory correction scheme (raise the mechanical arm by 6 cm). The corrected trajectory is marked in red dotted line on the screen of the tablet controller 2. After the operator checks and clicks “confirm”, the control unit 100 drives the mechanical arm to move according to the corrected trajectory, and the end effector 110 slowly approaches the explosive. When the end effector 110 contacts the shell of the explosive, the force sensor 103 collects a pressure value of 1.2 N, which is fed back to the control unit 100 in real time, and then transmitted to the tablet controller 2 screen for display. After the operator observes the pressure value, he adjusts the clamping force of the end effector 110 to 1.8 N by sliding the slide on the side of the tablet screen, to ensure that the explosive is clamped firmly without damaging the shell; the force sensor 103 continuously feeds back the change of the pressure value, forming a force control closed loop to avoid fluctuations in the force.

[0113] The operator controls the mechanical arm drive mechanism to rotate through the tablet controller 2, so that the explosive wire is directed towards the wire cutting edge of the end effector 110. He clicks the “wire cutting” button on the tablet screen, and the control unit 100 drives the wire cutting edge to close and cut the wire. After cutting the wire, the force sensor 103 feeds back a sudden drop in edge pressure, and the control unit 100 sends a “wire cutting complete” prompt to the tablet controller 2, while driving the mechanical arm to lift the explosive to a height of 20 cm from the ground to avoid collision with obstacles during movement.

[0114] During the explosive evacuation process, a short-term electromagnetic interference occurs in the substation, and the error rate of the wireless communication signal rises to 1.2 x 10⁻ 4 (still below the 10⁻ 4 threshold), but the communication interruption lasts for 4 seconds (exceeding the 3-second threshold). The control unit 100 determines to trigger the first-level emergency control mechanism, and immediately feeds back to the operator through the vibration function and red flashing screen of the tablet controller 2. The operator presses the emergency key 21 on the side of the tablet controller 2, and the emergency key 21 establishes communication with the control unit 100. The control unit 100 switches to the basic joystick mode.

[0115] The operator operates the multi-directional joystick through the basic joystick module 3 integrated on the top of the tablet controller 2. He pushes the joystick forward to trigger the forward movement instruction of the track, and rotates the joystick to adjust the angle of the mechanical arm, and continues to evacuate to the preset safety zone. The instructions generated by the basic joystick module 3 are transmitted to the robot end infrared signal transceiver 101 through the operation end infrared signal transceiver 4, and then sent to the control unit 100 by the robot end infrared signal transceiver 101, to ensure stable transmission of the instructions (optical communication is not affected by electromagnetic interference).

[0116] When the robot approaches the preset safety zone, the operator presses the posture reset key of the base rocker module 3, the control unit 100 drives the mechanical arm to retract into the body, and the end effector 110 remains in the clamping state; the crawler driving mechanism continues to advance, and after the robot enters the preset safety zone, the operator presses the release key, the end effector 110 releases the explosive, and the explosive is placed in the pre-placed explosion-proof barrel.

[0117] After completing the explosive disposal, the operator cuts off the power of the crawler driving mechanism through the emergency stop key of the base rocker module 3, and turns off the main power of the robot. The operation end infrared signal transceiver 4 and the tablet computer controller 2 are recovered, and the components of the robot are checked: it is confirmed that the end effector 110 has no damage to the wire cutting edge, the crawler has no obvious wear, and the sensor connection line of the environmental perception module is intact; the smoke warning sign device 108 of the safety warning module is not triggered, and the multi-color LED state lamp 109 is switched off.

[0118] The operator connects the tablet computer controller 2 and the control unit 100 through the wired communication interface, and exports the operation log of this task (including the crawler speed, mechanical arm angle, clamping force, sensor detection data and emergency switching record at each time node). When the log shows the first emergency switching, the instruction transmission delay of the base rocker module 3 is 80ms, which meets the stable control requirement; combined with the feedback data of the force sensor 103, it is analyzed that the explosive fixing effect is best when the clamping force of the end effector 110 is in the range of 1.5-2.0N, which provides parameter reference for subsequent similar tasks.

[0119] The robot body, operator interaction module, environmental perception module and other equipment are loaded into the explosion-proof transport box and transported back to the storage warehouse for maintenance. The operator fills in the task report on the tablet computer controller 2, records the debris environment parameters, explosive types, operation key steps and emergency processing process, and completes this explosive disposal task.

[0120] The above are preferred embodiments of the present application, not to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

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 it is determined that the target location is 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 area, 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). It also includes a basic joystick control mode: operating the basic joystick module (3) to issue core control commands; 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. 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 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°. 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... The electromagnetic interference control mode is automatically triggered, and the operator is prompted to set a preset trajectory through the tablet controller (2).

2. The control method for a tracked explosive ordnance disposal robot according to claim 1, characterized in that: The basic joystick module (3) communicates optically 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: 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.

5. The control method for a tracked explosive ordnance disposal robot according to claim 4, characterized in that: It also includes the steps for hierarchical management of 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.

6. A tracked bomb disposal robot, characterized in that: The method for implementing the tracked explosive ordnance disposal robot control method of claim 5 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.

7. A tracked bomb disposal robot according to claim 6, 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).

Images