CN207008709U - Public safety emergency command and control system based on multi-robot Cooperation - Google Patents
Public safety emergency command and control system based on multi-robot Cooperation Download PDFInfo
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- CN207008709U CN207008709U CN201720279520.XU CN201720279520U CN207008709U CN 207008709 U CN207008709 U CN 207008709U CN 201720279520 U CN201720279520 U CN 201720279520U CN 207008709 U CN207008709 U CN 207008709U
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Abstract
The utility model discloses a kind of public safety emergency command and control system based on multi-robot Cooperation, including Police Command Center, robot report control platform, communications network and multirobot terminal, the Police Command Center is sequentially connected robot report control platform, communications network and multirobot terminal, the utility model utilizes multirobot collaborative work feature, more comprehensive circumstances not known information is obtained, reduces the uncertainty of Emergency decision；With reference to emergency command control system own characteristic and function, further processing and fusion multirobot multi-sensor information, promote man-machine interaction, give full play to effect of the robot in emergency environmental；Design communications network, establish domain type multirobot command and control system, realize stabilized communication with it is fast linked.
Description
Technical field
Emergency command field is the utility model is related to, should more particularly to a kind of public safety based on multi-robot Cooperation
Anxious command and control system.
Background technology
Disaster environment is further severe in recent years, has the features such as parameter is more, change is fast, the difficult acquisition of change information, only with people
The power of class can not meet the needs of emergency management and rescue.Robot meets current emergency management and rescue as a kind of effective technological means
Complicated demand.As the progress of multisensor, remote sensing monitoring, multi-Agent coordination control technology, robot automtion are horizontal
Improve constantly, further promote robot technology to be applied to public safety emergency field.
At present, robot, which has realized, substitutes information gathering or tasks carrying that rescue personnel is engaged in accident danger zone
Work.But the emergent research of existing robot, still it is concentrated mainly on single or single type robot task and completes,
Not prominent multirobot cooperating in accident contingency procedure, also fail to fully incorporate multirobot information and answer
Anxious command process.Therefore, it is necessary to be improved.
Utility model content
Problem to be solved in the utility model is to provide a kind of public safety emergency commander based on multi-robot Cooperation
Control system, multirobot is applied to emergency command control system by it, and this is advantageous to provide relatively reliable, reality for emergency command
When, comprehensive field data, while by fully merging multirobot information, promote robot group with command system to event
Environmental situation forms the more complete information obtaining ability and tasks carrying dynamics and system entirety for perceiving, improving robot
Situation Awareness is horizontal and emergency capability.
To reach above-mentioned purpose, the utility model solves above-mentioned technical problem the technical scheme adopted is that one kind is based on
The public safety emergency command and control system of multi-robot Cooperation, including Police Command Center, robot report control platform, communication
Transmission network and multirobot terminal, the Police Command Center be sequentially connected robot report control platform, communications network and
Multirobot terminal.
Further, the Police Command Center includes event monitoring system, battle state display system, aid decision-making system, referred to
Wave scheduling system and data base management system.
Further, multisensor, wireless network card, wireless image emitter are additionally provided with the multirobot terminal, it is described
Multirobot terminal passes through wireless network card and wireless image emitter and robot report control platform wireless connection.
Further, the multirobot terminal can be reconnaissance robot, search and rescue robot and flying robot.
Further, the robot report control platform is engaged with multirobot terminal.
Compared with prior art, the technical solution of the utility model has the following advantages that：1st, the utility model utilizes multimachine
Device person cooperative work feature, more comprehensive circumstances not known information is obtained, reduce the uncertainty of Emergency decision；2nd, with reference to should
Anxious command and control system own characteristic and function, further processing and fusion multirobot multi-sensor information, promote man-machine friendship
Mutually, effect of the robot in emergency environmental is given full play to；3rd, communications network is designed, establishes domain type multirobot commander
Control system, realize stabilized communication with it is fast linked；4th, multirobot is applied to emergency command control system, this be advantageous to for
Emergency command provides relatively reliable, real-time, comprehensive field data, while by fully merging multirobot information, promotes machine
Qi Ren colonies and command system event context situation is formed it is more complete perceive, improve the information obtaining ability of robot with
The Situation Awareness level and emergency capability of tasks carrying dynamics and system entirety；5th, achievement in research of the present utility model can be applied
In key areas such as national defence, military affairs and people's livelihood safety, robot is promoted to play important value in public safety field.
