機器人會使用在人類不敢涉足的場合中。像是炸彈處理就是一個許多最危險的應用之一，在那樣的場合 中一舉一動都隱含著導致死亡的風險。根據牛津英語詞典的解釋， 機器人是“能自動地進行一系列複雜的動作的機器”。 然而現實面中拆彈機器人無法自動的執行拆除炸彈的決策或程序。 相反的，拆彈機器人更準確地定義為無人駕駛飛機，很像無人駕駛車輛，因為它們是通過遠程操作人員從遠方來進行控制的。 https://youtu.be/btIBmOzXt2E

1. 艾鍗學院嵌入式軟 體工程師設計養成班 韌
自走拆彈車的研究和實作
Bomb disposal robots Project
組長: 葉長青 Ensign Yeh
組員: 劉家俐 Lauren Liu
Abstract
Robots go where humans fear to tread. Of their many applications, bomb disposal is one of the
most hazardous, where the risk of death lurks with every move.
機器人會使用在人類不敢涉足的場合中。像是炸彈處理就是一個許多最危險的應用之一，在那樣的場合
中一舉一動都隱含著導致死亡的風險。
Bomb disposal robots have been used to safely disable explosive ordnance for over 40 years,where
they have been deployed hundreds, if not thousands, of times. However, the term “bomb disposal
robot” is something of a misnomer, as they are not technically robots.
拆彈機器人已被用於安全地拆除爆炸物超過 40 年，在實務上已經部署了數百，甚至數千次。然而，術
語
“炸彈處理機器人“是有些用詞不當，因為它們從技術上而言並非是 ‘正港’的機器人。
According to the Oxford English Dictionary,
a robot is “a machine capable of carrying out a complex series of actions automatically”.
Bomb disposal robots cannot perform contextual decision-making or operate by themselves.
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2. Instead, bomb disposal robots are more accurately defined as drones, much like
unmanned vehicles, as they are remotely controlled by a human operator from afar.
根據牛津英語詞典的解釋，
機器人是“能自動地進行一系列複雜的動作的機器”。
然而現實面中拆彈機器人無法自動的執行拆除炸彈的決策或程序。
相反的，拆彈機器人更準確地定義為無人駕駛飛機，很像無人駕駛車輛，因為它們是通過遠程操作人
員
從遠方來進行控制的。
These robots operate as a remote presence for the bomb disposal experts, or “bomb doctors”
as they are known within the Army.
在軍隊內部稱呼這些可經由遠程遙控的機器人為拆彈專家，或“炸彈醫生”。
This allows them to closely examine devices, without putting themselves or others in danger.
Once the device has been examined, the robot can (hopefully) then render the bomb inert.
It is not just bombs that the robots disable, but also any type of device that could detonate.
This can include anything from landmines to unexploded munitions.
這使他們能 仔細檢 可疑爆裂物夠 查 (或設備)，沒人會把自己或他人曝露於危險之中。一旦可疑爆裂物(或
設備)已被確認，機器人可以（或有希望的）致使炸彈失效。拆彈機器人不單只是讓炸彈失效，而且任何
類型的可疑爆裂物(或設備)，可以被引爆。這包括地雷及未爆彈等等。
One of the first bomb disposal robots created was the Wheelbarrow Mark 1. In 1972,
Lieutenant-Colonel Peter Miller of the British Army came up with the idea of using the
chassis of an electrically-powered wheelbarrow to tow suspect devices, such as car bombs,
so they could be safely detonated without harming anyone.
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3. 第一個拆彈機器人是由英國陸軍中校彼得·米勒提出的想法,進而於 1972 年創造出了[手推車] Mark 1，
使用一個電動獨輪車的底盤 曳著可疑爆裂物拖 (或設備)，如汽車炸彈等，這樣他們就可以被安全地引爆，
而不傷害任何人。
However, the prototype Wheelbarrow proved difficult to manoeuver,
so the Military Vehicles and Engineering Establishment in Chertsey were brought in to improve
the control and tracking systems.
然而，原型手推車證明難以操縱，因此，徵召了軍用車輛和工程小組來改善控制和跟踪系統的(徹特西)
被推出了。
Later, Miller added Major Robert Patterson’s “pigstick” – the army’s term for a strong
waterjet – to the Wheelbarrow. This allowed the Wheelbarrow to disable bombs,
rather than simply tow them away.
後來，米勒補強了羅伯特·帕特森的“pigstick” – 在軍用版本上增加了水刀。這使得(手推車)可使炸
彈失效，而不是簡單地 他們離開。拖
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4. 早期的拆彈機器人是通過繁瑣的控制電纜來進行控制
(Credit: Getty Images)
The key to modern bomb disposal operations is to the render the explosive ordnance device
inert without causing it to detonate. Bomb disposal robots typically achieve this by firing
a high-pressure jet of water at wires on the device.
現代炸彈處理操作的關鍵是要使的爆裂物裝置失效，而不會導致其引爆。為了實現這一目標，拆彈機器
人通常使用高壓噴射的水噴射在可疑爆裂物(或設備)上的電線。
An explosive device usually requires a power supply to detonate: disrupting this wire means
the circuit is broken and thus rendered inert, if not safe.
一個爆炸裝置通常需要電源引爆：如果不是安全的情況下~~透過破壞這爆裂物裝置的電線或電路的手
段
因而讓爆裂物裝置失效。
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5. However, some devices have secondary systems that can cause the device to explode if it is
tampered with. This is why bomb disposal is best carried out by a robot.
然而，一些讓爆裂物裝置具有輔助系統，當此讓爆裂物裝置線路被 改時，可導致篡 讓爆裂物裝置發生
爆
炸。這就是為什麼處理可疑爆裂物(或設備)最好由機器人來進行。
“When they drive the robot, they are looking for where they can fire the jet of water,”
says an army spokesperson. “If they fire into a wire and the wire comes off, it is rendered
safe, or at least for someone to go forward and declare it safe. This is why you do not get
enormous explosions when they do this.”
軍隊的發言人說:在拆彈的過程中你沒有聽到巨大的爆炸聲，當拆完炸彈後也只有人會宣布“已安全”
其實是因為拆除的過程使用高壓水柱將爆裂物(或設備)的電路或線路沖脫致使爆裂物失效。
Bomb disposal robots are controlled by operators from a safe distance. They are able to see
what the robot sees, through a series of cameras on the robot’s outer casing,
with the view transmitted to the operators’ monitors. Usually, there is a camera mounted on
the front of the robot, so the operator is able to see where the robot is going, along with
a second camera mounted on the actuator arm to provide a wider view of the surrounding area.
操作人員是在安全距離控制拆彈機器人的。他們能 看到機器人所看到的，通過一系列的相機上的機械夠
手的外殼，與傳送給操作人員的監控視訊。通常，在機器人的前方有安裝照相機，所以操作者能 看到夠
5

