CN101265813B - Mine searching multi-robot system based on wireless sensor network - Google Patents
Mine searching multi-robot system based on wireless sensor network Download PDFInfo
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- CN101265813B CN101265813B CN2008100644925A CN200810064492A CN101265813B CN 101265813 B CN101265813 B CN 101265813B CN 2008100644925 A CN2008100644925 A CN 2008100644925A CN 200810064492 A CN200810064492 A CN 200810064492A CN 101265813 B CN101265813 B CN 101265813B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
Based on the mine searching and detecting multiple robots of wireless sensor networks, the invention relates to the searching and detecting field for mines and underground accident site, which overcomes the problem that the existing technology can not transmit the site environment information and personnel information rapidly. The invention consists of the following devices: a multiple-joint robotwhich is provided with a long and thin structure in a snake shape, adopts the tract type walking mode, and is provided with a boarded bin that can carry a plurality of small investigation robots; a plurality of sensors carried by the robot which can confirm the location of the miners in danger and can detect the kinds, content, and environment temperature of harmful gases; small investigation robots, which realize the multiple-points information collection and long-distance communication through being released along the way; a remote operation and control terminal, which is arranged on the ground, forms a wireless sensor network with the multiple-joint detection robot and the small investigation robots, and builds the communication link between the operator and the robots; the rescuing personnel can operate each part of the robot in a remote end on a real-time basis and can obtain the site environment information and the information of the personnel in danger.
Description
Technical field
The present invention relates to the reconnaissance probe field at mine and down-hole accident scene, it is a kind of with the artificial node of mobile apparatus more specifically to say so, and adopts wireless sensor network technology to carry out the mine searching multi-robot system of multi-robot coordination control.
Background technology
The mine accident search-and-rescue work has only the U.S. and the Japanese prototype of having developed the monomer underground rescue robot still based on artificial search and rescue both at home and abroad at present, but the non-constant of resistance to capsizing on the above-mentioned robot architecture and obstacle climbing ability.Publication number is CN1931653A's " a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine " patent disclosure, and a kind of being difficult for topples, and have obstacle climbing ability preferably and can pass through the snakelike crawler type multiple joint robot of narrow and small slit easily, but this patent does not disclose multi-point sensing and this two big key issue of telecommunication in the down-hole searching, can not solve the quick problem of transmission of site environment information and trapped personnel information.Wireless sensor network obtains and treatment technology as a kind of brand-new information, its distinctive multi-node collaboration and dynamic topology control technology, wireless multi-hop mechanics of communication will provide good solution for cooperate Information Monitoring and telecommunication of down-hole multirobot, and finishing the mine searching task for multi-robot system provides and provide powerful support for.
Summary of the invention
The object of the invention provides a kind of mine searching multi-robot system based on wireless sensor network, to overcome the quick problem of transmission that prior art can not solve site environment information and trapped personnel information.It is by forming with lower device:
Multi-joint body robot, it has snakelike slim-lined construction and adopts the crawler travel mode, can satisfy the requirement of mine down-hole complex barrier to robot landform adhesive ability and smaller volume; Multi-joint body robot has the lift-launch storehouse, a plurality of small-sized investigation of portability robot; Multi-joint body robot has the information sensory perceptual system, can determine the position of trapped miner, the kind that detects pernicious gas, content of harmful gas and environment temperature by the multiple sensors of carrying, and determines whether to exist the position of naked light and naked light;
Small-sized investigation robot by being released on the way, becoming the monitor node of kind, content of harmful gas and environment temperature of pernicious gas and the information of wireless network and transmits node, realizes multiple spot information gathering and telecommunication;
The remote control terminal is provided with on the ground, forms wireless sensor network with multi-joint body robot and a plurality of small-sized investigation robot, erects the communication link between operator and robot; On this link basis, adopt the remote control pattern to carry out man-machine interaction, the rescue personnel can control the motion of robot each several part at far-end in real time by man-machine interface, and obtains site environment information and trapped personnel information.
