Explosive ordnance disposal robot under long-distance non-structural road application scene

Abstract

The utility model belongs to the technical field of explosive ordnance disposal robots, and discloses an explosive ordnance disposal robot in a long-distance non-structural road application scene, which comprises a crawler-type chassis trolley, a mechanical arm module, a man-machine interaction module and an image processing module, the mechanical arm module, the man-machine interaction module and the image processing module are respectively mounted on the crawler-type chassis trolley; the mechanical arm module and the image processing module are connected with a remote upper computer interface, and the man-machine interaction module receives position information and surrounding information of the trolley in real time. The mechanical arm module is used for estimating and disposing the pose of the unexploded ordnance, the man-machine interaction module is used for communicating with an upper computer and positioning the robot, and the image processing module is used for environment perception and obstacle detection. The explosive ordnance disposal robot can flexibly move in an unstructured road scene, detect a target environment in real time, recognize the position and posture of an unexploded shell and communicate with an upper computer in real time. After target environment detection is completed, the robot carries out path planning and carries out autonomous navigation or remote control.

Description

Technical Field

[0001] The utility model relates to the technical field of explosive ordnance disposal robots, and in particular to an explosive ordnance disposal robot for application scenarios on long-distance non-structured roads. Background Art

[0002] With the development of science and technology and the progress of the times, crawler bomb disposal robots have become special equipment used by bomb disposal personnel to dispose of or destroy suspicious explosive objects to avoid unnecessary casualties. They can be used for bomb disposal in a variety of complex terrains. They are mainly used to replace bomb disposal personnel in carrying and transferring suspicious explosive objects and other harmful and dangerous goods, to replace bomb disposal personnel in using explosives to destroy bombs, to replace on-site security personnel in field surveys, to transmit on-site images in real time, and can be equipped with detection equipment to inspect dangerous places and dangerous objects.

[0003] Existing four-wheel drive vehicles have huge defects when used in long-distance unstructured road application scenarios:

[0004] (1) Weak traction capacity: The traction capacity of four-wheel drive vehicles on extremely harsh terrain or low-load-bearing ground is relatively weak, and they are prone to getting stuck in mud or being unable to pass through some obstacles.

[0005] (2) Suspension system limitations: The suspension system of a four-wheel drive vehicle is usually based on the wheel design. For extremely bumpy, uneven or rugged terrain, the limitations of the suspension system may lead to a decrease in vehicle stability and handling.

[0006] (3) Greater risk of wheel damage: In extreme terrain, the wheels of four-wheel drive vehicles are prone to tearing, damage or getting stuck.

[0007] Therefore, four-wheel drive vehicles cannot make up for the advantages of crawler vehicles in extreme terrains and harsh conditions. The optimization of crawler vehicles lies in better coping with various complex terrains, providing a larger contact area, better adsorption and carrying capacity, as well as better off-road performance and stability. Therefore, it is more appropriate to choose a crawler vehicle in the application scenario of long-distance non-structured roads.

[0008] At present, one of the main challenges facing remote control robot technology is the limitation of communication technology. Since remote control robots need to communicate and control in real time, a very stable and efficient communication network is required. In addition, the autonomy and intelligence of the robot also need to be further improved so that the robot can perform tasks more independently. This design aims to design an interactive bomb disposal robot that can perform autonomous planning, path planning and autonomous navigation, and can also be remotely controlled and automatically avoid obstacles. Utility Model Content

[0009] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide an explosive disposal robot for long-distance non-structured road application scenarios, which has simple setting, convenient control, flexible operation and low operating experience requirements.

[0010] The technical solution of the utility model is as follows: an explosive disposal robot for long-distance non-structured road application scenarios comprises a crawler chassis trolley, a mechanical arm module, a human-machine interaction module and an image processing module; the mechanical arm module, the human-machine interaction module and the image processing module are respectively installed on the crawler chassis trolley; the mechanical arm module and the image processing module are connected to a remote host computer interface for hand-eye coordination processing, and the human-machine interaction module receives the position information and surrounding information of the trolley in real time;

[0011] The crawler chassis trolley comprises a vehicle body 11, a plurality of wheels 12, double crawlers 13 and a trolley drive motor; the trolley drive motor is connected to the wheels 12, the plurality of wheels 12 support the crawlers 13, and four small wheels are provided at the bottom of the crawler chassis trolley for shock absorption;