Brief description of the drawings
Fig. 1 is the structural representation of the public safety emergency command and control system of the present utility model based on multi-robot Cooperation
Figure；
Fig. 2 is the embodiment schematic diagram that multirobot of the present utility model is applied to emergency command control system；
Fig. 3 is the structural representation that multirobot of the present utility model is applied to emergency command control system multirobot terminal
Figure.
In figure：Police Command Center 1, robot report control platform 2, communication network 3, multirobot terminal 4, event monitoring system
It is system 5, battle state display system 6, aid decision-making system 7, command dispatching system 8, data base management system 9, multisensor 10, wireless
Network interface card 11, wireless image emitter 12.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
As Figure 1-3, a kind of public safety emergency commander's control based on multi-robot Cooperation that the present embodiment is provided
System processed, including Police Command Center 1, robot report control platform 2, communications network 3 and multirobot terminal 4, it is described to answer
Anxious command centre 1 is sequentially connected robot report control platform 2, communications network 3 and multirobot terminal 4；The emergency command
Center 1 is used for that field data convergence to be integrated with comprehensive command centre, completes and each remote control platform and other information terminals
Communication, the situation information of the comprehensive all kinds of robot perceptions in the real-time display site of the accident, there is provided the skill such as data analysis, deducing manoeuver
Art is supported, aids in the fast and effective formation counte-rplan of commander；The robot report control platform 2 is used for robot control terminal and number
According to transmission intermediate hub；The communications network 3 is used to realize the communication interaction in whole system framework between each several part, main
It is divided into that order control and information gathering between multirobot and robot report control platform 2 communicates, all kinds of humanoid robots are manipulated and put down
Information sharing communication, robot report control platform 2 communicate with the information exchange between Police Command Center 1 between platform 2；The multimachine
Device people terminal 4 is used for information gathering end and action actuating station, and the Police Command Center 1 includes event monitoring system 5, situation shows
Show system 6, aid decision-making system 7, command dispatching system 8 and data base management system 9；The event monitoring system 5 is used to obtain
Critical incident essential information is obtained, includes environmental data, video image and the work state information of robot terminal collection, making should
Anxious information is more complete, is laid the foundation for further information processing with merging；The battle state display system 6 is shown based on GIS platform
Show that event develops overall situation and rescuing robot strength situation, be related to location of incident, development trend, coverage and robot
Position distribution etc.；The aid decision-making system 7, by combining data analysis and deducing manoeuver technology, proposition is based on multirobot
The action decision model of cooperation, determines robot task demand, optimum path planning etc.；The command dispatching system 8, for making
Determine the planning of multirobot cotasking, be related to robot resource allocation and task scheduling, while complete Police Command Center 1 and machine
The voice dialogue of device people report control platform 2, video image, the real-time Communication for Power of task scheme；The data base management system 9, for pair
The data such as event, case, model carry out classification storage with safeguarding, while set robot data storehouse, management service robot
The data such as space attribute, controlled attribute and task attribute, multisensor 10, wireless network are additionally provided with the multirobot terminal 4
Card 11, wireless image emitter 12, the multirobot terminal 4 pass through wireless network card 11 and wireless image emitter 12 and machine
Multirobot terminal 4 described in the wireless connection of people's report control platform 2 can be reconnaissance robot, search and rescue robot, flying robot etc. its
His robot.