The invention solves Environmental Monitoring in the complex environment of mine down-hole, personnel and search for problems such as location and telecommunication, the present invention arrives dangerous and disaster scene, collection (gas, fire, water etc.) multiple information by multimachine effective penetrate of cooperating; This system also constitutes wireless sensor network by the small scale robot that discharges as monitoring, communication node on the way, receive and transmit operator's instruction and field data is sent to the operator, supplement production and rescue personnel promptly make a strategic decision or implement and succour fast and effectively.Advantage of the present invention is to realize that dynamic self-organization, communication reliability height and environment sensing ability are strong, can in the complex-terrain of down-hole, move and dispose the multirobot node, build wireless sensor network, carry out man-machine interaction by the remote control pattern, the realization down-hole information obtains with multirobot to be controlled.Overcome the quick problem of transmission that prior art can not solve site environment information and trapped personnel information.
Description of drawings
Fig. 1 is the structural representation of multi-joint body of the present invention robot 1, and Fig. 2 is that system of the present invention constitutes schematic diagram, and Fig. 3 is the electrical block diagram of multi-joint body robot 1, and Fig. 4 is the electrical block diagram of small-sized investigation robot 2.
The specific embodiment
The specific embodiment one: specify present embodiment below in conjunction with Fig. 1 and Fig. 2.Present embodiment is by forming with lower device: multi-joint body robot 1, and it has snakelike slim-lined construction and adopts the crawler travel mode, can satisfy the requirement of mine down-hole complex barrier to robot landform adhesive ability and smaller volume; Multi-joint body robot 1 has the lift-launch storehouse, a plurality of small-sized investigation of portability robot 2; Multi-joint body robot 1 has the information sensory perceptual system, can determine the position of trapped miner, the kind that detects pernicious gas, content of harmful gas and environment temperature by the multiple sensors of carrying, and determines whether to exist the position of naked light and naked light;
Small-sized investigation robot 2, small-sized two-wheel investigation robot has characteristics simple in structure, that be convenient to carry, by being released on the way, become the monitor node of kind, content of harmful gas and environment temperature of pernicious gas and the information of wireless network and transmit node, realize multiple spot information gathering and telecommunication; Give each small-sized investigation robot 2 installation different sensing elements, can interior all gases, the temperature variations of dynamic monitoring whole tunnel.
Remote control terminal 3 is provided with on the ground, forms wireless sensor networks with multi-joint body robot 1 and a plurality of small-sized investigation robot 2, erects the communication link between operator and robot.On this link basis, adopt the remote control pattern to carry out man-machine interaction, the rescue personnel just can control the motion of robot each several part at far-end in real time by friendly man-machine interface (PDA, Monitor and control button), and obtains site environment information and trapped personnel information;
As shown in Figure 1, the multi-joint body robot 1 of present embodiment is made up of seven joint bodies, be respectively head unit 1-1, tail units 1-2, two hinge driver element 1-3, mounted unit 1-4, power subsystem 1-5 and control sensing unit 1-6, be connected through the hinge between the body of joint, can adapt to very complicated orographic condition.Motor, reducer, driver that oneself all is housed on each joint body are as kinematic system.On the front end face of head unit 1-1 He on the tail units 1-2 rear end face Foldable flexible arm 1-8 is housed respectively, on the external part of Foldable flexible arm 1-8 camera 1-9 is installed, so setting can adapt to catwalk by folded flexible; In the hinge driver element 1-3 the initiatively driving mechanism of hinge is arranged; Be provided with wireless communication module 1-6-1, processor module 1-6-2, motion module 1-6-3, sensor assembly 1-6-4 etc. in the control sensing unit 1-6; As shown in Figure 3.The ARM7 chip that processor module adopts PHILIPS Co. to produce, model is LPC2294, its integrated 6 road PWM output, 2 peripheral hardwares such as 32 digit counters are convenient to carry out the control to motion module, 4 CAN controllers can conveniently be set up the CAN bus network, finish functions such as moving component driving, sensor acquisition, data processing, communication.The economy of taking into account system and reliability are with the wireless telecommunications chip nRF401 of the Nordic company wireless communication module that has been core design.NRF401 is operated in the international ISM band of 433MHz, adopt the FSK modulation-demodulation technique, data transmission rate reaches as high as 20Kbps, have the Manchester's code of need not, the bit error rate is low, volume is little, required peripheral cell is few, can adopt characteristics such as PCB antenna, meet very much the requirement of native system miniaturization.Power subsystem 1-5 carries bigger lithium polymer battery, is each module for power supply; Mounted unit 1-4 has the lift-launch storehouse that can open and close hatch door, and a plurality of small-sized investigation robot 2 is housed.Small-sized two-wheel investigation robot has sensor assembly, processor module, wireless communication module etc., have characteristics simple in structure, that be convenient to carry, by discharging on the way as the investigation node, be built into wireless sensor network with main robot, can realize multiple spot information gathering and telecommunication function.
