CN2805276Y - Multichannel wireless information transmission device of fire fighting and scouting robots - Google Patents
Multichannel wireless information transmission device of fire fighting and scouting robots Download PDFInfo
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- CN2805276Y CN2805276Y CN 200520043471 CN200520043471U CN2805276Y CN 2805276 Y CN2805276 Y CN 2805276Y CN 200520043471 CN200520043471 CN 200520043471 CN 200520043471 U CN200520043471 U CN 200520043471U CN 2805276 Y CN2805276 Y CN 2805276Y
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Abstract
The utility model relates to a multi-channel wireless information transmission device of a fire fighting and reconnaissance robot, which is composed of a home front commanding device and a vehicular device of a fire fighting and reconnaissance robot. The rear commanding device and the vehicular device of a fire fighting and reconnaissance robot realize the transmission of control commands, feedback signals, images and voices by multi-channel wireless digital communication and analog communication and mainly complete information transmission between the state and the action of a robot vehicle and the home front control stand, and operating staff can know the real-time information parameters of the disaster site, monitor the robot state, transmit control commands and effectively carry out the long distance remote control; accordingly, a fire fighting and reconnaissance robot is made to have favorable functions of information integration and transmission and man-machine interaction on the disaster site. The problems of personal safety, short reconnaissance lasting time, insufficient data collection, little possibility of real-time information feedback, etc. which are faced by firefighters in the places are efficiently solved. The utility model has the advantages of simple structure, convenient operation and novel design.
Description
Technical field
The utility model is the channel wireless radio multi information carrying means of fire-fighting reconnoitre robot, relates to fire-fighting robot.Be mainly used in fire-fighting reconnoitre robot and will realize the information bidirectional transmission between the disaster site environment parameter of being gathered, self operating state and action and the commanding in the rear device control desk, make the operating personnel can the supervisory-controlled robot vehicle, effectively implement long-distance remote control.
Background technology
In recent years, the inflammable and explosive and hypertoxic chemicals that relates in China's industrial production, the storage and transport process increases sharply, because aspects such as equipment and management cause the accident potential of leakage of Hazardous Chemical Substances and radioactive substance and burning, blast more and more.Not carried out taking action blindly under the situation of abundant detection and analysis in the scene, not only can not achieve the desired result, and tend to cause the sacrifice of innocent life, pay heavy cost.Robot can substitute fire-fighting and rescue personnel remote control and enter inflammable, explosive, poisonous, harmful, the easy indoor and outdoor hazards scenes such as building, bulk storage plant stacking, anoxic, dense smoke, radioactivity that cave in, carry out the scene and survey, scout, and can carry out the instant processing and the real-time Transmission of Information Monitoring (image, voice, data).Solve personal safety that the fire fighter faced in above-mentioned place, restriction reconnaissance time, data acquisition quantity not sufficient and problem such as feedback information in real time effectively.Be starved of such fire-fighting robot at present, but domestic also there is not this series products.
Summary of the invention
The purpose of this utility model provide a kind of simple in structure, cost is not high, channel wireless radio multi information carrying means fire-fighting reconnoitre robot safely and effectively.
The channel wireless radio multi information carrying means of the fire-fighting reconnoitre robot that the utility model proposes, be made up of commanding in the rear device and fire-fighting reconnoitre robot car-mounted device, car-mounted device is made up of embedded controller and protocol gateway 1, Programmable Logic Controller 2, GPRS communication module 3, high speed wireless data module 4, GPS positioner and electronic gyroscope external equipment 5, image collecting device 6, MPEG4 image collecting device 7, analog image and voice radio transmitting device 8; The commanding in the rear device is made up of main control computer device 11, GPRS communication module 9, analog image and voice radio transmitting device 14, high speed wireless data module 10, monitor 13, image card 12, display 15; Wherein, Programmable Logic Controller 2 connects embedded controller and protocol gateway 1 by the COM1 interface, GPRS communication module 3 connects embedded controller and protocol gateway 1 by the COM2 interface, high speed wireless data module 4 connects embedded controller and protocol gateway 1 by the COM3 interface, MPEG4 image collecting device 7 connects embedded controller and protocol gateway 1 by the COM4 interface, the GPS positioner is connected embedded controller and protocol gateway 1 with electronic gyroscope external equipment 5 by the COM5 interface, image collecting device 6 one tunnel connects the input of analog image and voice radio transmitting device 8, and another road connects the input of MPEG4 image collecting device 7; GPRS communication module 9 connects main control computer 11, the high speed wireless data path 10 connects main control computer 11, main control computer 11 connects monitor 13 by the digital video signal delivery outlet of image card 12, and analog image and voice radio transmitting device 14 connect monitor 13; Link to each other by wireless public network between GPRS communication module 3 and the GPRS communication module 9, link to each other by radiofrequency signal between high speed wireless data module 4 and the high speed wireless data module 10, link to each other by radiofrequency signal between analog image and voice radio transmitting device 8 and analog image and the voice radio transmitting device 14.
