| Although techniques of conventional ammunitions test and faulted ammunitions destruction have remarkably progressed currently,some of key processes for ammunition treatment have to be operated manually by professional on scene.It is known that there are some safe accidents occurred to the conventional ammunitions companies every year domestically,which leads to casualties due to mistreating.There are some robotic COTS devices for battle or policing only,but being not affordable,so more challenges for reducing the risk of manual operation,choosing cost-effective technology,and improving safety of ammunition.The paper develops a kind of portable micro EOD robot(hereinafter referred to as the robot)in accordance with the needs and characteristics of testing and destruction work of domestic conventional ammunition enterprises,in order to replace the technical staff in completing hazardous processes in the work,thereby reducing the occurrence of operating personnel's casualties due to accidents.This paper analyses test,destruction needs and key operating processes of the companies,and a new anti-explosion robot having being developed in order to replace the person handling hazardous operation on site,as result of more safety and less casualties.Firstly,the major functions and relative specifications of the robot are presented,according to features of test and destruction process,designing robotic main body and its support system,executing system,power system,video monitoring system and control system.Which include walking component of motion platform in the executing system,robot-arm,camera device,temperature and distance measuring sensor,and battery sets and drive motor for power system,so as to meet with the driving needs of executing system and power supply of video monitoring system.By the help of designing video monitoring system,the video recording functions of the robot working area are realized.Secondly,analyze movement of the robot during its specific test and destruction process,position measuring of robot's sensor and coordination transformation of position attitude,get calculating method of target position,to derive calculatingmethods the robot planning its autonomous movement trajectory of moving platform after the robot getting target position and autonomous grasping trajectory of working arm.When autonomous move of the platform,the camera directing to the camera device attitude regulating method analysis.And then deriving relevant control calculation formula so that the numbers of sensors and calculation for getting its position and attitude can be reduced during the robot planning movement by itself.Thirdly,according to results of the robot movement analysis and requirements of specifications,design remote subsystem and vehicle control subsystem for the control system,develop software programs of remote control and data receiving,which are corresponding to hardware system as said above,as well as developing application software of remote command and sensor signal acquisition and movement platform,robot-arm,camera device drive motor PWM control etc.The vehicle control subsystem by means of several control circuits to control robot movement platform,robot-arm,camera device,and sensor data acquisition,the functions of Robot remoting,autonomous movement and information acquisition can be realized at last.Finally,the paper describes functional tests about velocity of the movement platform of robot being developed,climbing,autonomous motion,robot-arm grasping,wireless video recording,etc.The test results obtained prove that all functions of the robot can be met with requirements of the specification.It is good alternative of man handling ammunition operation with high risk.It can be better reference for Conventional Ammunition test and destruction to domestic companies. |
PDF Full Text Request