CN101917776A - Autonomous intelligent mine detection multi-robot wireless communication system based on wireless network - Google Patents
Autonomous intelligent mine detection multi-robot wireless communication system based on wireless network Download PDFInfo
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Abstract
The invention relates to an autonomous intelligent mine detection multi-robot wireless communication system based on a wireless network, and the wireless communication system is characterized by comprising a plurality of robots and a wireless remote control intelligent terminal, the system owns 255 robots at most, each robot comprises a wireless communication module, an intelligent communication coordination module, a movement mechanism and an autonomous navigation module, and communication connection is realized by the wireless network, thus forming an autonomously mobile and flexible communication network. The wireless communication module is used as a router and a communication terminal; the wireless communication module receives environment information and image information from the wireless communication system and transmits the information to the wireless communication module of the next mine detection robot, and the wireless communication module also transmits the received movement information to the intelligent communication coordination module; the intelligent communication coordination module analyzes the movement information and sends the result to the autonomous navigation module; and the autonomous navigation module plans a walking path according to roadway conditions and transfers the planned movement information to the movement mechanism.
Description
Technical field
The present invention relates to a kind of radio mobile communication network system of forming by a plurality of autonomous intelligent movable of mine robots with explosion-proof ability, a kind of autonomous intelligent mine detection multi-robot wireless telecommunication system based on wireless network is particularly disclosed, after solving colliery disaster generation, the long distance communication problem of mine sniffing robot belongs to mine sniffing robot technical field.
Background technology
The colliery is as one of high risk industries, and safety in production is cardinal task all the time, always is the emphasis that country pays close attention to, and according to incompletely statistics the end of the year 2009 of first arrival in 2006, nearly thousand mine disasters take place in domestic colliery, cause a large amount of miner's death.In the coal mining accident rescue work, the autonomous intelligent mine detection robot is used to grasp first-hand information in the scene of the accident and data, improves rescue efficiency, reduces injures and deaths and loss to greatest extent.When the artificial acquisition environment information of autonomous intelligent mine detection machine surpassed certain limit, the rescue team member just can not enter and implement rescue in this environment, in order to avoid cause subsequent explosion, avoids causing rescuing team member's injures and deaths.But mine laneway is a special environment, and wireless communication signal is absorbed by mine laneway easily.Under the mine normal operation, the wireless communication base station that mainly installs and fixes is expanded the distance of wireless telecommunications at present.But the colliery occurs after the disasters such as gas or coal-dust explosion, and the power supply of down-hole all cuts off, and the wireless base station can't operate as normal.And when mine disaster takes place, the rescue team member can't enter the tunnel and arrange emergent wireless communication base station, because environmental information is unclear, very great danger is arranged, needing mine robot to be introduced into the tunnel surveys, and the mine sniffing robot will be grown apart from going deep into the mine laneway detection, if adopt wireless communication mode, the wireless base station must be arranged.
In order to address this problem, at present existing patent [CN201179899, CN101643096, CN201305046, CN201516604U] all adopt wire communication mode, expand the communication distance of robot, but after the disaster of colliery, the environment landform is very complicated, drags the mine sniffing robot of line to use under the blast tunnel.
Summary of the invention
After the objective of the invention is to solve colliery disaster generation, the long distance communication problem of mine sniffing robot, a kind of autonomous intelligent mine detection multi-robot wireless telecommunication system based on wireless network is disclosed, be one group of intelligent mobile radio communication network of forming by mobile mine sniffing robot, for the mine disaster rescue provides effective guarantee.
The present invention is achieved in that wireless telecommunication system is made up of a plurality of robots and wireless remote control intelligent terminal, system's maximum has 255 robots, each robot has wireless communication module, intelligent communication Coordination module, motion and self-contained navigation module, each robot carries out communication by wireless network and connects, form autonomous that move, flexible communication network, help the rescue team member to detect the remote environmental information of mine laneway; Wireless communication module is both as router, also as communicating terminal; The mine sniffing robot is by self-contained navigation module autonomous operation in mine laneway; Wireless communication module receives environmental information and the image information from wireless telecommunication system, and is transmitted to the wireless communication module of next mine sniffing robot, and wireless communication module is transmitted to the intelligent communication Coordination module with the movable information that receives; Distance between two adjacent mine sniffing robots is determined by the intelligent communication Coordination module, the intelligent communication Coordination module is resolved movable information, send to the self-contained navigation module, desired speed as the self-contained navigation module, guarantee that the distance between the mine sniffing robot guarantees synchronous coordination, guarantees the reliable communications, effective of two adjacent mine sniffing robots; The self-contained navigation module is according to the tunnel situation, and from the walking path of master program in the tunnel, the movable information with planning passes to motion at last.
