CN106393129A - Rescue robot based on Raspberry Pi - Google Patents
Rescue robot based on Raspberry Pi Download PDFInfo
- Publication number
- CN106393129A CN106393129A CN201610877640.XA CN201610877640A CN106393129A CN 106393129 A CN106393129 A CN 106393129A CN 201610877640 A CN201610877640 A CN 201610877640A CN 106393129 A CN106393129 A CN 106393129A
- Authority
- CN
- China
- Prior art keywords
- module
- fructus rubi
- disaster relief
- transmitting module
- radio receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses a rescue robot based on Raspberry Pi. The rescue robot comprises a rescue robot module and a remote terminal module; the rescue robot module comprises a tricycle, a Raspberry Pi controller, a driving circuit, two motors, a visual camera, an alarming machine and a first wireless receiving and transmitting module, wherein the Raspberry Pi controller, the driving circuit, the two motors, the visual camera, the alarming machine and the first wireless receiving and transmitting module are mounted on the tricycle; the two motors, the visual camera and the alarming machine are separately connected with the Raspberry Pi controller through the driving circuit; the Raspberry Pi controller is connected with the first wireless receiving and transmitting module; the visual camera is arranged at the head part of the tricycle; the two motors are separately used for driving the two rear wheels of the tricycle to rotate; and the remote terminal module comprises a second wireless receiving and transmitting module, a control terminal and a displayer, wherein the second wireless receiving and transmitting module and the displayer are respectively connected with the control terminal. The rescue robot based on the Raspberry Pi, disclosed by the invention, has the functions of walking forwards by virtue of wireless control, transmitting back the image, displaying the image and the like, is applicable to a rescue site and can provide helps for rescue workers.
Description
Technical field
The present invention relates to a kind of Disaster Relief Robot based on Fructus Rubi group, belong to field of intelligent control technology.
Background technology
Disaster Relief Robot is mainly used in the cleaning of disaster field, takes into account the functions such as investigation, communication simultaneously.All over the world,
Due to the reason such as terrorist activity and various burst accident, disaster often occurs.In disaster relief, rescue personnel is only very short
(about 48 hours) time be used in the ruins collapsed looking for survivors, otherwise find survivor probability almost nil.
This promptly and under the environment of danger, Disaster Relief Robot can provide help for rescue personnel.Therefore, will have autonomous intelligence
Disaster Relief Robot be used under dangerous and complicated disaster environment " search and succour " (SAR) survivor, be in robotics
One emerging and challenging field.
China's coal mines great majority are miner's exploitation, and unsafe factor is a lot, and the disaster accident such as gas and coal dust and fire is frequent
Occur, disaster accident harm is serious, and injury is many, and the interruption production time is long, damages well lane engineering or production equipment.However,
The disaster relief mode of coal mining accident is the scheme determining the disaster relief according to the type of accident, and general rescue personnel cannot be introduced into hazardous area
Domain, then can only search and rescue miner in danger by device clear rubbish such as hoisting gear, portable windmills to underground ventilating again.This
The mode of kind is dangerous big, and the number of casualties is many, and the disaster relief cycle is long, and often efficiency is low.With scientific and technological development, robot will be employed
To Mine Disaster Relief field.
But, current Disaster Relief Robot complex structure, involve great expense, manipulation is loaded down with trivial details, can not be expanded in a lot of fields
Application.
Content of the invention
The technical problem to be solved is：A kind of Disaster Relief Robot based on Fructus Rubi group is provided, can achieve wireless
Control and advance, the function such as image passback display, it is adaptable to the disaster relief is live, is that rescue personnel provides help.
The present invention is to solve above-mentioned technical problem to employ the following technical solutions：
A kind of Disaster Relief Robot based on Fructus Rubi group, including Disaster Relief Robot module, remote terminal module, wherein, the disaster relief
Robot module includes tricycle, and the Fructus Rubi being mounted on tricycle sends controller, drive circuit, two motors, visions
Photographic head, alarm, the first radio receiving transmitting module, described two motors, vision camera, alarm pass through drive circuit respectively
Controller is sent to be connected with Fructus Rubi, Fructus Rubi sends controller to be connected with the first radio receiving transmitting module, and vision camera is arranged at tricycle
Vehicle head part, two motors are respectively used to drive two rear wheel of tricycle；It is wireless that remote terminal module includes second
Transceiver module, control terminal, display, described second radio receiving transmitting module, display are connected with control terminal respectively；Second no
Radio communication between line transceiver module and the first radio receiving transmitting module.
As a preferred embodiment of the present invention, described tricycle includes car body, front-wheel and two trailing wheels, wherein, front-wheel
May be contained within below car body with two trailing wheels, for driving body movement, and front-wheel is universal wheel.
