CN102360213A - Crawler type robot system for environment detection - Google Patents
Crawler type robot system for environment detection Download PDFInfo
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- CN102360213A CN102360213A CN2011102010610A CN201110201061A CN102360213A CN 102360213 A CN102360213 A CN 102360213A CN 2011102010610 A CN2011102010610 A CN 2011102010610A CN 201110201061 A CN201110201061 A CN 201110201061A CN 102360213 A CN102360213 A CN 102360213A
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Abstract
The invention discloses a crawler type robot system for environment detection. The system comprises a robot carrier and a control terminal that is used for controlling the robot carrier to work. The robot carrier consists of an industrial personal computer and a power module; and the power module is composed of a direct current motor, a driving module, an encoder, a gear case and a crawler belt, wherein the driving module is used for driving the direct current motor. Besides, the robot carrier also includes: a radio station module, which is connected with the control terminal to carry out wireless communication; a wind speed module, which is used for detecting wind speeds, and a wind direction module, which is used for detection wind directions; and the radio station module, the wind speed module and the wind direction module are respectively connected with the industrial personal computer. Moreover, the control terminal is provided with a sending terminal that is used for sending a control command to the robot carrier; and a receiving terminal, which is used for receiving the command sent by the control terminal is arranged on the robot carrier; therefore, on the condition that working personnel are far away from the dangerous environment, local environmental information including meteorological elements can be detected and is used for correct decisions under the special circumstances.
Description
Technical field
The present invention relates to a kind of caterpillar type robot, a kind of crawler type environment exploring robot system more specifically says so.
Background technology
Along with developing rapidly of national economy and society, the burst meteorological disaster is increasing to the harm that society causes, and building meteorological disaster monitoring and warning and emergency system engineering is the needs that comprehensively promote the meteorological emergency response ability of preventing and reducing natural disasters.And present weather station great majority are fixed, certain adverse, the people to not environment in, but can't monitor its meteorological element and environmental aspect; Perhaps, can't detect its inner environmental aspect in abominable indoor of environment.The portable automatic weather station of emergent weather environment Monitoring Service demand is satisfied in design, gathers real-time meteorological element, can meteorological decision service be provided for happen suddenly meteorological disaster and other environmental hazard.
Summary of the invention
The technical matters that the present invention solves provide a kind of can be under major state and remote state the crawler type environment exploring robot system of real-time monitoring of environmental information.
For solving the problems of the technologies described above; The present invention provides a kind of crawler type environment exploring robot system; The control end that comprises robot carrier and the work of control robot carrier; Said robot carrier comprises industrial computer and power plant module; Said power plant module comprises direct current generator, drives driver module, scrambler, gear case and the crawler belt of direct current generator, and said robot carrier comprises also with control end and carry out wireless station's module of radio communication, the wind direction module that is used to detect the wind speed module of wind speed and is used to detect wind direction that said wireless station module, wind speed module and wind direction module link to each other with said industrial computer respectively; Said control end is provided with the transmitting terminal to the robot carrier transmitting control commands, and said robot carrier is provided with and receives the receiving end that control end sends order;
Further; In a kind of crawler type environment exploring robot of the present invention system; Said robot carrier also comprises thermal module that is used for detected temperatures and the humidity module that detects humidity; Said thermal module links to each other with industrial computer respectively with the humidity module, the humiture information that detects is sent to industrial computer handle.
Further, in a kind of crawler type environment exploring robot of the present invention system, said wind direction module is the photoelectric type wind transducer.
Further, in a kind of crawler type environment exploring robot of the present invention system, said robot carrier also comprises the Radiation Module that detects optical radiation, and said Radiation Module links to each other with industrial computer, detected optical radiation information is sent to industrial computer handle.
Further, in a kind of crawler type environment exploring robot of the present invention system, said robot carrier also comprises the obstacle detection module that is used to measure the peripheral obstacle distance, and this obstacle detection module is in ultrasonic wave module, the infrared module or both combinations.
Further, in a kind of crawler type environment exploring robot of the present invention system, said robot carrier also comprises video camera and the The Cloud Terrace module that is used to control camera motion; Said The Cloud Terrace module links to each other with industrial computer.
Further, in a kind of crawler type environment exploring robot of the present invention system, said industrial computer comprises data
Acquisition module, image compression module and control module.
