基于惯性稳定与快速跟踪双模式的安防机器人

Dual-mode Security Robot Based on Inertial Stabilization and Fast Tracking

针对现有安防侦察机器人在稳定成像与大范围敏捷跟踪等方面的不足,提出了一种基于惯性稳定与快速跟踪技术双模式的安防侦察机器人系统。通过总体方案设计、结构设计,硬件与软件设计、加工与装配、集成与测试实验,实现了安防侦察机器人无线驱动行走、姿态扰动隔离、动态惯性稳定成像、静态长时伺服监视、大范围快速目标捕捉等主要功能目标。实验表明:该机器人既可在危险场合静态监视,又可在逼近目标过程中动态获取高清晰图像。

In view of the deficiency of the existing scout robot in stable imaging and large scale agile tracking,a novel scout robot system is proposed,which combines both of the inertial stability technology and the wireless remote control to achieve the dual purpose of improving the image quality and target capture efficiency.By conducting overall scheme design,structure optimization,hardware and software design in control system,machining,assembly,integration,testing and experiment,etc.,the scout robot system was eventually realized,which has five typical main functions,such as wireless-drive walking,attitude disturbance isolation,dynamic inertial-stability imaging,static long-time servo monitoring and large-range fast target capture.The experimental results show that the robot can not only statically monitor object in dangerous situations,but also dynamically obtain high-resolution images in a movable process of approaching the target.