Distance between described each robot is dynamic, move by autonomous, guarantee that distance between each mine sniffing robot is a reasonable range, to guarantee the validity of communication, its adjusting is carried out according to following mode: the 2nd mine sniffing robot is according to the movable information autonomous operation of the 1st the mine sniffing robot of receiving, and the communication distance of detection and the 1st mine sniffing robot, when communication distance is too big, the 2nd mine sniffing robot will be with the mode autonomous operation that quickens, shorten and the 1st mine sniffing robot between distance; The 3rd mine sniffing robot is according to the movable information autonomous operation of the 2nd the mine sniffing robot of receiving, and the communication distance of detection and the 2nd mine sniffing robot, when communication distance is too big, the 3rd mine sniffing robot will be with the mode autonomous operation that quickens, shorten and the 2nd mine sniffing robot between distance; Other robot also is by that analogy.
Described intelligent communication Coordination module is work like this: the 1st mine sniffing robot enters the tunnel, the movable information of oneself is sent to the 2nd mine sniffing robot, the 2nd mine sniffing robot received the movable information of the 1st mine sniffing robot, then movable information is sent to the self-contained navigation module, detect communication distance with the 1st mine sniffing robot, when communication distance during, will send acceleration information to the 2nd mine sniffing robot greater than a certain set point; Other robot all carry out in the same way mutual spacing from coordination.
At mine down-hole wireless telecommunication system of the present invention is a wireless communication networks that autonomous intelligence moves, for the long-range wireless remote control intelligent terminal, just as mine sniffing robot of operation.
In the wireless communication networks, distance between the mine sniffing robot is to coordinate by following mode: under the beginning situation, the rescue team member allows the 1st mine sniffing robot (i.e. No. 1 robot) wherein enter mine laneway, can real-time monitor the environmental information of mine laneway by the wireless remote control intelligent terminal: as gas, temperature etc.When the distance that enters the tunnel increased, it is too big that the intelligent communication Coordination module monitors communication distance, causes the communication bandwidth to reduce, and when communication is unreliable, the rescue team member will send the 2nd mine sniffing robot (i.e. No. 2 robots) to enter the tunnel.The 2nd mine sniffing robot is as the router of the 1st mine sniffing robot, when the 1st mine sniffing robot continues to enter the tunnel, it sends to the 2nd mine sniffing robot with movable information, and the 2nd mine sniffing robot is according to the movable information autonomous operation of the 1st the mine sniffing robot of receiving.Other mine sniffing robot also carries out work in the same way.In the mine sniffing robot, need not to rescue team member's real time remote control, be autonomous the realization.For long-range rescue team member, can monitor the environmental information in remote tunnel by the wireless remote control intelligent terminal, can enter the tunnel with the judgement personnel and implement rescue.
The invention has the beneficial effects as follows: wireless telecommunication system of the present invention is dynamically to move, it is real-time, remote, an autonomous intelligent wireless network that moves, the autonomous actual conditions of energy according to the tunnel, automatically regulate the distance between each router, need not to rescue the team member and arrange net in advance, also need not outside power supply power supply.System of the present invention is mainly used in the emergent occasion of mine disaster, can be applicable to the wireless telecommunications of the mine laneway of any complexity.
Description of drawings
Fig. 1 is a system schematic of the present invention;
Fig. 2 is the autonomous intelligence mine sniffing robot framework schematic diagram of system of the present invention;
Fig. 3 is the flow chart of the intelligent communication Coordination module of system of the present invention.
Embodiment
Come the specific embodiment of the present invention is further detailed with embodiment below in conjunction with accompanying drawing.