Further, in a kind of crawler type environment exploring robot of the present invention system, said control end comprises picture recognition module, environmental data analysis module and map structuring module.
The present invention compared with prior art; Have following significant advantage: the robot carrier in (1) crawler type environment exploring robot of the present invention system has the dual working method that also can under remote state, work under major state, working; Make the staff under situation away from hazardous environment; Also can survey the environmental information that local ring comprises meteorological element, use for correct decisions in particular cases; (2) the present invention's form of adopting video and map structuring can accurately reflect more that with the surrounding environment of surveying actual conditions give the staff.
Description of drawings
Fig. 1 is the structured flowchart of crawler type environment exploring robot of the present invention system.
Fig. 2 is the inner structure synoptic diagram of robot carrier in the crawler type environment exploring robot of the present invention system.
Fig. 3 is the structural representation of robot carrier in the crawler type environment exploring robot of the present invention system.
Drawing reference numeral explanation: 1 battery, 2 industrial computers, 3 driver modules, 4 direct current generators, 5 obstacle detection
Module, 6 The Cloud Terraces, 7 video cameras, 8 wireless stations, 9 air velocity transducers, 10 wind transducers, 11 testing cassetes.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail.
Like Fig. 1, Fig. 2, shown in Figure 3; A kind of crawler type environment exploring robot of the present invention system; The control end that comprises robot carrier and the work of control robot carrier; Said robot carrier comprises industrial computer 2, power plant module and is the rechargeable battery 1 of entire machine people carrier power supply; Said power plant module comprises direct current generator 4, drives driver module 3, scrambler, gear case and the crawler belt of direct current generator; Said robot carrier also comprises the The Cloud Terrace 6 that carries out the wireless station 8 of radio communication, the obstacle detection module 5 that is used to detect obstacle distance, the air velocity transducer 9 that is used to detect wind speed, the wind transducer 10 that is used to detect wind direction, the testing cassete 11 that is integrated with temperature sensor, humidity sensor and radiometer, camera 7 and control cam movement with control end, and said wireless station 8, air velocity transducer 9, wind transducer 10, testing cassete 11 link to each other with said industrial computer 2 respectively; Said control end is provided with the transmitting terminal to the robot carrier transmitting control commands, and said robot carrier is provided with and receives the receiving end that control end sends order; Send fill order when end takes place, the receiving end on the robot carrier stops autokinetic movement after receiving signal immediately, brings in the control robot carrier movement through control; When the generation end did not send fill order or loses control command, robot carrier then is in independently recalled roaming state or carries out environment detection through pre-set path.
Obstacle detection module 5 is infrared sensor and ultrasonic sensor; Infrared sensor, the detected information of ultrasonic sensor are sent to industrial computer; Industrial computer is responsible for receiving and analyzing various infrared, ultrasound datas; Adopt reasonably corresponding keeping away to hinder strategy, calculate the control corresponding data, utilize ultrasonic sensor information to carry out the creation method of grating map.Because the kinematic error of robot is accumulated, so before information was than information was accurately credible afterwards, when map structuring, the present invention makes full use of previous information and does verification work.At first on map, be divided into blank one by one grid to surrounding environment, the location definition that moves robot first is the map initial point, and the dead ahead is defined as the Y coordinate, the just right-hand X coordinate that is defined as; Then, when robot ambulation, according to the information of the scrambler on the robot motor; Obtain the coordinate and the directional information (pose) of robot; And according to the information of direction sensor acquisition verification direction, robot of robot a plurality of ultrasonic sensors and infrared sensor on one's body constantly moves, and obtains the preliminary information whether corresponding grid has barrier; When a plurality of sensors are all tentatively confirmed to have barrier in certain grid; Just confirm that there is barrier in this grid, be labeled in above the grating map, have the grating map that whether has barrier thereby obtain one; Because robot when walking, judges the posture information needs compensation of oneself again, thereby utilizes previous information to come verification information afterwards according to the marginal point of the previous barrier of confirming; Last robot constantly uses ultrasonic sensor and infrared sensor explore unknown environment, and the pose of the continuous verification of information oneself through previous grating map information and direction sensor, can make up map more accurately.Measuring weather information and map combines, obtain a two-dimensional map that has the locality of weather information at that time again.
