Teleoperation Of Anti-Terrorist And Explosive Ordnance Disposal Robot And Design On Their Intelligent Auxiliary System

Since 911, the explosive ordnance disposal (EOD) robot that is applied to detect, remove and dispose explosives has become the important equipment that could reduce casualties and safeguard social stability. In this paper, a bottom control hardware and software system is designed for tele-robot EOD operation facing complex environment, and it realize remote control operation of the mobile carrier and mechanical arm. Problems of independent walking of mobile carrier and energy optimization during controlling mechanical arm track are studied, which aims at the low level of intelligence of the EOD robot and its lack of autonomous control function. The researches in this paper rich the local autonomous control of eod operation, which has important significance and application value.To the complex environment with lots of obstacles around multi-mode device and method of the planar medium-sized manipulator are researched in this paper. The EOD robot in this paper contains three kinds of control modes: single-axis movement, multi-axis movement with the attitude adjustment, multi-axis movement in a straight line. The real-time control software for the lower machine is designed in this paper. In the WINCE platform, the functions such as data communications, the underlying position control, wireless network communication and so on are realized through Embedded Visual C++. The validity and reliability of the control system are verified by experiment. With the poor telepresence of the mobile carrier walking in the narrow space and its inadequate operation performance, in this paper, a intelligent moving support system based on radar which makes mobile carrier walk independently without collision with the only help of the commands from operator such as forward, backward, turning and so on is designed. Because the EOD robot takes lots of task and its energy is limited, in the paper, a research for minimizing energy consumption is studied, and it combines co-simulation of ADAMS and MATLAB with pattern search method which is proved effective through computer simulation.By experiments, the lower control system and intelligent auxiliary system of the EOD robot designed in the paper can complete EOD task effectively and reliably and improve the scope of application and intelligence level of the EOD operation, which meets the design requirements.