With reference to the accompanying drawings 1, the present invention is based on the autonomous intelligent mine detection multi-robot wireless telecommunication system schematic diagram of wireless network, wireless telecommunication system is by the 1st mine sniffing robot 1, the 2nd mine sniffing robot 2, the 3rd mine sniffing robot 3, the 4th mine sniffing robot 4 ... and composition such as wireless remote control intelligent terminal 9, intelligent movable Radio Network System maximum can reach 255 mine sniffing robots.In this wireless telecommunication system, each mine sniffing robot all is autonomous moving, between the 1st mine sniffing robot 1 and the 2nd the mine sniffing robot 2 apart from S
15; Between the 2nd mine sniffing robot 2 and the 3rd the mine sniffing robot 3 apart from S
26; Between the 3rd mine sniffing robot 3 and the 4th the mine sniffing robot 4 apart from S
37 ... between the 254th mine sniffing robot 254 and the 255th the mine sniffing robot 255 apart from S
2548, move by the autonomous of mine sniffing robot, guarantee between each mine sniffing robot apart from S
15, S
26, S
37 ... S
2548 a reasonable range, to guarantee the validity of communication.For example: the 1st mine sniffing robot 1 sends to the 2nd mine sniffing robot 2 with movable information, between the 1st mine sniffing robot 1 and the 2nd mine sniffing robot 2 apart from S
15 greater than some distances, and when communication was unreliable, unstable, the 2nd mine sniffing robot 2 will be with the speed operation greater than the 1st mine sniffing robot 1, shorten between the 1st mine sniffing robot 1 and the 2nd the mine sniffing robot 2 apart from S
15, to guarantee reliable communication.Other mine sniffing robot of wireless telecommunication system is also worked in the same way.
With reference to the accompanying drawings 2, be the autonomous intelligence mine sniffing robot framework schematic diagram of system of the present invention, robot mainly comprises wireless communication module 11, intelligent communication Coordination module 12, motion 13, self-contained navigation module 14.Wireless communication module 11 both can be used as router, also can be used as communicating terminal.The mine sniffing robot is by self-contained navigation module 14 autonomous operation in mine laneway.Intelligent communication Coordination module 12, guarantee that the distance between the mine sniffing robot guarantees synchronous coordination, be that distance between adjacent two mine sniffing robots is determined by intelligent communication Coordination module 12, its objective is the reliable communications that guarantees two adjacent mine sniffing robots, effectively.The information that wireless communication module 11 receives from wireless telecommunication system, if environmental information and image information, wireless communication module 11 will be transmitted to the wireless communication module 11 of next mine sniffing robot; If movable information, wireless communication module will be transmitted to intelligent communication Coordination module 12.The intelligent communication Coordination module is resolved movable information, sends to self-contained navigation module 14, the most the desired speed of self-contained navigation module 14.The self-contained navigation module from the walking path of master program in the tunnel, is given motion 13 with the movable information of planning according to the tunnel situation at last.
With reference to the accompanying drawings 3, the flow chart of the intelligent communication Coordination module of system of the present invention, the 1st mine sniffing robot 1 enters the tunnel, the movable information that sends oneself is to the 2nd mine sniffing robot 2, postpone certain hour, the movable information that sends oneself more so circulates to the 2nd mine sniffing robot.That is to say that the 1st mine sniffing robot 1 sends movable information to the 2nd mine sniffing robot with certain frequency.The 2nd mine sniffing robot received the movable information of the 1st mine sniffing robot, then movable information is sent to the self-contained navigation module, detect the communication distance with the 1st mine sniffing robot,, will send acceleration information to the self-contained navigation module when communication distance during greater than a certain set point.Other mine sniffing robot is all coordinated in the same way.
The workflow of autonomous intelligent mine detection robot wireless telecommunication system reality is:
1, the 1st mine sniffing robot enters mine laneway and implements detection mission, and environmental information is sent to the wireless remote control intelligent terminal.When the wireless remote control intelligent terminal showed that communication distance is unreliable, the rescue team member allowed the 2nd mine sniffing robot enter tunnel work.
2, the 2nd mine sniffing robot is according to the movable information autonomous operation of the 1st the mine sniffing robot of receiving, and the communication distance of detection and the 1st mine sniffing robot, when communication distance was too big, the 2nd mine sniffing robot will be with the mode autonomous operation that quickens.
3, when the wireless remote control intelligent terminal shows that communication distance is unreliable, the rescue team member enters tunnel work with the 3rd mine sniffing robot.The 3rd mine sniffing robot is according to the movable information autonomous operation of the 2nd the mine sniffing robot of receiving, and the communication distance of detection and the 2nd mine sniffing robot, when communication distance was too big, the 3rd mine sniffing robot will be with the mode autonomous operation that quickens.
