輪履結(jié)合式爆炸物分解機(jī)器人
作為武警反恐作戰(zhàn)平臺(tái)，專門研制一種用于爆炸物分解的輪履結(jié)合式機(jī)器人；在民用領(lǐng)域，通過(guò)搭載非致命執(zhí)行單元，可以用于樓宇或重點(diǎn)場(chǎng)合的保安，危險(xiǎn)領(lǐng)域的核生化探測(cè)等；
作為智能移動(dòng)平臺(tái)，可開(kāi)展各種服務(wù)機(jī)器人項(xiàng)目，如導(dǎo)游、除草、清潔等。
As the sub-topic research projects of People's Armed Police anti-terrorist combat platforms, specially developed wheel-caterpillar-combined robot for explosive decomposition. For civil use,the robots can be used in buildings or for the security of key occasions by incorporating non-lethal execution unit, and in dangerous areas they can be used in such as nuclear biological and chemical detection.
一、關(guān)鍵技術(shù)Key Technology Description:
（1）、小型化結(jié)構(gòu)移動(dòng)平臺(tái)Miniaturize structure mobile platform
圍繞快速移動(dòng)、越障能力、自主作業(yè)等目標(biāo)，設(shè)計(jì)了新型本體結(jié)構(gòu)。為提高移動(dòng)平臺(tái)穩(wěn)定性、可靠性和負(fù)載能力，降低自重帶來(lái)的能源供給負(fù)擔(dān)，對(duì)機(jī)器人重要構(gòu)件進(jìn)行了強(qiáng)度設(shè)計(jì)與尺度綜合；對(duì)移動(dòng)平臺(tái)在各種可能工況下快速移動(dòng)、抵抗沖擊的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)進(jìn)行了研究；為提高移動(dòng)平臺(tái)環(huán)境適應(yīng)能力，各功能裝置和結(jié)構(gòu)進(jìn)行模塊化封裝，便于互換和維護(hù)。
Around the fast-moving, the ability of climbing over obstacles, self-operating and other objectives, design a new type of body structure.To enhance the stability, reliability and load capacity, reduce its energy supply burden caused by the weight of mobile platform itself,we carry out the strength design and dimensional synthesis for the important parts of robot;do the research about kinematics and kinetics of fast moving,impact resistence in a variety of possible operating conditions;do modular packages for functional devices and structures in order to enhence thr robot platform's environmental adaptability,easy to exchange and maintenance.
（2）、高集成度嵌入式控制系統(tǒng)Highly integrated embedded control system
針對(duì)移動(dòng)平臺(tái)小型化需求，設(shè)計(jì)了嵌入式控制器、大功率低功耗驅(qū)動(dòng)、高效能源管理、多傳感器信息處理模塊等系統(tǒng)組件，基于可靠性原則解決了不同類型的器件和電路芯片封裝時(shí)產(chǎn)生的串?dāng)_、輻射、熱耗散等問(wèn)題。
For the demand of the miniaturization of mobile platforms,we designed embedded controllers, high-power low-power-consumption driver, efficient energy management, multi-sensor data processing module and other systems components,solved the problems of crosstalk, radiation, heat dissipation and so on when package different types of devices and circuit chip based on the principle of reliability.
（3）、基于激光制導(dǎo)的目標(biāo)跟蹤系統(tǒng)Target tracking system based on laser-guided.
圍繞快速響應(yīng)、可靠追蹤兩個(gè)重要目標(biāo)，完成了激光制導(dǎo)目標(biāo)跟蹤系統(tǒng)的設(shè)計(jì)。通過(guò)合理設(shè)計(jì)尋的系統(tǒng)，滿足移動(dòng)平臺(tái)目標(biāo)跟蹤的快速性；進(jìn)行追蹤引導(dǎo)規(guī)律、制導(dǎo)指令算法的研究，確保了系統(tǒng)目標(biāo)跟蹤的可靠性。
Around the two important goals of fast response, reliable follow-up,we completed a laser-guided target tracking system design.Through the rational design of the system,we meet the goal of rapid-tracking;we did the research of the law of tarck and guide and the algorithm of guide instruction to ensure system target tracking reliability.
