爬壁機(jī)器人
對(duì)于各類恐怖組織和恐怖分子，反恐是世界各國(guó)共同面對(duì)的綜合性問(wèn)題，為此專門研制一種用于反恐偵查的爬墻機(jī)器人。As the sub-project of armed anti-terrorist operation platform research,Specifically developed a kind of wall-climbing robot for anti-terrorism investigations.
一、技術(shù)特點(diǎn)Key Technology Description
（1）、離心風(fēng)扇負(fù)壓產(chǎn)生裝置，風(fēng)扇為專用設(shè)計(jì)，具有大流速、低轉(zhuǎn)速的特點(diǎn)；
Centrifugal fan negative pressure generator,specialized fan design, with a large flow rate, low-speed characteristics
（2）、基于PID調(diào)節(jié)技術(shù)的直流伺服電機(jī)驅(qū)動(dòng)控制器，啟動(dòng)電流超過(guò)10A，連續(xù)電流大于7A的直流電機(jī)驅(qū)動(dòng)控制器；
DC servo motor driver controller based on the PID regulator technology.The technology is totally designed by Robotics Institute,independent R & D,fairly mature now.
（3）、基于無(wú)線通訊模塊的300m無(wú)線通訊技術(shù)，開(kāi)發(fā)專用通訊協(xié)議，保證通訊的實(shí)時(shí)性和準(zhǔn)確性。
300m wireless communication technology based on wireless communication module. In this technology,the communication module is a purchased part.Robot Institute write communication protocols based on the communication module,assure the accuracy and real-time property of communication
（4）、基于PC104的可視化界面遠(yuǎn)程控制箱技術(shù)，PC104可看作簡(jiǎn)化的臺(tái)式電腦，配合觸摸屏、搖桿電位器、開(kāi)關(guān)、AD采集卡等對(duì)人手的控制信息進(jìn)行識(shí)別，通過(guò)觸摸屏顯示結(jié)果，并將控制信息通過(guò)無(wú)線通訊模塊傳送給機(jī)器人。
PC104-based visual interface remote control box technology,PC104 can be seen as a simplified desktop computers,with the touch screen, joystick potentiometers, switches, AD acquisition card etc,PC104 identify the control information by man power,display the results through the touch screen,and send the control information to the robot through the wireless communication module.
二、主要指標(biāo)Performance index
（1）、重量：約6公斤Weight：6kg
（2）、尺寸：330mm×330mm×150mm dimemsion:330mmX330mmX150mm
（3）、負(fù)載能力：3公斤L(fēng)oad：3kg
（4）、運(yùn)動(dòng)速度：15m/分鐘 Speed:15m/min
（5）、續(xù)航時(shí)間：80分鐘 Duration 80min
（6）、噪音：1m遠(yuǎn)噪音不大于60分貝 Noisy: ≤60db in 1m
三、功能 Function
（1）、基于負(fù)壓吸附原理設(shè)計(jì)，單吸盤，四輪移動(dòng)結(jié)構(gòu)方式，鋰聚合物電池提供動(dòng)力，無(wú)線遙控操作；based on negative pressure adsorption principle, single cupula,four-wheeled mobile struction,lithium-polymer battery-powered,wireless remote control.
（2）、搭載無(wú)線攝像頭，能在玻璃表面、外墻瓷磚面、外墻涂料面、金屬表面和水泥粉刷面等進(jìn)行爬行動(dòng)作，實(shí)現(xiàn)隱秘偵查功能。Equipped with wireless camera. Abled to do crawling movements in the glass surface, wall tile surface, exterior paint surfaces, metal surfaces and cement -painted surfaces etc
例如：For example
A、軍事上可以搭載無(wú)線微型攝像頭，用作反恐防暴偵查，進(jìn)行人質(zhì)援救時(shí)探測(cè)屋內(nèi)罪犯和人質(zhì)的分布情況。In military,it can be equipped with wireless micro-camera to use for anti-terrorism and anti-riot detection, detect criminals inside the house and the distribution of the hostages when rescue the hostages.
B、搭載探測(cè)器件，對(duì)核廢液儲(chǔ)罐進(jìn)行檢查、測(cè)量、探傷等，對(duì)石化企業(yè)的大罐的內(nèi)外壁進(jìn)行檢查、測(cè)量等工作。Equipped with detector for nuclear waste storage tank inspection, measurement, testing, etc,and for the inside and outside wall of big tank inspection, measurement in petrochemical enterprises.
C、利用爬壁中的各項(xiàng)技術(shù)，在特殊場(chǎng)合如造船廠，采用磁吸附原理，將大大增加機(jī)器人的負(fù)載能力，機(jī)器人可以完成噴砂、噴漆等工作。If we use the climbing wall technologies,for special occasions, such as shipyards, using magnetic absorption principle, will greatly increase the robot's load capacity, this time robots can complete sand blasting, painting and so on.
四、應(yīng)用案例The practical application:
武警某部用于反恐偵察。People's Armed Police unit use it for anti-terrorism surveillance
五、樣機(jī)及照片Prototype photo and description:
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