Design And Research On The Robot RY1 Of Carring The Explosive Device

Along with the rapid development of Chinese economy, the demand for the explosive device is gradually increasing. The production capacity for the explosive device are expanding as well. Therefore, to improve the security of explosive industry production is very important. Explosive device refers to dangerous goods such as explosives, ,detonators and detonating fuse. But it is produced half-automatically and manually in most private enterprise. And raw materials and finished goods are transported by human. As explosive device are flammable, it threatens to the personal security of the workers.It will solve the problem of transportation for the dangerous explosive device in production by using robot to carry the explosive device. The transportation is changed from carrying by human to carrying by robot. It realize automatic. Because robot can be located precisely, It can be kept for a certain safe distance. This can help to reduce the safety incident to the limit. Thanks to robot, it reduces enterprise cost, improve production efficiency and increase the enterprise profit.This article makes a series of research about mechanical structure, system structure, trajectory and obstacle avoidance technique and PC software design of robot RY1, which is used to carry explosive device. The structure is designed using four-wheel drive and independent steering wheel according to the design requirements about the robot. It makes research about each drive circuit and commutation circuit etc. Kalman filtering method is adopted to build and positioning for the robot RY1. It is used Bayesian method to analyze the data which is collected by ultrasonic sensors. The analysis can help to work out the solution for the detection of obstacles based on the robot environment. The article puts forward a theory which is called "S curve". The theory can effectively control the turning of robot. It makes robots running smoothly. A series of software are designed such as PWM software design, software development about how to make robot running as the trace and software design of obstacle avoidance are worked out as well.