Research On Semi-autonomous Multi-robot Cooperative System Based On Eod Robot

The explosive ordnance disposal(EOD)robot can replace eod personnel to inspect,grab,transport and destroy suspicious explosives in dangerous environment.It can be used as a professional equipment for searching and removing explosives,and is one of the hotspots of special robot research at present.Aiming at the cooperative operation process of multiple robots,this paper focuses on remote control,semi-autonomous grab of mechanical arm and multi-robot cooperation,and designs and realizes a semi-autonomous multi-robot cooperation system based on EOD robot.On the basis of investigating the current research status of EOD robot and its key technologies,this paper proposes an overall design scheme of system aiming at the following problems in the process of removing explosive:(1)it is inconvenient for a single robot to operate or fail to complete the task;(2)the communication quality problem leads to large error in remote control operation.The scheme consists of three parts: the remote control subsystem,the semi-autonomous grab subsystem and the multi-robot cooperation subsystem.· The remote control subsystem is mainly responsible for remote monitoring and command sending of multiple robots.The Exynos 4412 processor is used as the main controller,embedded Linux as the operating system,Qt/Embedded as the man-machine interaction design platform,Live555 as the video client and realizes the video monitoring,information feedback and remote control of multiple robots.· The semi-autonomous grab subsystem is mainly responsible for semi-autonomous grab of the target.The RGB_D camera is used as a visual sensor to obtain the depth image,and the appropriate grasping pose is calculated by the grasping pose generation algorithm based on image skeleton.According to the structure of the manipulator,D-H method is used to model the manipulator and analyze the forward and inverse kinematics.The method of quintic polynomial interpolation is used for trajectory planning.Finally,the terminal pressure data is collected by the pressure sensor to judge whether the current task is completed.· The multi-robot cooperation subsystem is mainly responsible for the design of cooperation strategy and communication scheme.The collaborative flow of multi-robots is developed,the communication scheme is proposed based on WLAN technology,and a uniform interaction protocol is designed for heterogeneous robots.Finally,this paper designs a number of experiments to test the system,including communication test,software function test,mechanical arm simulation test,semi-autonomous grab test,uniform interaction protocol test,etc.The experimental results show that the system can realize the semi-autonomous cooperative grab of multiple robots and meet the expected design objectives.