CN203978500U - A kind of mining amphibious deliverance apparatus - Google Patents
A kind of mining amphibious deliverance apparatus Download PDFInfo
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- CN203978500U CN203978500U CN201420327510.5U CN201420327510U CN203978500U CN 203978500 U CN203978500 U CN 203978500U CN 201420327510 U CN201420327510 U CN 201420327510U CN 203978500 U CN203978500 U CN 203978500U
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- traverse measurement
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Abstract
The utility model belongs to coalmine rescue technical field, is specifically related to a kind of mining amphibious deliverance apparatus.This is mining amphibious deliverance apparatus, comprise traverse measurement end and display control terminal, described traverse measurement end is equipped with LPC unit sheet, gas surveying module, image capture module, power module, wireless module and infrared obstacle avoidance module, described display control terminal is equipped with 89C52 single-chip microcomputer, the honeybee device of giving repeated exhortations, wireless module and power module, described traverse measurement end is crossed LPC single-chip microcomputer by the information exchange of gas surveying module and image capture module collection and through wireless module, is sent to the 89C52 single-chip microcomputer of display control terminal, 89C52 single-chip microcomputer passes through PC displays image information after processing.
Description
Technical field
The utility model belongs to coalmine rescue technical field, is specifically related to a kind of mining amphibious deliverance apparatus.
Background technology
In face of disaster, people's strength always looks small.When disaster occurs, down-hole complex environment is difficult to carry out by search-and-rescue work.So people expect Liao Yong robot and replace people to go to carry out search-and-rescue work in complicated dangerous environment.The research work of search and rescue robot has been widely recognized, and at home and abroad progressively grows up.
Past more than 10 years, a large amount of work is being done aspect the research of the rescue robots such as mine disaster, earthquake, fire by the developed countries such as Japan, the U.S., has worked out the various robots that can be used for disaster scene rescue.But these rescue robots of newly developing, still in laboratory stage, all do not obtain the actual test of rescue site mostly.
The search and rescue robot technology of China is started late, but has caused in recent years increasing concern and obtained certain achievement, and just starts in recent years especially to develop to some extent about coalmine rescue robot.
The present invention uses for reference forefathers' experience and technology, has designed amphibious mine disaster rescue device, and the present invention is mainly used in coal mine rescue, and also can be used for people cannot be near the place arriving.This deliverance apparatus can not only automatic dodging obstruction, and can normally work when permeable generation, can also pass in real time clearly image back so that better search and rescue.
Utility model content
The utility model is in order to make up the defect of prior art, provide a kind of can automatic dodging obstruction, and can normally work when permeable generation, can also pass in real time the mining amphibious deliverance apparatus of image clearly back.
The utility model is achieved by the following technical solution:
A kind of mining amphibious deliverance apparatus, comprise traverse measurement end and display control terminal, described traverse measurement end is realized the detection of gas concentration monitoring, obstacle, the collection of image and wireless data transmission, and described display control terminal is realized receive data by wireless, terminal shows and warning.
Described traverse measurement end is crossed LPC single-chip microcomputer by the information exchange of gas surveying module and image capture module collection and through wireless module, is sent to the 89C52 single-chip microcomputer of display control terminal, and 89C52 single-chip microcomputer passes through PC displays image information after processing; Aboveground staff can judge that whether gas density exceeds standard and can carry out the switching of land and water pattern according to down-hole actual conditions control, realizes infrared obstacle avoidance function by infrared obstacle avoidance module, and information is sent to PC by buzzer.
The acp chip of described traverse measurement end is used the ARM7 chip LPC2132 of NXP company, this chip is 64 pin LQFP encapsulation, in sheet, there are 16kRAM and 64Kflash, the AD converter with 10,18 tunnel, use LPC2132, reduced power consumption, promoted performance, simplified again peripheral circuit, saved external AD converter, radio transmitting and receiving chip adopts nRF903, this chip is 32 pins, be operated in business frequency range 433/868/915MhZ, maximum transmission power 10dbm, there is low-power consumption characteristic, radio transmitting and receiving chip is operated in 2.7-3.3V and can be directly connected with ARM serial port.