The rotation testing environment information that The Cloud Terrace 6 control cameras 7 do not stop sends to industrial computer 2 with detected picture signal, and industrial computer 2 receives the picture signal that photographing module is gathered, and sends to control end through image compression module compression back through wireless station.
What the air velocity transducer 9 in the wind speed module adopted is cup type air velocity transducer; Be low inertia light metal vane specifically,, drive its coaxial episcotister and rotate along with the wind rotation; With photoelectron scanning output pulse string, output is corresponding to the pulsed frequency respective value of revolution.Industrial computer receives the data of wind speed, converts corresponding air speed then to, finally is shown to the user.
What the wind transducer in the wind direction module adopted is the wind transducer 10 of photoelectric type; Adopt the weathervane response wind direction of low inertia light metal specifically, drive the rotation of coaxial code-disc, code-disc scans according to the form coding of Gray code and with photoelectron; Export the signal of corresponding wind direction; After industrial computer is received signal, convert corresponding wind direction to, finally be shown to the user.
That temperature sensor adopts is digital temperature sensor DS18B20, the temperature of its direct measurement environment, and spread out of temperature information with digital signal.After collection plate on the industrial computer receives signal, convert corresponding temperature to, finally be shown to the user.
What the radiation sensor in the Radiation Module adopted is silicon photodetector; It changes into corresponding voltage value to light intensity; Form with simulating signal is transferred to the data collecting card in the industrial computer then, and industrial computer calculates corresponding radiation information, is shown to the user then.
Battery adopts the chargeable lithium cell group, can continuous working number hour required power supply be provided to robot, and its voltage adopts other modules that offers of other voltages of secondary voltage stabilizing chip generation directly to the motor module power supply, and the energy of its work is provided.
When work, the user of service at first opens the power switch of robot, and at this moment, battery is that the operation of robot various piece provides power supply.The user of service moves the Control Software on the industrial computer then, and robot begins utonomous working, uses wireless station constantly to send signal of communication, seeks control end.After connecting with control end; Open the sensor that carries; Data collecting card constantly obtains the data of each sensor, and offers industrial computer to data, and industrial computer sends to control end to the data of each sensor through wireless station; The environmental data analysis module of control end is analyzed the data that obtain, and obtains the environmental information that one group of user of service can understand.If after the instruction of opening video camera of the controlled end of robot; Can carry out initialization and make it operation The Cloud Terrace and camera; Use the image compression module in the software to carry out processed compressed to the image that collects, re-use wireless station and send to control end, after control end obtains image information; Decompress, and carry out image recognition according to user of service's requirement.
Claims (7)
1. crawler type environment exploring robot system; The control end that comprises robot carrier and the work of control robot carrier; Said robot carrier comprises industrial computer and power plant module; Said power plant module comprises direct current generator, drives driver module, scrambler, gear case and the crawler belt of direct current generator; It is characterized in that: said robot carrier comprises also with control end and carries out wireless station's module of radio communication, the wind direction module that is used to detect the wind speed module of wind speed and is used to detect wind direction that said wireless station module, wind speed module and wind direction module link to each other with said industrial computer respectively; Said control end is provided with the transmitting terminal to the robot carrier transmitting control commands, and said robot carrier is provided with and receives the receiving end that control end sends order.
2. a kind of crawler type environment exploring robot according to claim 1 system; It is characterized in that: said robot carrier also comprises thermal module that is used for detected temperatures and the humidity module that detects humidity; Said thermal module links to each other with industrial computer respectively with the humidity module, the humiture information that detects is sent to industrial computer handle.
3. a kind of crawler type environment exploring robot according to claim 1 system; It is characterized in that: said robot carrier also comprises the Radiation Module that detects optical radiation; Said Radiation Module links to each other with industrial computer, detected optical radiation information is sent to industrial computer handle.
4. a kind of crawler type environment exploring robot according to claim 1 system; It is characterized in that: said robot carrier also comprises the obstacle detection module that is used to measure the peripheral obstacle distance, and this obstacle detection module is ultrasonic wave module, infrared module or both combinations.
5. a kind of crawler type environment exploring robot according to claim 1 system, it is characterized in that: said robot carrier also comprises video camera and the The Cloud Terrace module that is used to control camera motion; Said The Cloud Terrace module links to each other with industrial computer.