4, according to the actual tunnel situation that will survey, the rescue team member sends the different robot of quantity to enter the tunnel, forms wireless telecommunication system.
5, the wireless telecommunication system of being made up of these mine sniffing robots, the rescue team member can detect the remote environmental information in tunnel.
Wireless telecommunication system of the present invention is intelligent mobile communcations system, can adapt to different tunnel situations.When the environment communication quality is poor, the mine sniffing robot will be adjusted the distance between each robot automatically, and with the reliability of assurance communication, so this wireless telecommunication system also is flexible.
Claims (3)
1. autonomous intelligent mine detection multi-robot wireless telecommunication system based on wireless network, it is characterized in that: wireless telecommunication system is made up of a plurality of robots and wireless remote control intelligent terminal, system's maximum has 255 robots, each robot has wireless communication module, intelligent communication Coordination module, motion and self-contained navigation module, each robot carries out communication by wireless network and connects, form autonomous that move, flexible communication network, help the rescue team member to detect the remote environmental information of mine laneway; Wireless communication module is both as router, also as communicating terminal; The mine sniffing robot is by self-contained navigation module autonomous operation in mine laneway; Wireless communication module receives environmental information and the image information from wireless telecommunication system, and is transmitted to the wireless communication module of next mine sniffing robot, and wireless communication module is transmitted to the intelligent communication Coordination module with the movable information that receives; Distance between two adjacent mine sniffing robots is determined by the intelligent communication Coordination module, the intelligent communication Coordination module is resolved movable information, send to the self-contained navigation module, desired speed as the self-contained navigation module, guarantee that the distance between the mine sniffing robot guarantees synchronous coordination, guarantees the reliable communications, effective of two adjacent mine sniffing robots; The self-contained navigation module is according to the tunnel situation, and from the walking path of master program in the tunnel, the movable information with planning passes to motion at last.
2. the autonomous intelligent mine detection multi-robot wireless telecommunication system based on wireless network according to claim 1, it is characterized in that the distance between described each robot is dynamic, move by autonomous, guarantee that distance between each mine sniffing robot is a reasonable range, to guarantee the validity of communication, its adjusting is carried out according to following mode: the 2nd mine sniffing robot is according to the movable information autonomous operation of the 1st the mine sniffing robot of receiving, and the communication distance of detection and the 1st mine sniffing robot, when communication distance is too big, the 2nd mine sniffing robot will be with the mode autonomous operation that quickens, shorten and the 1st mine sniffing robot between distance; The 3rd mine sniffing robot is according to the movable information autonomous operation of the 2nd the mine sniffing robot of receiving, and the communication distance of detection and the 2nd mine sniffing robot, when communication distance is too big, the 3rd mine sniffing robot will be with the mode autonomous operation that quickens, shorten and the 2nd mine sniffing robot between distance; Other robot also is by that analogy.
3. the autonomous intelligent mine detection multi-robot wireless telecommunication system based on wireless network according to claim 1, it is characterized in that described intelligent communication Coordination module is work like this: the 1st mine sniffing robot enters the tunnel, the movable information of oneself is sent to the 2nd mine sniffing robot, the 2nd mine sniffing robot received the movable information of the 1st mine sniffing robot, then movable information is sent to the self-contained navigation module, detect communication distance with the 1st mine sniffing robot, when communication distance during, will send acceleration information to the 2nd mine sniffing robot greater than a certain set point; Other robot all carry out in the same way mutual spacing from coordination.