6. 的機器人的走向，與沿著致動器臂上安裝的第二相機以提供周圍區域的更 的視訊。寬
The original bomb disposal robots were controlled by a series of ropes. But, as technology
advanced, a telecommunications cable was used to transmit commands to the robot’s
electrical systems. However, cables gave the bomb disposal robot a restricted operational
radius.
早先的拆彈機器人是由一系列的繩索控制。但是，隨著技術的先進，電信電纜被用於傳輸命令到機器人
的電氣控制系統。然而，拆彈機器人操作受到電信電纜限制，如~~操作半徑限制等。
There was also the risk of the cable becoming caught or tangled on objects – much like you
might encounter with a garden hose or a vacuum cleaner.These days the majority of bomb disposal
robots are controlled through wireless communications.
還有電纜就像你與花園水管或真空吸塵器會有糾結的風險 – 目前大部分拆彈機器人通過無線通信控制。
Whilst this does dramatically increase their operational range, there is also the possibility of
hacking, although this is remote due to the layers of military security involved.
Typically, you do not have line-of-sight and usually [the bomb disposal robots] are also thrown
by hand,so you do not want an umbilical trailing from that,”In this case, they are very similar
to drones, with a range of a couple of kilometres.
雖然這會顯著提高其工作範圍，也有被駭的可能性，此為軍事安全所涉及的層面。
通常情況下，沒有了線的糾纏，通常[拆彈機器人]也可以用手 ，所以你不希望有個像臍帶的東西 住扔 拖 ，
在這種情況下，[拆彈機器人]都跟射程幾公里的無人機非常相似。
The design of bomb disposal robots has changed remarkably little since they were first created,
6

7. as the core idea remains the same. Whilst the technology has become smaller and more robust,
bomb disposal robots are still tracked, human-controlled robots, with an ‘arm’ that can manipulate
suspect devices.
目前拆彈機器人的設計比早期來的精巧許多，但核心思想是相同的。雖然拆彈機器人技術已變得更小且
更強大的拆彈機器人還在跟進，人類控制的機器手臂，已可以使可疑爆裂物(或設備)就範。
In terms of their mobility, bomb disposal robots have gone from having a single pair of tank-like
caterpillar tracks, to variants with two pairs of caterpillar tracks and others that have six
or more wheels. This allows bomb disposal robots to traverse ever more difficult terrain.
Some designs can even climb stairs.
目前在拆彈機器人機動性方面，炸彈拆彈機器人已經從具有單對履帶，有兩對履帶的和其他有到六對履
帶或多個輪子。這讓拆彈機器人行走在更加困難的地形。有些設計甚至能爬樓梯。
拆彈機器人可以處理可疑爆裂物(或設備)並且不會威脅人員
7

