| 一种用于反恐侦察的爬壁机器人系统 |
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| 引用本文： | 姜勇,王洪光,房立金,张培锋,赵明扬.一种用于反恐侦察的爬壁机器人系统[J].机器人,2006,28(5):530-535. |
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| 作者姓名： | 姜勇 王洪光 房立金 张培锋 赵明扬 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049;中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 介绍了一种用于反恐侦察的爬壁机器人系统．该系统包括3个部分：真空吸附式两足爬壁机器人、便携式遥控器和无线视频传输模块．其中，基于DSP技术开发的控制器可以使机器人在光滑的壁面上灵活地爬行、转向和跨越．文中提出了一种实现机器人在两个不同倾斜壁面之间跨越的控制算法．实验表明，该机器人体积小、噪声低、隐蔽性好；视频模块图像清晰、传输稳定；整个系统可以满足执行反恐侦察任务的基本要求．
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| 关 键 词： | 侦察 爬壁机器人 DSP控制器 壁面跨越 |
| 文章编号： | 1002-0446（2006）05-0530-06 |
| 收稿时间： | 2005-09-24 |
| 修稿时间： | 2005-09-24 |
A Climbing Robot System for Anti-terrorism Reconnaissance |
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| JIANG Yong,WANG Hong-guang,FANG Li-jin,ZHANG Pei-feng,ZHAO Ming-yang.A Climbing Robot System for Anti-terrorism Reconnaissance[J].Robot,2006,28(5):530-535. |
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| Authors: | JIANG Yong WANG Hong-guang FANG Li-jin ZHANG Pei-feng ZHAO Ming-yang |
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| Affiliation: | 1. Robotics Laboratory, Shenyang Institute of Automation. Chinese Academy of Sciences, Shenyang 110016. China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | This paper presents a new climbing robot system for anti-terrorism reconnaissance. The system consists of a biped climbing robot using vacuum suckers to produce the adhesive force, a portable remote controller and a wireless video module. The control system based on DSP technology can make the robot move flexibly on a smooth surface. An algorithm to control the robot to transit between differently inclined surfaces is proposed. Experiments show that the robot is small in size, low in noise and easy to conceal, the video is clear and reliable, and the whole system can satisfy the basic requirements of anti-terrorist reconnaissance missions. |
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| Keywords: | reconnaissance climbing robot DSP controller transition between different surfaces |
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