After being converted into two kinds of forms, the vision signal that car-mounted device image collecting device 6 of the present utility model is gathered transmits, a kind of is to be converted into 1.2G frequency range analog channel by analog image and 8 transmission of voice radio transmitting device, another kind is to carry out digital image compression by MPEG4 image collecting device 7, then by GPRS communication module 3 and 4 while of high speed wireless data module transmission of digital picture signal.
Embedded controller of the present utility model and protocol gateway 1 carry out the processing of Various types of data, and robot data-signal, picture signal and voice signal to be sent, the control signal that robot receives are all handled by embedded controller and protocol gateway 1.
In the utility model when work,, fire-fighting reconnoitre robot has related parameter, disaster site environment parameter, fire-fighting reconnoitre robot data and voice signals such as parameter relevant with site environment disaster collection in worksite field video signal and fire-fighting reconnoitre robot oneself state.Field video signal is a kind of by the transmission of 1.2G frequency range analog channel, another kind carries out digital image acquisition and is converted into digital signal by the MPEG4 image compression chip, enter embedded central control unit by the transfer of data synthesized gateway together with other data-signals then and handle, adopted GPRS public network communicator and 900M High Bit-rate Wireless Data Communication device two covering devices to carry out transfer of data after disposing.Significant datas such as control signal, state feedback signal, data image signal, voice signal transmit in two communication channels simultaneously.The commanding in the rear device receives after these images and the data, image and data are presented on the main control computer of rear, make the commanding in the rear personnel obtain image scene, data information, the commanding in the rear device sends the ROBOT CONTROL instruction by the main control computer device, control command is transferred to the fire-fighting reconnoitre robot car-mounted device by the multi-channel data communicator, handle through embedded central control unit, send to Programmable Logic Controller through the transfer of data synthesized gateway, realize the action control of robot.
The utility model is mainly finished the information transmission between robotic vehicle state and action and the rear control desk, makes operating personnel can understand the on-the-spot real time information parameter of disaster, the supervisory-controlled robot state, and transmitting control commands is effectively implemented long-distance remote control.Thereby make that fire-fighting reconnoitre robot has at the disaster scene that good information is integrated, transmission and human-computer interaction function.Solve the personal safety that the fire fighter faces in above-mentioned place effectively, continued short, data acquisition quantity not sufficient and problem such as feedback information in real time reconnaissance time.
The utility model is simple in structure, and is easy to use, novel.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the interface of the utility model embedded controller and protocol gateway 1.
Number in the figure: 1 is embedded controller and protocol gateway, 2 is Programmable Logic Controller, 3 is the GPRS communication module, 4 is the high speed wireless data passage, 5 is GPS positioner and electronic gyroscope external equipment, 6 is image collecting device, and 7 is the MPEG4 image collecting device, and 8 is analog image and voice radio transmitting device, 9 is the GPRS communication module, 10 is the high speed wireless data passage, and 11 is main control computer, and 12 is display, 13 is image card, 14 is monitor, and 15 is analog image and voice radio transmitting device, COM1, COM2, COM3, COM4, COM5 refers to the interface on embedded controller and the protocol gateway respectively.
Embodiment
Following structure accompanying drawing further specifies execution mode of the present utility model.
Programmable Logic Controller adopts the slave computer of Omron CQM1H-51 series of PLC as bottom control.
It is master cpu that embedded central control unit adopts Motorola Coldfire series embedded chip MCF5272.
The MPEG4 image collecting device adopts MPEG4 compression chip (IME6400) to carry out the digital image acquisition compression.
The GPRS communication module adopts Siemens MC 35.
The high speed wireless data channel module adopts iNET 900 full duplex radio station.
Main control computer 11 adopts the A4000 of Kaitian of association type desktop computer.
Image card 13 adopts ADS Instant DVD 2.0.