8. (Credit: Getty Images)
一些較新的型號甚至能爬樓梯
(Credit: Science Photo Library)
The arm of bomb disposal robots allows great versatility. Most bomb disposal teams now
carry different tools which can be attached to it. This allows the robot to bypass various
obstacles that would otherwise impede its progress,
such as using wire-cutters to cut wire fences.
拆彈機器人臂允許很大的通用性。現在大多數的炸彈處理小組攜帶可連接到其不同的工具。這允許機器
人繞過各種障礙，否則將阻礙其前進，如用鋼絲鉗切斷鐵絲網等。
Given that bomb disposal robots are intended to operate in a variety of hostile conditions,
they are able to withstand a significant amount of punishment. “Most of the cost goes into
making the electronics and the sensors robust in really brutal conditions,”
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9. 鑑於炸彈處理機器人可以在各種敵對條件下操作，它們能 承受殘酷的現實考驗。 “大部分的成本是花夠
費在使電子元件和傳感器在殘酷惡劣的環境中穩定的工作著。
Bomb disposal robots vary in size, from the stripped-down backpack sized robots that can be
carried on a soldier’s back and thrown into buildings,to the size of a ride-on lawnmower, armed
with x-ray devices and explosives detectors.
拆彈機器人大小不等，從精簡的背包大小的機器人，可以背在一個士兵的背部及 進建築，甚至如騎乘扔
式割草機的規模，武裝用 X 射線設備和爆炸物檢測器。
Initially, the controls for these robots were complicated, requiring specific training;
now games console controllers are being used to operate them.“The prerequisite, in such
high-pressure environments, is to make the controls as intuitive and as simple as possible,”
Now we can put [in] very sophisticated functionality, but it needs to be operated by a typical
layman and not a roboticist. It would literally be like a joystick or game controller.”
最初，這些機器人的控制是複雜的，需要經過具體的訓練;然而現在遊戲控制台的控制器被用來操作拆
彈
機器人。“在這種高壓的環境中，如何使控制直觀和盡可能簡單，此為大前提“
目前可以加入非常複雜的功能，只需要普通人就能操作自如，而不是一個機器人專家。看起來像是一個
搖桿或遊戲控制器“。
The advancement in robotics and remote control systems has meant that bomb disposal robots will
become increasingly adaptable to their environments in the future. There are prototypes being
developed that are able to jump over walls and land on the other side. Others are being developed
9

10. that have two arms, providing bomb disposal robots with greater manual dexterity, such as
allowing them to open car boots and look inside.
機器人和遠程控制系統的進步意味著拆彈機器人將越來越適應其在未來的環境。有原型是開發出能 跳夠
過牆壁和陸地上的另一側。更為正在開發有兩隻手臂，提供了拆彈機器人具有更大的手巧，如
讓他們打開車的行李廂和看看。
Rather than using a single robot, function-specific robots are also being developed. These will
operate together in teams, where one robot is tasked with sniffing out explosives and another
with their disposal.
而不是使用單一機器人，特定功能的機器人也正在開發。這些特定功能的機器人將在團隊中運作，其中
一個機器人的任務是嗅出炸藥和另一個一起運行拆彈的處置。
As the technology behind bomb disposal robots improves, so too has the number of lives they
have saved.“One of the target areas, in terms of [the] use of robots, is for going into dangerous
situations,”“Robots can go in, be operated from a safe distance, and, in a worst-case scenario,
be sacrificed.”
在拆彈機器人技術的改進的背後，是有無數的生命可被獲救的。“其中一個目標領域，使用機器人而言，
是在危險情況下“，”機器人可以進去，可以在安全距離操作，並且，在最壞的情況下，被犧牲“。
This our concludes~~~~!!
這是我們總結
Key Words; Bomb disposal robots, unmanned vehicles, wireless communications,
10

11. military security ,Telecommunications,remote, hacking, manipulate suspect devices,
mobility,tank-like caterpillar tracks, climb stairs, games console controllers
System Function Block:
11
車輛控制系統
Car Control System
Raspberry Pi 3 主板
System Control Protocol (Python)
USB
Robot
Arm
Protocol
Arduino
Program
Lib
Robot
Arm
Control
Video
Sensor
Protocol
Video
Sensor
Control
Real Time OS for
Arduino DUE Cortex M3
( 3 Axis Motion Control )
Right/Left Motor and
Turret Motor Synchronize
Control
Multi Task program for
Arduino DUE Cortex M3
( Misc. I/O Control )
UART Protocol
Build in
Blue
tooth
Build in
WiFi
地面控制站
Ground Control Station
人機操作介面 (Python)
Raspberry Pi 3 主板
USB
Arduino Nano
德製 Graupner GR-
24 搖控飛機用 12
通道接收機
德製 Graupner
MC-22 搖控飛機
用 16 通道搖控器
2.4G
12Pin IO
Output
Build in
Blue
tooth
Build in
WiFi
Arduino Program Lib

12. Photo for Bomb disposal robots
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