The task of described demonstration control end mainly contains information reception and image shows and reports to the police, also have in addition motion control function, its main control chip adopts 89C52 single-chip microcomputer, and wireless receiving chip adopts nRF903, the image information gathering shows on PC, with buzzer, completes warning function.
Described gas detection module is firedamp sensor KGS-20, and its high sensitivity, to respond recovery, low-power consumption, long-life, drive circuit fast simple.
The parameter of firedamp sensor KGS-20 is as shown in the table:
Table 2-1 ambient parameter table
| Operating temperature | -20℃～50℃ |
| Oxygen concentration | 21％±1％ |
| Relative humidity | ＜＝95％RH |
Table 2-2 typical operation conditions
| Parameter | Numerical value |
| Heating voltage | 0.9V±0.05V |
| Detect voltage | ≤5V |
| Load resistance | ≥200W |
| Heater resistance | 2.8W±0.2W |
| Heater current | 130mA |
| Heater power consumption | 120mW |
| Sensor sensing material part power consumption | ≤10mW |
Table 2-3 sensor sensing characteristic
| Sensor resistance | (5kW?to25kW) |
| Sensitivity | (＞5) |
| Temperature | 20℃±2℃ |
| Detect voltage | 5.0V±1％ |
| Humidity | 65％RH±5％RH |
| Load resistance | 750W±5％ |
| Preheat the time | Be greater than 2 hours |
Described infrared obstacle avoidance module realizes the automatic obstacle-avoiding of traverse measurement end by infrared sensor, infrared diode transmitting infrared light, if have obstruction before traverse measurement end, infrared rays reflects from object, infrared detection (reception) device that is equivalent to device eyes, the IR being reflected back detected, and send signal and show to detect from object and be reflected back infrared rays, the input control motor of LPC single-chip microcomputer based on this sensor.
One group of infrared sensor includes a transmitting tube and a receiving tube, and when transmitting tube is irradiated to obstruction, most of infrared light all can return to receiving tube, and receiving tube is output as low level; Otherwise, when the clear of infrared transmitting tube the place ahead, light is not almost returned, receiving tube just can not receive the light enough reflecting so, receiving tube output high level, the low and high level of output accesses in STC through IO mouth, then by the control of program, makes traverse measurement end make corresponding action.
The infrared sensor of traverse measurement end is selected Mini IR evading obstacle sensors, its modular structure and major parameter:
Table 2-4 IR evading obstacle sensors major parameter
| Operating voltage | DC3.3V-5V |
?
| Operating current | ≥20mA |
| Operating temperature | -10℃～+50℃ |
| Detect distance | 2-40cm |
| IO interface | 4 line interface processed (/ +/S/EN) |
| Output signal | Transistor-Transistor Logic level |
| Regulative mode | Multi-turn resistance-type regulates |
| Effective angle | 35° |
| Size | 28mm×23mm |
| Weight size | 1g |
Described IMAQ relies on camera to realize, camera is divided into digital camera and the large class of simulation camera two, the analog video signal that digital camera can produce video capture device converts data signal to, and then be stored in computer, the vision signal that simulation camera captures must convert analog signal to figure pattern through specific capure card, and just can be transformed on computer and use after being compressed.In conjunction with this project selection of actual needs digital camera.
The operating principle of camera is: the optical imagery that scenery generates by camera lens (LENS) projects in image sensor surface, then transfer the signal of telecommunication to, after A/D (analog-to-digital conversion) conversion, become data image signal, delivering to processing in digital signal processing chip (DSP) processes again, by USB interface, be transferred in computer and process again, by display, just can see image.
Under present stage bandwidth condition, dynamic video reach 60 frame/second (320*240) picture video effect just best, it is smooth that image transmitting also just can reach, without the fuzzy phenomenon of ghost.Therefore, image capture module is selected good farmland 8019 cameras.
Table 2-5 good farmland 8019 parameters
| Lens type | CMOS |
| Camera pixel | 5000000 |
| Resolution ratio of camera head | 1280×1280 |
| Maximum frame number | 60 frames |
| Color figure place | 32 |
| Image-forming range | 10mm-infinity |
| Zoom multiple | 10 times of Digital Zooms |
| Camera lens | High-accuracy five layers of full glass |
| Plug and play | Support free drive is used |
| Interface type | USB2.0 |
| Annex | Driver CD, service manual |
Described communication module completes the transmission of information from traverse measurement end to display alarm terminal.