[0012] The crawler 13 includes chain links and sprockets; the chain links are the basic components of the crawler and are made of metal materials; the chain links are connected together by pins to form a continuous chain; the sprockets are mounted on the mechanical equipment through bearings and match the gears of the chain links, and the movement of the chain is driven by the movement of the gears; the crawler chassis trolley is driven to move or rotate; the crawler chassis trolley is controlled to move through a remote host computer interface or a remote controller;

[0013] The robotic arm module includes a gripper 21, a control cabinet 22, a depth camera a23 and a collaborative robot 24; the control cabinet 22 is installed on a crawler chassis trolley; the robotic arm module includes a three-section arm, a rotary joint, an end effector, a translation joint and an aircraft additional rod; the base of the robotic arm module is installed on the crawler chassis trolley, and the base is connected to the first section of the arm through a rotary joint; the three sections of the arm are connected in turn through rotary joints; the third section of the arm is connected to the end effector through a rotary joint; the end effector is connected to the aircraft additional rod through a translation joint; the aircraft additional rod is connected to the fixed part of the robotic arm through a rotary joint; the base is connected to the image processing module; the gripper 21 is installed at the end of the collaborative robot 24, the gripper 21 is connected to the depth camera a23, and the depth camera a23 is located above the gripper 21;

[0014] The human-computer interaction module includes a homer mobile terminal 31, an RTK mobile terminal 32, a router 33 and an industrial computer 34;

[0015] The homer mobile terminal 31 is used to interact with the remote host computer interface;

[0016] The RTK mobile terminal 32 is used for positioning;

[0017] The image processing module includes a depth camera b41 and a radar 42; the radar 42 scans the surrounding environment, and the depth camera b41 obtains the image in front of the vehicle body in real time; the depth camera b41 and the radar 42 analyze the position of the unexploded bomb and provide it for the operator to process.

[0018] Compared with the prior art, the beneficial effects of the utility model are:

[0019] The bomb disposal robot can communicate with the remote host computer in real time to improve work efficiency and flexibility; the bomb disposal robot can be operated by remote control (the maximum distance of the remote control is up to 200m, and the control distance of the remote host computer interface is up to 1.5km), so that personnel can operate it from a safe distance, reducing the risk of operators; the bomb disposal robot is equipped with a deep learning algorithm, which can autonomously learn and identify different types of explosives, dangerous goods and environments, improving the accuracy and efficiency of handling tasks; the bomb disposal robot is equipped with an RTK positioning system, which can obtain its own position information in real time to ensure accurate positioning and navigation; the bomb disposal robot can monitor and analyze the surrounding environment in real time through sensors, and can autonomously plan the optimal path according to task requirements and environmental conditions, avoid obstacles, and provide relevant data and information in a timely manner to help operators make decisions; the bomb disposal robot can walk remotely, adapt to various scenarios and complex environments, and provide a wider range of operations; the bomb disposal robot can conduct in-depth analysis of target objects, identify their characteristics and properties, and provide more accurate explosive disposal solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a side structural diagram of the explosive disposal robot of the utility model in the application scenario of long-distance non-structured roads;

[0021] FIG2( a ) is a front view of the bomb disposal robot of the utility model in a long-distance non-structured road application scenario;

[0022] FIG2( b ) is a side view of the bomb disposal robot of the utility model in the application scenario of long-distance non-structured roads;

[0023] FIG2( c ) is a top view of the bomb disposal robot of the utility model in a long-distance non-structured road application scenario.

[0024] In the figure: 11, vehicle body; 12, wheels; 13, tracks; 21, grippers; 22, control cabinet; 23, depth camera a; 24, collaborative robot; 31, homer mobile terminal; 32, RTK mobile terminal; 33, router; 34, industrial computer; 41, depth camera b; 42, radar; 5, unexploded bomb box. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the specification, but the protection scope of the present invention is not limited to the following specific embodiments.

[0026] A bomb disposal robot for long-distance non-structured road application scenarios includes four parts: BUNKER PRO crawler chassis, robotic arm module, human-machine interaction module and image processing module. The robotic arm module includes grippers, control cabinet, depth camera D435 and AUBO-i10 collaborative robot; the human-machine interaction module includes homer mobile terminal, RTK mobile terminal, router and industrial computer; the image processing module includes depth camera D435i and radar.