Claims (1)
1, a kind of channel wireless radio multi information carrying means of fire-fighting reconnoitre robot, be made up of commanding in the rear device and fire-fighting reconnoitre robot car-mounted device, car-mounted device is made up of embedded controller and protocol gateway (1), Programmable Logic Controller (2), GPRS communication module (3), high speed wireless data module (4), GPS positioner and electronic gyroscope external equipment (5), image collecting device (6), MPEG4 image collecting device (7), analog image and voice radio transmitting device (8); The commanding in the rear device is made up of main control computer device (11), GPRS communication module (9), analog image and voice radio transmitting device (14), high speed wireless data module (10), monitor (13), image card (12), display (15); It is characterized in that Programmable Logic Controller (2) connects embedded controller and protocol gateway (1) by the COM1 interface, GPRS communication module (3) connects embedded controller and protocol gateway (1) by the COM2 interface, high speed wireless data module (4) connects embedded controller and protocol gateway (1) by the COM3 interface, MPEG4 image collecting device (7) connects embedded controller and protocol gateway (1) by the COM4 interface, the GPS positioner is connected embedded controller and protocol gateway (1) with electronic gyroscope external equipment (5) by the COM5 interface, image collecting device (6) one tunnel connects the input of analog image and voice radio transmitting device (8), and another road connects the input of MPEG4 image collecting device (7); GPRS communication module (9) connects main control computer device (11), high speed wireless data passage (10) connects main control computer device (11), main control computer (11) connects monitor (13) by the digital video signal delivery outlet of image card (12), and analog image and voice radio transmitting device (14) connect monitor (13); Link to each other by wireless public network between GPRS communication module (3) and the GPRS communication module (9), link to each other by radiofrequency signal between high speed wireless data module (4) and the high speed wireless data module (10), link to each other by radiofrequency signal between analog image and voice radio transmitting device (8) and analog image and the voice radio transmitting device (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520043471 CN2805276Y (en) | 2005-07-15 | 2005-07-15 | Multichannel wireless information transmission device of fire fighting and scouting robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520043471 CN2805276Y (en) | 2005-07-15 | 2005-07-15 | Multichannel wireless information transmission device of fire fighting and scouting robots |
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| Publication Number | Publication Date |
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| CN2805276Y true CN2805276Y (en) | 2006-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200520043471 Expired - Fee Related CN2805276Y (en) | 2005-07-15 | 2005-07-15 | Multichannel wireless information transmission device of fire fighting and scouting robots |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008043202A1 (en) * | 2006-10-09 | 2008-04-17 | Appro Technology Inc. | Automotive/handheld module of integrated monitoring recording apparatus and globe positioning systems and transmitting apparatus and separating apparatus thereof |
| CN102990665A (en) * | 2012-12-07 | 2013-03-27 | 大连民族学院 | Reconnaissance robot based on wireless communication |
| CN105869389A (en) * | 2016-06-06 | 2016-08-17 | 合肥天地软件科技有限公司 | Station service system for bus emergency fault scheduling |
| CN107305371A (en) * | 2016-04-25 | 2017-10-31 | 中信重工开诚智能装备有限公司 | Fire-fighting robot body master control system parameter testing and performance test apparatus |
| CN109040275A (en) * | 2018-08-17 | 2018-12-18 | 公安部沈阳消防研究所 | A kind of multiple robots group communication system and event communication control method based on two-way radio frequency |
| CN111844018A (en) * | 2020-05-29 | 2020-10-30 | 北京理工大学 | Fire-fighting site detection robot management method and device |
-
2005
- 2005-07-15 CN CN 200520043471 patent/CN2805276Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008043202A1 (en) * | 2006-10-09 | 2008-04-17 | Appro Technology Inc. | Automotive/handheld module of integrated monitoring recording apparatus and globe positioning systems and transmitting apparatus and separating apparatus thereof |
| CN102990665A (en) * | 2012-12-07 | 2013-03-27 | 大连民族学院 | Reconnaissance robot based on wireless communication |
| CN107305371A (en) * | 2016-04-25 | 2017-10-31 | 中信重工开诚智能装备有限公司 | Fire-fighting robot body master control system parameter testing and performance test apparatus |
| CN105869389A (en) * | 2016-06-06 | 2016-08-17 | 合肥天地软件科技有限公司 | Station service system for bus emergency fault scheduling |
| CN109040275A (en) * | 2018-08-17 | 2018-12-18 | 公安部沈阳消防研究所 | A kind of multiple robots group communication system and event communication control method based on two-way radio frequency |
| CN111844018A (en) * | 2020-05-29 | 2020-10-30 | 北京理工大学 | Fire-fighting site detection robot management method and device |
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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: 20060809 Termination date: 20140715 |
|
| EXPY | Termination of patent right or utility model |