Specifically by as shown in figure 1, being public safety emergency commander's control of the present utility model based on multi-robot Cooperation
The structural representation of system processed.The system mainly includes：Multirobot terminal 4, robot report control platform 2, Police Command Center 1
And communications network 3, multirobot terminal 4, it is related to polytype robot, common emergent robot has：Reconnaissance robot,
Search and rescue robot, flying robot or other robot.Robot obtains public affairs according to type packet by itself multisensor 10
The site environment information and robot oneself state information of safe accident altogether, similar humanoid robot is converged by communication network
Real-time data transmission is to corresponding robot report control platform 2；Robot report control platform 2, receive robotic end collection information data and
The mission bit stream of Police Command Center 1, according to the decision scheme of Police Command Center 1, order control machine human action is sent in real time, and
Robot information, including robot running parameter, displacement state and site environment data are shown by intelligent means；Should
Anxious command centre 1, design data database management module provide the data such as multirobot information processing and model, case and supported, comprehensive
The various ways such as event monitoring, battle state display intuitively show multirobot information, while the skill such as assistance data analysis, deducing manoeuver
Art improves science decision level, multirobot resource allocation and task scheduling plan is formulated on the basis of decision scheme, finally
By stable communications network 3, realize fast linked with robot report control platform 2.
A kind of as shown in Fig. 2 public safety emergency commander's control based on multi-robot Cooperation that the present embodiment is provided
Method, it is characterised in that comprise the following steps,
A, multirobot terminal 4 is used for information gathering end and action actuating station, and it obtains by itself multisensor 10 and rescued
Help target, rescue environmental information and complete escape from danger behavior, collection information include perception information and ontology information, when in face of
During the Crisis Environment of complexity, cooperate, give full play on each comfortable information Perception and rescue action jointly using multirobot
Advantage, the real-time data transmission of multirobot terminal 4 is then converged to corresponding robot report control platform 2 by communication network；
B, robot report control platform 2 gathers information data and the mission bit stream of Police Command Center 1 by receiving robotic end,
Then according to the decision scheme of Police Command Center 1, order control machine human action is sent in real time, and show by intelligent means
Robot information, including parameter, displacement state and the site environment data of robot work；
C, Police Command Center 1, design data base management system 9 provide multirobot information processing and model, case etc.
Data support that the various ways such as comprehensive event monitoring, battle state display intuitively show multirobot information, while assistance data point
The technologies such as analysis, deducing manoeuver improve science decision level, and multirobot resource allocation is formulated on the basis of decision scheme with appointing
It is engaged in operation plan, finally by stable communications network 3, realizes fast linked with robot report control platform 2；
Event monitoring system 5, battle state display system 6, aid decision system are included according to Police Command Center 1 described in step c
System 7, command dispatching system 8 and data base management system 9, it is comprised the following steps that,
I, event monitoring system 5 receives robot collection information, and emphasis monitoring video image, environmental data and robot are certainly
The contents such as body state；
II battle state displays system 6 is based on the event information in event monitoring system 5, with reference to GIS platform situation plotting, track
The comprehensive display robot of means and the event situation information such as amount calculation in tracking, figure；
III is the emergency environmental for making robot adapt to more sophisticated, and aid decision-making system 7 combines data analysis and emulation skill
Art is specific to study the data fusion of multisensor 10, robot periphery deducing manoeuver, robot distribution layout deduction, robot row
The contents such as dynamic path deduction, authentic communication and decision model are provided for planning robot's action scheme；
For IV according to situation information and decision information, command dispatching system 8 decomposes robot mission requirements, inquiry robot money
Source Reserve State, resource matched rear determination robot command scheduling plan is completed, and relevant command information is fed back into robot
Report control platform 2 is used for control machine human action；
In the whole emergency command control process of V, database is by updating the data, historical information or model, is emergency command
The operation of 1 each system of center provides data and supported.