[0027] As a summary of the above solutions:

[0028] The bomb disposal robot includes a human-computer interaction module and a homer mobile terminal, which can perform data monitoring and remote control through a remote host computer interface and a remote controller to achieve long-distance real-time communication.

[0029] The AUBO-i10 collaborative robot consists of two AUBO-i10 collaborative robot rods and six joint components. Through remote control, the robot can observe the target area in real time and perform posture analysis on unexploded bombs; using the gripper components, the unexploded bombs can be accurately grasped, thus ensuring the safety and effectiveness of the operation.

[0030] The radar and depth camera D435 in the image processing module are placed at the front of the robot for real-time analysis and detection of the surrounding environment. Even if the environmental information changes suddenly, it can respond in time to prevent the work progress from being affected. The RTK mobile terminal in the human-computer interaction module is used to locate the robot, and the homer mobile terminal enables the robot to interact with the remote host computer to find the target unexploded bomb. This design enables the robot to communicate and collaborate with the remote host computer to improve the accuracy and efficiency of task execution.

[0031] The robot's remote control device and remote host computer serve as control terminals to achieve remote control. The human-machine interaction module, robotic arm module, BUNKER PRO crawler chassis and image processing module work together to complete the design of the bomb disposal robot.

[0032] The crawler chassis trolley includes a body 11, multiple wheels 12, double tracks 13 and a trolley drive motor; the trolley drive motor is connected to the wheels 12, the multiple wheels 12 support the double tracks 13, and the four small wheels at the bottom of the trolley have a shock-absorbing effect. The structure of the track mainly includes two parts: a chain link and a sprocket. The chain link is the basic component unit of the track, usually made of metal material, which has a certain strength and wear resistance. The chain links are connected together by pins to form a continuous chain. The sprocket is mounted on the mechanical equipment through a bearing, which matches the gear of the chain link and drives the movement of the chain through the movement of the gear. Drive the crawler chassis trolley to move or rotate; the crawler chassis trolley is controlled to move through a remote host computer interface or a remote control;

[0033] The robot module includes a gripper 21, a control cabinet 22, a depth camera a23 and a collaborative robot 24; the control cabinet 22 is installed on a crawler chassis trolley; the robot module includes a three-section arm, a rotary joint, an end effector, a translation joint and an aircraft-attached rod; the robot base is installed on the crawler chassis trolley, and the base is connected to the first section arm: usually a rotary joint, so that the robot can rotate around an axis perpendicular to the base. The first section arm is connected to the second section arm: usually a rotary joint, so that the second section arm can rotate around an axis perpendicular to the first section arm. The second section arm is connected to the third section arm: also a rotary joint, so that the third section arm can rotate around an axis perpendicular to the second section arm. The third section arm is connected to the end effector: usually a rotary joint, so that the end effector can rotate around an axis perpendicular to the third section arm. The end effector is connected to the aircraft-attached rod: this connection is usually a translation joint, allowing the end effector to perform forward, backward, left and right translation movements on the aircraft-attached rod. The aircraft additional rod is connected to the fixed part of the robot arm, such as the base of the robot arm: usually a rotary joint, so that the entire robot arm can rotate around an axis perpendicular to the fixed part. Flexible grasping of the robot arm can be achieved. Installed on the base, the base is connected to the image processing module; the gripper 21 is installed at the end of the collaborative robot 24, and the gripper 21 is connected to the depth camera a23, and the depth camera a23 is located above the gripper 21;

[0034] The human-computer interaction module includes a homer mobile terminal 31, an RTK mobile terminal 32, a router 33 and an industrial computer 34;

[0035] The homer mobile terminal 31 is used to interact with the remote host computer interface;

[0036] The RTK mobile terminal 32 is used for positioning;

[0037] The image processing module includes a depth camera b41 and a radar 42; the radar 42 scans the surrounding environment, and the depth camera b41 obtains the image in front of the vehicle body in real time; the depth camera b41 and the radar 42 analyze the position of the unexploded bomb and provide it for the operator to process.