As a preferred embodiment of the present invention, described Disaster Relief Robot module also includes power module, described power supply mould
Block sends controller to be connected with Fructus Rubi, for Fructus Rubi send controller, drive circuit, two motors, vision camera, alarm,
First radio receiving transmitting module is powered.
As a preferred embodiment of the present invention, described drive circuit adopts the chip of L298N model.
As a preferred embodiment of the present invention, described first radio receiving transmitting module, the second radio receiving transmitting module all adopt
Wifi module.
The present invention adopts above technical scheme compared with prior art, has following technique effect：
1st, the Disaster Relief Robot that the present invention is sent based on Fructus Rubi, can flexibly realize controlled in wireless and advance, image passback display, figure
As a series of functions such as identification and warning are it is adaptable to any disaster relief is live, it is that rescue personnel provides help.
2nd, the Disaster Relief Robot that the present invention is sent based on Fructus Rubi, structure is simple, easy to operate, and availability is high, furthermore it is also possible to
Flexible expansion on the controller, thus form series of products.
Brief description
Fig. 1 is the general structure schematic diagram of the Disaster Relief Robot that the present invention is sent based on Fructus Rubi.
Fig. 2 is the workflow schematic diagram of the Disaster Relief Robot that the present invention is sent based on Fructus Rubi.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of described embodiment is shown in the drawings.Below by
The embodiment being described with reference to the drawings is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
The problem and shortage existing for current Disaster Relief Robot, a kind of disaster relief based on Fructus Rubi group of independent research of the present invention
Robot, the structure to existing Disaster Relief Robot and design philosophy carry out innovative research improvement, Disaster Relief Robot of the present invention
Research and development and enforcement, are of great significance for the aspects such as the research and development promoting Disaster Relief Robot tool.
As shown in figure 1, the general structure schematic diagram of the Disaster Relief Robot sent based on Fructus Rubi for the present invention.Based on Fructus Rubi group
Disaster Relief Robot, including Disaster Relief Robot module, remote terminal module, wherein, Disaster Relief Robot module includes tricycle, and
The Fructus Rubi being mounted on tricycle sends controller, drive circuit, two motors, vision camera, alarm, the first wireless receiving and dispatchings
Module, power module, two motors, vision camera, alarms send controller to be connected by drive circuit with Fructus Rubi respectively, tree
The certain kind of berries sends controller to be connected with the first radio receiving transmitting module, and vision camera is arranged at the vehicle head part of tricycle, and two motors divide
Two rear wheel of tricycle Yong Yu not driven；Remote terminal module includes the second radio receiving transmitting module, control terminal, display
Device, the second radio receiving transmitting module, display are connected with control terminal respectively；Second radio receiving transmitting module and the first wireless receiving and dispatching mould
Radio communication between block.
Wherein, tricycle includes car body, front-wheel and two trailing wheels, and two trailing wheels of car body are respectively by a motor control
System, front-wheel adopts universal wheel, and the drive circuit L298N of motor controls the motion of car body by the connection with two motors.
Power module mainly sends controller, drive circuit, two motors, vision camera, alarms and first to Fructus Rubi
Radio receiving transmitting module is powered.
First radio receiving transmitting module, the second radio receiving transmitting module, all using Wifi module, are mainly used to connect long-range control
Terminal (such as computer) processed and Fructus Rubi send controller, control Fructus Rubi to send controller transmitting order to lower levels by control terminal, control car body
Motion.
Vision camera Real-time Collection live view, and pass through the first radio receiving transmitting module, the second radio receiving transmitting module pair
Live view is returned display in real time and is shown, the passback that not only can realize picture shows, also can independently realize to target
Thing sentence knowledge, when face, fullbody, lower_body, upper_body occur in recognition result, inform Fructus Rubi group control
Device, Fructus Rubi sends controller to send warning using alarm.
As shown in Fig. 2 the workflow diagram of the Disaster Relief Robot sent based on Fructus Rubi for the present invention.Wireless by control terminal
Control the traveling of Disaster Relief Robot, using vision camera image image frame and by the first radio receiving transmitting module, the second nothing
Line transceiver module is returned display in real time to monitored picture and is shown, completes the image recognition to monitored picture object simultaneously
Process, when face, fullbody, lower_body, upper_body occur in recognition result, inform that Fructus Rubi sends controller,
Fructus Rubi sends controller to send warning using alarm.
Above example technological thought only to illustrate the invention is it is impossible to limit protection scope of the present invention with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, each fall within the scope of the present invention
Within.
Claims (5)
1. a kind of Disaster Relief Robot based on Fructus Rubi group it is characterised in that include Disaster Relief Robot module, remote terminal module,
Wherein, Disaster Relief Robot module includes tricycle, and the Fructus Rubi being mounted on tricycle send controller, drive circuit, two
Motor, vision camera, alarm, the first radio receiving transmitting module, described two motors, vision camera, alarm lead to respectively
Overdrive circuit sends controller to be connected with Fructus Rubi, and Fructus Rubi sends controller to be connected with the first radio receiving transmitting module, and vision camera sets
It is placed in the vehicle head part of tricycle, two motors are respectively used to drive two rear wheel of tricycle；Remote terminal module bag
Include the second radio receiving transmitting module, control terminal, display, described second radio receiving transmitting module, display respectively with control terminal
Connect；Radio communication between second radio receiving transmitting module and the first radio receiving transmitting module.
