毕业论文关键词：多功能；模块化；机械手；远程操控；勘探车

Multi-functional modular intelligent exploration vehicle

Abstract: The portable remote multi-function exploration robot is adaptable to the terrain and can realize various gait and slope mechanism. An hd camera for testing on the surrounding environment, prevent dangerous close to the object, and through the camera image information acquisition family, via the STM32 master plate processing and network transmission, PC or other devices can be based on a real time remote image manipulation emissary and on-board camera, different to the home position monitor or other exploration area, which can effectively reduce the monitoring blind Angle. The data from the camera can be used to allow the remote control user to observe the surrounding environment and to direct the exploration vehicle to perform the appropriate optimization operation. Data transfer is controlled by wireless remote control and is free of the limitation of the range of motion. Using solar cells not only delivers energy, but also stores energy, making full use of energy and protecting the environment. Assembly of mechanical arm, can replace human in harsh and harmful, for according to the application of extreme environments grab sampling specimens and the experimental exploration equipment, operating sophisticated tools, such as movement, also can be regulated by itself in a complex environment adjust the position and posture, convenient robot acquisition target samples and remove obstacles, which can reduce the casualties researchers in exploration areas, to provide adequate security for the staff of the health and safety, high-risk persons involved to or cannot perform tasks.

Exploration vehicles in the role of modern development is growing, in many areas have cut a striking figure. In recent years, one of the main topics at home and abroad political conference is anti-terrorism. In the event of terrorist attacks, through intelligent exploration vehicles to complete the detection of dangerous areas, bomb dismantling, ruins search and rescue tasks, in order to reduce the potential risk of anti-terrorism forces. In the accident phase, often on-site situation is not clear enough clear, then dispatched personnel to carry out the task is more inappropriate. Need to replace the anti-terrorism forces the first time into the scene of the equipment will be the scene, including images, toxic concentrations and other data back to the control terminal. In the case of effective fight against terrorism, the greatest reduction in the anti-terrorism forces casualties. At the same time in the search or search for a specific target, through the image processing technology, the target looks like stored in the processor can be able to within the scope of the camera to find the desired target. Want to search for humans, some small dangerous areas are not easy to enter, but also because of various factors miss the eyes of the target. In addition, the exploration car can play its value in the civilian field, through the exploration of the interior of the room to a certain extent, to complete some sweeping, finishing the room operations. Although it is exploration, but its role is not only exploration, there is a larger development space.

Now there is not much research on the arm controller made of wearable design, most of the arm remote control still use the traditional cross or rocker control. The team developed the exploration vehicle arm remote control system, simplifying the use of the robot arm. Remote control of the arm, the user without professional training, simple and convenient. At present, foreign study of exoskeleton control of the arm of the project more. Which Germany Festo company recently developed an exoskeleton robot arm. It can copy the movement of human fingers, accurate simulation of the operator's arm movement, its performance with the human arm is no different, but can be more than the human arm feedback "feel" information. At the same time, the exoskeleton manipulator is better than the glove box, in the case of dangerous, exoskeleton manipulator operation more flexible, bring back the data more. But this project is still in the development stage, and the cost is expensive, mainly used in industrial control, the body is relatively large, not suitable for mobile platform.