[0038] Example:

[0039] In this example, the chassis crawler car can achieve flexible and free turning, multi-wheel drive, crawler differential rotation. The robot itself is developed based on ROS and can achieve autonomous obstacle avoidance. The BUNKER PRO car can be used for outdoor obstacle crossing, climbing, wading, and better for non-institutional roads. The car can move over long distances, the maximum distance of the remote control can reach 200m, and the remote host interface control distance can reach 1.5km (the host interface is remotely connected to the bomb disposal car through the TCP / IP address, and the car is remotely controlled through the topic (rostopic)).

[0040] In this example, the human-computer interaction module and the image processing module cooperate with each other. Through the homer mobile terminal 31 in the human-computer interaction module, the robot receives the map information transmitted by the host computer, and locates itself through the RTK mobile terminal 32, which can be used for global path planning and local path planning. In terms of path planning, the robot uses the Dijkstra algorithm, A* algorithm and DWA algorithm to analyze global path planning and local path planning and determine the best path for the robot.

[0041] In this example, the robot is remotely monitored in real time through the depth camera D435i, and the robot's movement is controlled through the remote host computer interface. When the robot reaches the target point, the depth camera D435 estimates the posture of the unexploded bomb, and the depth camera D435i provides the unexploded bomb perspective. The robot can achieve gripping actions in different directions, reducing the control requirements of the gripper by the remote control end. Finally, the robot puts the unexploded bomb into the unexploded bomb box 5 for recycling.

[0042] To sum up, the advantages of bomb disposal robots include high efficiency, safety, accuracy, and strong autonomy, which can effectively improve the efficiency and safety of explosive disposal work.

Claims

1. A bomb disposal robot for long-distance non-structured road application scenarios, characterized in that: The bomb disposal robot for long-distance non-structured road application scenario includes a crawler chassis trolley, a mechanical arm module, a human-machine interaction module and an image processing module; the mechanical arm module, the human-machine interaction module and the image processing module are respectively installed on the crawler chassis trolley; the mechanical arm module and the image processing module are connected to a remote host computer interface for hand-eye coordination processing, and the human-machine interaction module receives the position information and surrounding information of the trolley in real time; The crawler chassis trolley comprises a vehicle body (11), a plurality of wheels (12), double crawlers (13) and a trolley drive motor; the trolley drive motor is connected to the wheels (12), the plurality of wheels (12) support the crawlers (13), and four small wheels are arranged at the bottom of the crawler chassis trolley for shock absorption; The crawler (13) comprises a chain link and a sprocket; the chain link is a basic component unit of the crawler and is made of metal material; the chain links are connected together by pins to form a continuous chain; the sprocket is mounted on the mechanical equipment through a bearing and matches the gear of the chain link, and the movement of the gear drives the movement of the chain; the crawler chassis trolley is driven to move or rotate; the crawler chassis trolley is controlled to move through a remote host computer interface or a remote controller; The mechanical arm module comprises a gripper (21), a control cabinet (22), a depth camera a (23) and a collaborative robot (24); the control cabinet (22) is mounted on a crawler chassis trolley; the mechanical arm module comprises a three-section arm, a rotary joint, an end effector, a translation joint and an aircraft additional rod; the base of the mechanical arm module is mounted on the crawler chassis trolley, the base is connected to the first section of the arm through a rotary joint; the three sections of the arm are connected in turn through rotary joints; the third section of the arm is connected to the end effector through a rotary joint; the end effector is connected to the aircraft additional rod through a translation joint; the aircraft additional rod is connected to the fixed part of the mechanical arm through a rotary joint; the base is connected to the image processing module; the gripper (21) is mounted at the end of the collaborative robot (24), the gripper (21) is connected to the depth camera a (23), and the depth camera a (23) is located above the gripper (21); The human-computer interaction module includes a homer mobile terminal (31), an RTK mobile terminal (32), a router (33) and an industrial computer (34); homer mobile terminal (31), used to interact with the remote host computer interface; The RTK mobile terminal (32) is used for positioning; The image processing module comprises a depth camera b (41) and a radar (42); the radar (42) scans the surrounding environment, and the depth camera b (41) obtains the image in front of the vehicle body in real time; the depth camera b (41) and the radar (42) analyze the position of the unexploded bomb and provide it for processing by the operator.

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