The kinematic system of multi-joint body robot 1 adopts the EC series brushless electric machine of MAXON company and the reducer of corresponding speed ratio, can avoid the commutation spark of brush motor, helps downhole anti-explosion.The motion control aspect is selected ripe commercial motor driver ACK-055-06 for use, adopts the CAN bus communication with main control processor.The motion of small-sized investigation robot 2 adopts the EC series brushless electric machine of MAXON company and the reducer of corresponding speed ratio.
The course of work of the present invention is as follows: the operator assigns the search and rescue task by remote control terminal 3 at client layer, and sends motion and operational order by friendly man-machine interface (PDA, Monitor, control button) to multi-computer system.Multi-joint body robot 1 receives the motion of instruction back by control execution level control self multi-joint body by radio receiving transmitting module, nimbly eludes obstacle; Whenever the segment distance of advancing, multi-joint body robot 1 put down hatch door and discharge a small-sized investigation robot 2 as node.Each small-sized investigation robot 2 and multi-joint body robot 1 form node movable wireless sensor network, be connected with the radio receiving transmitting module of remote control terminal 3 on the one hand, reliable communication context is enlarged step by step, the multiple sensors of carrying on the other hand by each small-sized investigation robot 2 and multi-joint body robot 1, detectable environmental field is further enlarged, realized a dynamic initiatively mobile wireless sensor network.This many communications sensing node multi-hop network's mode helps the expansion of network, is particularly useful for communication and environment sensing in the winding roadway of down-hole.Multi-joint body robot 1 and a plurality of small-sized investigation robot 2 make corresponding sports and sensed activation by the instruction that receives, and the information that perceives is carried out data via multi-joint body robot 1 and handled the back and send it back remote control terminal 3 by wireless sensor network.The rescue personnel is the environmental information of clear and definite down-hole and trapped personnel information in real time just, is convenient to rescue group and takes safeguard procedures targetedly, and viable targets is implemented effectively rescue.
The specific embodiment two: specify present embodiment below in conjunction with Fig. 1.The difference of present embodiment and embodiment one is: camera 1-9 is the CCD infrared camera, is convenient to environment-identification in the dark, the search trapped personnel.
The specific embodiment three: the difference of present embodiment and embodiment one is: infrared-ray (IR) is installed on head unit 1-1 and the tail units 1-2 thus range sensor is determined the distance of the place ahead obstacle and height etc., thereby provide effective information for path planning.
The specific embodiment four: the difference of present embodiment and embodiment one is: thus all be provided with self attitude that high-precision tilt angle sensor SCA61T determines each joint body on head unit 1-1, tail units 1-2, two hinge driver element 1-3, mounted unit 1-4, power subsystem 1-5 and the control sensing unit 1-6, thereby whether decision needs swing or revolution to come adaptation to the ground, initiatively power sensor on the hinge and position sensing potentiometer can help robot to determine the angle that self tilts, and can decision continue climbing or avoid inclination.