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Cited By (16)
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| EP2487623A1 (en) * | 2011-02-10 | 2012-08-15 | Research In Motion Limited | System and method of relative location detection using image perspective analysis |
| CN103072600A (en) * | 2013-01-15 | 2013-05-01 | 西安科技大学 | Building system and method of wireless communication network for emergency rescue in underground coal mine |
| CN103244189A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground network restoration and reconstruction method based on swarm robot system |
| US8612149B2 (en) | 2011-02-10 | 2013-12-17 | Blackberry Limited | System and method of relative location detection using image perspective analysis |
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Wireless remote control command communication system device of portable mining intrinsic safety rescue detecting robot |
| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN106527433A (en) * | 2016-10-31 | 2017-03-22 | 江苏理工学院 | Multi-robot search and rescue system |
| CN106647735A (en) * | 2016-10-31 | 2017-05-10 | 江苏理工学院 | Ground-air combined collaborative search and rescue method based on robot group |
| CN106708063A (en) * | 2017-03-22 | 2017-05-24 | 江南大学 | Route planning method for search and rescue robot in chemical disaster scene |
| CN106909142A (en) * | 2016-11-29 | 2017-06-30 | 攀枝花市九鼎智远知识产权运营有限公司 | A kind of unmanned mine car system and method in underground based on image processing techniques |
| CN107272691A (en) * | 2017-07-17 | 2017-10-20 | 西安工业大学 | A kind of Intelligent navigation robot cart system |
| CN109108972A (en) * | 2018-08-29 | 2019-01-01 | 广州市君望机器人自动化有限公司 | Multirobot passes through the dispatching method and device of narrow zone |
| CN109584505A (en) * | 2018-10-30 | 2019-04-05 | 何学苗 | A kind of physiological parameter monitoring method, equipment and computer readable storage medium |
| CN110593958A (en) * | 2019-10-09 | 2019-12-20 | 山东阿图机器人科技有限公司 | Underground detection type special robot with ultra-long operation radius and operation method |
| CN112526990A (en) * | 2020-11-24 | 2021-03-19 | 深圳市优必选科技股份有限公司 | Method and device for robot to pass through narrow channel, readable storage medium and robot |
| CN113696183A (en) * | 2021-09-10 | 2021-11-26 | 深圳优地科技有限公司 | Robot control method based on chain communication, robot and storage medium |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2487623A1 (en) * | 2011-02-10 | 2012-08-15 | Research In Motion Limited | System and method of relative location detection using image perspective analysis |
| US8612149B2 (en) | 2011-02-10 | 2013-12-17 | Blackberry Limited | System and method of relative location detection using image perspective analysis |
| CN103072600B (en) * | 2013-01-15 | 2015-05-13 | 西安科技大学 | Building system and method of wireless communication network for emergency rescue in underground coal mine |
| CN103072600A (en) * | 2013-01-15 | 2013-05-01 | 西安科技大学 | Building system and method of wireless communication network for emergency rescue in underground coal mine |
| CN103244189B (en) * | 2013-05-14 | 2016-01-27 | 太原科技大学 | A kind of Mine Communication network recovery based on group grey relational grade and reconstruction method |
| CN103244189A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground network restoration and reconstruction method based on swarm robot system |
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Wireless remote control command communication system device of portable mining intrinsic safety rescue detecting robot |
| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN106020178B (en) * | 2016-08-01 | 2023-04-18 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN106527433B (en) * | 2016-10-31 | 2019-04-05 | 江苏理工学院 | multi-robot search and rescue system |
| CN106527433A (en) * | 2016-10-31 | 2017-03-22 | 江苏理工学院 | Multi-robot search and rescue system |
| CN106647735A (en) * | 2016-10-31 | 2017-05-10 | 江苏理工学院 | Ground-air combined collaborative search and rescue method based on robot group |
| CN106647735B (en) * | 2016-10-31 | 2019-06-07 | 江苏理工学院 | Ground-air combined collaborative search and rescue method based on robot group |
| CN106909142A (en) * | 2016-11-29 | 2017-06-30 | 攀枝花市九鼎智远知识产权运营有限公司 | A kind of unmanned mine car system and method in underground based on image processing techniques |
| CN106708063A (en) * | 2017-03-22 | 2017-05-24 | 江南大学 | Route planning method for search and rescue robot in chemical disaster scene |
| CN107272691A (en) * | 2017-07-17 | 2017-10-20 | 西安工业大学 | A kind of Intelligent navigation robot cart system |
| CN109108972A (en) * | 2018-08-29 | 2019-01-01 | 广州市君望机器人自动化有限公司 | Multirobot passes through the dispatching method and device of narrow zone |
| CN109584505A (en) * | 2018-10-30 | 2019-04-05 | 何学苗 | A kind of physiological parameter monitoring method, equipment and computer readable storage medium |
| CN110593958A (en) * | 2019-10-09 | 2019-12-20 | 山东阿图机器人科技有限公司 | Underground detection type special robot with ultra-long operation radius and operation method |
| CN112526990A (en) * | 2020-11-24 | 2021-03-19 | 深圳市优必选科技股份有限公司 | Method and device for robot to pass through narrow channel, readable storage medium and robot |
| CN113696183A (en) * | 2021-09-10 | 2021-11-26 | 深圳优地科技有限公司 | