輪履結合式爆炸物分解機器人
作為武警反恐作戰平臺，專門研制一種用于爆炸物分解的輪履結合式機器人；在民用領域，通過搭載非致命執行單元，可以用于樓宇或重點場合的保安，危險領域的核生化探測等；
作為智能移動平臺，可開展各種服務機器人項目，如導游、除草、清潔等。
As the sub-topic research projects of People's Armed Police anti-terrorist combat platforms, specially developed wheel-caterpillar-combined robot for explosive decomposition. For civil use,the robots can be used in buildings or for the security of key occasions by incorporating non-lethal execution unit, and in dangerous areas they can be used in such as nuclear biological and chemical detection.
一、關鍵技術Key Technology Description:
（1）、小型化結構移動平臺Miniaturize structure mobile platform
圍繞快速移動、越障能力、自主作業等目標，設計了新型本體結構。為提高移動平臺穩定性、可靠性和負載能力，降低自重帶來的能源供給負擔，對機器人重要構件進行了強度設計與尺度綜合；對移動平臺在各種可能工況下快速移動、抵抗沖擊的運動學、動力學進行了研究；為提高移動平臺環境適應能力，各功能裝置和結構進行模塊化封裝，便于互換和維護。
Around the fast-moving, the ability of climbing over obstacles, self-operating and other objectives, design a new type of body structure.To enhance the stability, reliability and load capacity, reduce its energy supply burden caused by the weight of mobile platform itself,we carry out the strength design and dimensional synthesis for the important parts of robot;do the research about kinematics and kinetics of fast moving,impact resistence in a variety of possible operating conditions;do modular packages for functional devices and structures in order to enhence thr robot platform's environmental adaptability,easy to exchange and maintenance.
（2）、高集成度嵌入式控制系統Highly integrated embedded control system
針對移動平臺小型化需求，設計了嵌入式控制器、大功率低功耗驅動、高效能源管理、多傳感器信息處理模塊等系統組件，基于可靠性原則解決了不同類型的器件和電路芯片封裝時產生的串擾、輻射、熱耗散等問題。
For the demand of the miniaturization of mobile platforms,we designed embedded controllers, high-power low-power-consumption driver, efficient energy management, multi-sensor data processing module and other systems components,solved the problems of crosstalk, radiation, heat dissipation and so on when package different types of devices and circuit chip based on the principle of reliability.
（3）、基于激光制導的目標跟蹤系統Target tracking system based on laser-guided.
圍繞快速響應、可靠追蹤兩個重要目標，完成了激光制導目標跟蹤系統的設計。通過合理設計尋的系統，滿足移動平臺目標跟蹤的快速性；進行追蹤引導規律、制導指令算法的研究，確保了系統目標跟蹤的可靠性。
Around the two important goals of fast response, reliable follow-up,we completed a laser-guided target tracking system design.Through the rational design of the system,we meet the goal of rapid-tracking;we did the research of the law of tarck and guide and the algorithm of guide instruction to ensure system target tracking reliability.
（4）、長距離光介質控制器Long distance optical media controllor
基于系統安全冗余度考慮，結合反恐現場條件，研制了光介質指令控制器。設計了大功率光信號發射裝置、高靈敏度大角度光信號接收裝置，以及基于低噪聲前置放大裝置的信號過濾算法，實現光介質控制器的長距離遙控，提高環境適應能力，確保操作可靠性。
Considered about system safety redundancy,combined with anti-terrorism field conditions,we developed optical media instruction controller.We designed a high-power optical signal transmission devices, high-sensitivity wide-angle optical signal receiving device, as well as signal filtering algorithms based on low-noise preamplifier to achieve long-distance remote control for optical media controller and improve environmental adaptation capability ,and to ensure operational reliability.
二、主要指標 Parameter
（1）、重量：20Kg weight:20kg
（2）、整體尺寸：長寬高550X492X185mm Dimemsion: 550X492X185mm
（3）、負載能力：10公斤 load capacity:10kg
三、功能特點 Function:
（1）、采用輪履復合驅動方式，鋰聚合物電池提供動力，搭載CCD攝像頭； Wheel-caterpillar-combined drive mode,lithium-polymer battery-powered, equipped with CCD camera;
（2）、具有較強越障能力，可爬坡、跨越溝壑、靈活轉向，機動性良好；strong ability to climb, across ravines, and flexible steering, good mobility;
（3）、運動速度1.2 m/s，續航時間30分鐘；velocity 1.2 m / s, life time of 30 minutes
（4）、機器人攜帶爆炸物分解用水炮，通過自動升降機構，將水炮調整至適當高度，實現目標對準和爆炸物分解；Robot carries the water cannons which are used for explosives decomposition,and adjust them to an appropriate height to achieve goal alignment and explosives decomposition by automatic lifting bodies.
（5）、機器人采用無線控制、有線遙控、激光自主導航相結合的復合控制方式，可視具體應用場合加以選擇，從而有效解決反恐現場信號屏蔽的問題；Robot using wireless control, wired remote control, a combination of laser-autonomous navigation compound control method,can be selected depending on the particular applications in order to effectively solve anti-terrorism field signal shielding problems.
四、應用領域Application
（1）、針對反恐應用場合的爆炸物威脅，可以搭載高性能水炮，對爆炸物進行自動跟蹤與爆破分解，確保公共場合安全和民眾生命財產安全；For anti-terrorism threats of explosives，robot can be equipped with high-performance water cannons to track explosives automaticly and blasting decompose , to ensure the safety of public places and the people's lives and property;
（2）、在軍事領域，可以根據任務需要搭載不同執行單元，可以應用在熱點區域的值守、巡邏、警戒；In the military field, can carry different implementation unit depend on tasks, can be used in hot spot areas in duty, patrolling, guard
（3）、在民用領域，通過搭載非致命執行單元，可以用于樓宇或重點場合的保安，危險領域的核生化探測等。For civil use,the robots can be used in buildings or for the security of key occasions by incorporating non-lethal execution unit, and in dangerous areas they can be used in such as nuclear biological and chemical detection
（4）、作為智能移動平臺，可開展各種服務機器人項目，如導游、除草、清潔等。As an intelligent mobile platform, a variety of service robots projects can be carried out, such as guides, weeding and cleaning.
五、樣機照片Prototype photo and description:
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