The utility model utilizes multirobot collaborative work feature, obtains more comprehensive circumstances not known information, reduces
The uncertainty of Emergency decision；With reference to emergency command control system own characteristic and function, more machines are further handled and merged
The information of people's multisensor 10, promote man-machine interaction, give full play to effect of the robot in emergency environmental；Design telecommunication transport network
Network 3, establish domain type multirobot command and control system, realize stabilized communication with it is fast linked；Multirobot is applied to should
Anxious command and control system, this is advantageous to provide relatively reliable, real-time, comprehensive field data for emergency command, while by filling
Divide fusion multirobot information, promote robot group to be formed with command system to event context situation and more completely perceive,
Improve the information obtaining ability of robot the Situation Awareness level and emergency capability overall with tasks carrying dynamics and system；5、
Achievement in research of the present utility model can be applied to the key areas such as national defence, military affairs and people's livelihood safety, promote robot public
Security fields play important value.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvements and modifications can also be made, these change
Enter and retouch and also should be regarded as the scope of protection of the utility model.
Claims (5)
1. a kind of public safety emergency command and control system based on multi-robot Cooperation, it is characterised in that including emergency command
Center (1), robot report control platform (2), communications network (3) and multirobot terminal (4), the Police Command Center
(1) robot report control platform (2), communications network (3) and multirobot terminal (4) are sequentially connected.
2. the public safety emergency command and control system according to claim 1 based on multi-robot Cooperation, its feature exist
Include event monitoring system (5), battle state display system (6) in, the Police Command Center (1), aid decision-making system (7), refer to
Wave scheduling system (8) and data base management system (9).
3. the public safety emergency command and control system according to claim 1 based on multi-robot Cooperation, its feature exist
In being additionally provided with multisensor (10), wireless network card (11), wireless image emitter (12), institute on the multirobot terminal (4)
It is wireless by wireless network card (11) and wireless image emitter (12) and robot report control platform (2) to state multirobot terminal (4)
Connection.
4. the public safety emergency command and control system according to claim 3 based on multi-robot Cooperation, its feature exist
In the multirobot terminal (4) is several inhomogeneous robots, the artificial reconnaissance robot of the machine, searches and rescues machine
People and flying robot.
5. the public safety emergency command and control system according to claim 3 based on multi-robot Cooperation, its feature exist
In the robot report control platform (2) is engaged with multirobot terminal (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720279520.XU CN207008709U (en) | 2017-03-17 | 2017-03-17 | Public safety emergency command and control system based on multi-robot Cooperation |
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| CN201720279520.XU CN207008709U (en) | 2017-03-17 | 2017-03-17 | Public safety emergency command and control system based on multi-robot Cooperation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629719A (en) * | 2017-03-17 | 2018-10-09 | 南京聚特机器人技术有限公司 | Public safety emergency command and control system based on multi-robot Cooperation and method |
| CN110587606A (en) * | 2019-09-18 | 2019-12-20 | 中国人民解放军国防科技大学 | Open scene-oriented multi-robot autonomous collaborative search and rescue method |
| CN110682298A (en) * | 2019-09-20 | 2020-01-14 | 浙江派尼尔科技股份有限公司 | Control method for multiple sets of cooperative control software of unmanned intelligent robot on water |
-
2017
- 2017-03-17 CN CN201720279520.XU patent/CN207008709U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629719A (en) * | 2017-03-17 | 2018-10-09 | 南京聚特机器人技术有限公司 | Public safety emergency command and control system based on multi-robot Cooperation and method |
| CN110587606A (en) * | 2019-09-18 | 2019-12-20 | 中国人民解放军国防科技大学 | Open scene-oriented multi-robot autonomous collaborative search and rescue method |
| CN110587606B (en) * | 2019-09-18 | 2020-11-20 | 中国人民解放军国防科技大学 | Open scene-oriented multi-robot autonomous collaborative search and rescue method |
| CN110682298A (en) * | 2019-09-20 | 2020-01-14 | 浙江派尼尔科技股份有限公司 | Control method for multiple sets of cooperative control software of unmanned intelligent robot on water |
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