The specific embodiment five: the difference of present embodiment and embodiment one is: the sensor that multi-joint body robot 1 and small-sized investigation robot 2 carry is surveyed the content of ethene (C2H4), ethane (C2H6), acetylene (C2H2), methane (CH4), carbon monoxide (CO), oxygen (O2), hydrogen (H2), on-the-spot temperature, humidity and wind speed respectively.In order to reduce volume, convenient integrated, the sensor selects for use the chemistry of MEMS technology to touch the coal sensor.Characteristics such as this sensor has that volume is little, integrated level is high, good stability, response are fast are fit to the down-hole and survey needs.
Claims (6)
1. based on the mine searching multi-robot system of wireless sensor network, it is characterized in that it is by forming with lower device:
Multi-joint body robot (1), it has snakelike slim-lined construction and adopts the crawler travel mode, can satisfy the requirement of mine down-hole complex barrier to robot landform adhesive ability and smaller volume; Multi-joint body robot (1) has the lift-launch storehouse, a plurality of small-sized investigation robots of portability (2); Multi-joint body robot (1) has the information sensory perceptual system, can determine the position of trapped miner, the kind that detects pernicious gas, content of harmful gas and environment temperature by the multiple sensors of carrying, and determines whether to exist the position of naked light and naked light;
Small-sized investigation robot (2) by being released on the way, becoming the monitor node of kind, content of harmful gas and environment temperature of pernicious gas and the information of wireless network and transmits node, realizes multiple spot information gathering and telecommunication;
Remote control terminal (3) is provided with on the ground, forms wireless sensor network with multi-joint body robot (1) and a plurality of small-sized investigation robots (2), erects the communication link between operator and robot; On this link basis, adopt the remote control pattern to carry out man-machine interaction, the rescue personnel can control the motion of robot each several part at far-end in real time by man-machine interface, and obtains site environment information and trapped personnel information.
2. the mine searching multi-robot system based on wireless sensor network according to claim 1, it is characterized in that multi-joint body robot (1) is made up of seven joint bodies, be respectively head unit (1-1), tail units (1-2), two hinge driver elements (1-3), mounted unit (1-4), power subsystem (1-5) and control sensing unit (1-6), be connected through the hinge between the body of joint, on the front end face of head unit (1-1) and on tail units (1-2) rear end face Foldable flexible arm (1-8) is housed respectively, camera (1-9) is installed on the external part of Foldable flexible arm (1-8).
3. the mine searching multi-robot system based on wireless sensor network according to claim 2 is characterized in that camera (1-9) is the CCD infrared camera.
4. the mine searching multi-robot system based on wireless sensor network according to claim 2 is characterized in that on head unit (1-1) and the tail units (1-2) the infrared-ray range sensor being installed.
5. the mine searching multi-robot system based on wireless sensor network according to claim 2, it is characterized in that head unit (1-1), tail units (1-2), two hinge driver elements (1-3), mounted unit (1-4), power subsystems (1-5) and control sensing units (1-6) thus on all be provided with self attitude of definite each the joint body of high-precision tilt angle sensor.
6. the mine searching multi-robot system based on wireless sensor network according to claim 1 is characterized in that sensor that multi-joint body robot (1) and small-sized investigation robot (2) carry surveys the content of ethene, ethane, acetylene, methane, carbon monoxide, oxygen, hydrogen, on-the-spot temperature, humidity and wind speed respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100644925A CN101265813B (en) | 2008-05-14 | 2008-05-14 | Mine searching multi-robot system based on wireless sensor network |
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| CN2008100644925A CN101265813B (en) | 2008-05-14 | 2008-05-14 | Mine searching multi-robot system based on wireless sensor network |
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| CN101265813A CN101265813A (en) | 2008-09-17 |
| CN101265813B true CN101265813B (en) | 2010-04-14 |
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