Described traverse measurement end is controlled its motion in land and water by steering wheel, motor, screw.
Described traverse measurement end is provided with power supply, have+6V of its power supply of using ,+5V, 3.3V.
The beneficial effects of the utility model are: a kind of mining amphibious deliverance apparatus energy automatic dodging obstruction of the utility model; and can normally work when permeable generation; can also pass in real time clearly image back so that better search and rescue; life security that can not only to protect mankind; can also reduce economic loss; it is played a positive role in mine disaster rescue work, produce good social influence and economic benefit.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is further described.
Accompanying drawing 1 is structural representation of the present utility model;
In figure, 1 traverse measurement end, 2 display control terminals.
The specific embodiment
Accompanying drawing 1 is a kind of specific embodiment of the present utility model.A kind of mining amphibious deliverance apparatus of this utility model, comprise traverse measurement end 1 and display control terminal, described traverse measurement end 1 is equipped with LPC unit sheet, gas surveying module, image capture module, power module, wireless module and infrared obstacle avoidance module, described display control terminal 2 is equipped with 89C52 single-chip microcomputer, buzzer, wireless module and power module, described traverse measurement end 1 is crossed LPC single-chip microcomputer by the information exchange of gas surveying module and image capture module collection and through wireless module, is sent to the 89C52 single-chip microcomputer of display control terminal, 89C52 single-chip microcomputer passes through PC displays image information after processing, traverse measurement end 1 is realized infrared obstacle avoidance function by infrared obstacle avoidance module, and information is sent to PC, and described traverse measurement end 1 is that each module is powered by power module.
Further, described traverse measurement end 1 is equipped with speed of a motor vehicle control module, steering wheel and screw, controls its motion in land and water.
Further, each module of described display control terminal 2 is powered by power module.
The utility model is not limited to above-mentioned embodiment, anyone should learn under enlightenment of the present utility model, make with the utlity model has identical or close technical scheme, within all falling into protection domain of the present utility model.
The technology that the utility model is not described in detail, shape, structure are partly known technology.
Claims (3)
1. a mining amphibious deliverance apparatus, it is characterized in that, comprise traverse measurement end and display control terminal, described traverse measurement end is equipped with LPC unit sheet, gas surveying module, image capture module, power module, wireless module and infrared obstacle avoidance module, described display control terminal is equipped with 89C52 single-chip microcomputer, buzzer, wireless module and power module, described traverse measurement end is crossed LPC single-chip microcomputer by the information exchange of gas surveying module and image capture module collection and through wireless module, is sent to the 89C52 single-chip microcomputer of display control terminal, 89C52 single-chip microcomputer passes through PC displays image information after processing, traverse measurement end is realized infrared obstacle avoidance function by infrared obstacle avoidance module, and information is sent to PC, and described traverse measurement end is that each module is powered by power module.
2. a kind of mining amphibious deliverance apparatus according to claim 1, is characterized in that: described traverse measurement end is equipped with speed of a motor vehicle control module, steering wheel and screw, controls its motion in land and water.
3. a kind of mining amphibious deliverance apparatus according to claim 1, is characterized in that: each module of described display control terminal is powered by power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420327510.5U CN203978500U (en) | 2014-06-19 | 2014-06-19 | A kind of mining amphibious deliverance apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420327510.5U CN203978500U (en) | 2014-06-19 | 2014-06-19 | A kind of mining amphibious deliverance apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN203978500U true CN203978500U (en) | 2014-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420327510.5U Expired - Fee Related CN203978500U (en) | 2014-06-19 | 2014-06-19 | A kind of mining amphibious deliverance apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110017165A (en) * | 2019-05-09 | 2019-07-16 | 贵州理工学院 | A kind of amphibious rescue intelligent robot of mine |
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2014
- 2014-06-19 CN CN201420327510.5U patent/CN203978500U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110017165A (en) * | 2019-05-09 | 2019-07-16 | 贵州理工学院 | A kind of amphibious rescue intelligent robot of mine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150619 |
|
| EXPY | Termination of patent right or utility model |