2. according to claim 1 based on Fructus Rubi group Disaster Relief Robot it is characterised in that described tricycle include car body,
Front-wheel and two trailing wheels, wherein, front-wheel and two trailing wheels may be contained within below car body, and for driving body movement, and front-wheel is
Universal wheel.
3. according to claim 1 based on Fructus Rubi group Disaster Relief Robot it is characterised in that described Disaster Relief Robot module also
Including power module, described power module sends controller to be connected with Fructus Rubi, for Fructus Rubi send controller, drive circuit, two
Motor, vision camera, alarm, the first radio receiving transmitting module are powered.
4. according to claim 1 based on Fructus Rubi group Disaster Relief Robot it is characterised in that described drive circuit adopt
The chip of L298N model.
5. according to claim 1 the Disaster Relief Robot based on Fructus Rubi group it is characterised in that described first wireless receiving and dispatching mould
Block, the second radio receiving transmitting module are all using Wifi module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877640.XA CN106393129A (en) | 2016-09-30 | 2016-09-30 | Rescue robot based on Raspberry Pi |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877640.XA CN106393129A (en) | 2016-09-30 | 2016-09-30 | Rescue robot based on Raspberry Pi |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393129A true CN106393129A (en) | 2017-02-15 |
Family
ID=59228751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610877640.XA Pending CN106393129A (en) | 2016-09-30 | 2016-09-30 | Rescue robot based on Raspberry Pi |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393129A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802605A (en) * | 2017-03-01 | 2017-06-06 | 南京邮电大学 | A kind of wifi based on raspberry group and Arduino controls reponse system |
| CN107803843A (en) * | 2017-10-26 | 2018-03-16 | 五邑大学 | A kind of measuring of human health robot based on Raspberry Pi |
| CN109514566A (en) * | 2018-11-07 | 2019-03-26 | 杭州电子科技大学 | A kind of intelligent monitoring machine people based on raspberry pie |
| CN109571485A (en) * | 2019-01-11 | 2019-04-05 | 江南大学 | Robot movement-control system and control method based on ROS and SQLite |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN113305840A (en) * | 2021-05-26 | 2021-08-27 | 西安工业大学 | Intelligent electric power overhaul robot visual identification system based on raspberry group |
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| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| US20100158656A1 (en) * | 2008-12-18 | 2010-06-24 | Seavey Nathaniel J M | Robot arm assembly |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN204076266U (en) * | 2014-08-22 | 2015-01-07 | 滨州学院 | A kind of Disaster Relief Robot and control device thereof |
| CN205085992U (en) * | 2015-09-23 | 2016-03-16 | 深圳市科讯鸿电子有限公司 | Conflagration rescue intelligent robot |
| CN105425793A (en) * | 2015-11-25 | 2016-03-23 | 杭州苏诺电气有限公司 | Computer communication robot in remote control |
| CN206085076U (en) * | 2016-09-30 | 2017-04-12 | 南京信息工程大学 | Relief of disaster robot based on raspberry group |
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| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| US20100158656A1 (en) * | 2008-12-18 | 2010-06-24 | Seavey Nathaniel J M | Robot arm assembly |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN204076266U (en) * | 2014-08-22 | 2015-01-07 | 滨州学院 | A kind of Disaster Relief Robot and control device thereof |
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| CN206085076U (en) * | 2016-09-30 | 2017-04-12 | 南京信息工程大学 | Relief of disaster robot based on raspberry group |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802605A (en) * | 2017-03-01 | 2017-06-06 | 南京邮电大学 | A kind of wifi based on raspberry group and Arduino controls reponse system |
| CN107803843A (en) * | 2017-10-26 | 2018-03-16 | 五邑大学 | A kind of measuring of human health robot based on Raspberry Pi |
| CN109514566A (en) * | 2018-11-07 | 2019-03-26 | 杭州电子科技大学 | A kind of intelligent monitoring machine people based on raspberry pie |
| CN109571485A (en) * | 2019-01-11 | 2019-04-05 | 江南大学 | Robot movement-control system and control method based on ROS and SQLite |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN111319043B (en) * | 2020-02-20 | 2022-03-22 | 达闼机器人有限公司 | Robot control method, device, storage medium and robot |
| CN113305840A (en) * | 2021-05-26 | 2021-08-27 | 西安工业大学 | Intelligent electric power overhaul robot visual identification system based on raspberry group |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170215 |
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| WD01 | Invention patent application deemed withdrawn after publication |