6. a kind of crawler type environment exploring robot according to claim 1 system, it is characterized in that: said industrial computer comprises data acquisition module, image compression module and control module.
7. a kind of crawler type environment exploring robot according to claim 1 system, it is characterized in that: said control end comprises picture recognition module, environmental data analysis module and map structuring module.
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| CN2011102010610A CN102360213A (en) | 2011-07-19 | 2011-07-19 | Crawler type robot system for environment detection |
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| CN2011102010610A CN102360213A (en) | 2011-07-19 | 2011-07-19 | Crawler type robot system for environment detection |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103885444A (en) * | 2012-12-21 | 2014-06-25 | 联想(北京)有限公司 | Information processing method, mobile electronic equipment and decision-making control equipment |
| CN104089649A (en) * | 2014-07-07 | 2014-10-08 | 浙江万里学院 | System and method for collecting indoor environment data |
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
| CN104902232A (en) * | 2015-05-22 | 2015-09-09 | 广州杰赛科技股份有限公司 | Environment sensing device and environment sensing system |
| CN106249895A (en) * | 2016-08-09 | 2016-12-21 | 清华大学 | Man-machine interaction method during the environment-identification change of a kind of robot and system |
| CN106837416A (en) * | 2017-03-30 | 2017-06-13 | 周鸣 | Mining industrial bionics skin and robot |
| CN108508449A (en) * | 2018-02-09 | 2018-09-07 | 意诺科技有限公司 | A kind of method and device of positioning |
| CN108801343A (en) * | 2018-05-25 | 2018-11-13 | 江苏师范大学 | A kind of intelligent car systems applied to atmosphere environment supervision |
| CN110346599A (en) * | 2019-07-15 | 2019-10-18 | 哈尔滨工业大学 | For calculating the automation crawler type wind speed detection device and method of boiler wind speed adjustment coefficient of uniformity |
| CN113135229A (en) * | 2021-04-15 | 2021-07-20 | 合肥瓦力觉启机器人科技有限公司 | Robot automatic obstacle avoidance moving chassis |
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| CN101961532A (en) * | 2010-08-09 | 2011-02-02 | 孟凡滨 | Disaster-situation accompanying robot |
| CN102059700A (en) * | 2010-11-22 | 2011-05-18 | 南京信息工程大学 | Greeting robot system |
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| CN101961532A (en) * | 2010-08-09 | 2011-02-02 | 孟凡滨 | Disaster-situation accompanying robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103885444B (en) * | 2012-12-21 | 2017-05-24 | 联想(北京)有限公司 | Information processing method, mobile electronic equipment and decision-making control equipment |
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| CN104089649A (en) * | 2014-07-07 | 2014-10-08 | 浙江万里学院 | System and method for collecting indoor environment data |
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
| CN104902232A (en) * | 2015-05-22 | 2015-09-09 | 广州杰赛科技股份有限公司 | Environment sensing device and environment sensing system |
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| CN106249895A (en) * | 2016-08-09 | 2016-12-21 | 清华大学 | Man-machine interaction method during the environment-identification change of a kind of robot and system |
| CN106249895B (en) * | 2016-08-09 | 2019-03-05 | 清华大学 | Man-machine interaction method and system when a kind of robot environment-identification changes |
| CN106837416A (en) * | 2017-03-30 | 2017-06-13 | 周鸣 | Mining industrial bionics skin and robot |
| CN108508449A (en) * | 2018-02-09 | 2018-09-07 | 意诺科技有限公司 | A kind of method and device of positioning |
| CN108508449B (en) * | 2018-02-09 | 2020-05-26 | 意诺科技有限公司 | Positioning method and device |
| CN108801343A (en) * | 2018-05-25 | 2018-11-13 | 江苏师范大学 | A kind of intelligent car systems applied to atmosphere environment supervision |
| CN110346599A (en) * | 2019-07-15 | 2019-10-18 | 哈尔滨工业大学 | For calculating the automation crawler type wind speed detection device and method of boiler wind speed adjustment coefficient of uniformity |
| CN113135229A (en) * | 2021-04-15 | 2021-07-20 | 合肥瓦力觉启机器人科技有限公司 | Robot automatic obstacle avoidance moving chassis |
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Application publication date: 20120222 |