（4）、長(zhǎng)距離光介質(zhì)控制器Long distance optical media controllor
基于系統(tǒng)安全冗余度考慮，結(jié)合反恐現(xiàn)場(chǎng)條件，研制了光介質(zhì)指令控制器。設(shè)計(jì)了大功率光信號(hào)發(fā)射裝置、高靈敏度大角度光信號(hào)接收裝置，以及基于低噪聲前置放大裝置的信號(hào)過(guò)濾算法，實(shí)現(xiàn)光介質(zhì)控制器的長(zhǎng)距離遙控，提高環(huán)境適應(yīng)能力，確保操作可靠性。
Considered about system safety redundancy,combined with anti-terrorism field conditions,we developed optical media instruction controller.We designed a high-power optical signal transmission devices, high-sensitivity wide-angle optical signal receiving device, as well as signal filtering algorithms based on low-noise preamplifier to achieve long-distance remote control for optical media controller and improve environmental adaptation capability ,and to ensure operational reliability.
二、主要指標(biāo) Parameter
（1）、重量：20Kg weight:20kg
（2）、整體尺寸：長(zhǎng)寬高550X492X185mm Dimemsion: 550X492X185mm
（3）、負(fù)載能力：10公斤 load capacity:10kg
三、功能特點(diǎn) Function:
（1）、采用輪履復(fù)合驅(qū)動(dòng)方式，鋰聚合物電池提供動(dòng)力，搭載CCD攝像頭； Wheel-caterpillar-combined drive mode,lithium-polymer battery-powered, equipped with CCD camera;
（2）、具有較強(qiáng)越障能力，可爬坡、跨越溝壑、靈活轉(zhuǎn)向，機(jī)動(dòng)性良好；strong ability to climb, across ravines, and flexible steering, good mobility;
（3）、運(yùn)動(dòng)速度1.2 m/s，續(xù)航時(shí)間30分鐘；velocity 1.2 m / s, life time of 30 minutes
（4）、機(jī)器人攜帶爆炸物分解用水炮，通過(guò)自動(dòng)升降機(jī)構(gòu)，將水炮調(diào)整至適當(dāng)高度，實(shí)現(xiàn)目標(biāo)對(duì)準(zhǔn)和爆炸物分解；Robot carries the water cannons which are used for explosives decomposition,and adjust them to an appropriate height to achieve goal alignment and explosives decomposition by automatic lifting bodies.
（5）、機(jī)器人采用無(wú)線控制、有線遙控、激光自主導(dǎo)航相結(jié)合的復(fù)合控制方式，可視具體應(yīng)用場(chǎng)合加以選擇，從而有效解決反恐現(xiàn)場(chǎng)信號(hào)屏蔽的問(wèn)題；Robot using wireless control, wired remote control, a combination of laser-autonomous navigation compound control method,can be selected depending on the particular applications in order to effectively solve anti-terrorism field signal shielding problems.
四、應(yīng)用領(lǐng)域Application
（1）、針對(duì)反恐應(yīng)用場(chǎng)合的爆炸物威脅，可以搭載高性能水炮，對(duì)爆炸物進(jìn)行自動(dòng)跟蹤與爆破分解，確保公共場(chǎng)合安全和民眾生命財(cái)產(chǎn)安全；For anti-terrorism threats of explosives，robot can be equipped with high-performance water cannons to track explosives automaticly and blasting decompose , to ensure the safety of public places and the people's lives and property;
（2）、在軍事領(lǐng)域，可以根據(jù)任務(wù)需要搭載不同執(zhí)行單元，可以應(yīng)用在熱點(diǎn)區(qū)域的值守、巡邏、警戒；In the military field, can carry different implementation unit depend on tasks, can be used in hot spot areas in duty, patrolling, guard
（3）、在民用領(lǐng)域，通過(guò)搭載非致命執(zhí)行單元，可以用于樓宇或重點(diǎn)場(chǎng)合的保安，危險(xiǎn)領(lǐng)域的核生化探測(cè)等。For civil use,the robots can be used in buildings or for the security of key occasions by incorporating non-lethal execution unit, and in dangerous areas they can be used in such as nuclear biological and chemical detection
（4）、作為智能移動(dòng)平臺(tái)，可開(kāi)展各種服務(wù)機(jī)器人項(xiàng)目，如導(dǎo)游、除草、清潔等。As an intelligent mobile platform, a variety of service robots projects can be carried out, such as guides, weeding and cleaning.
五、樣機(jī)照片Prototype photo and description:
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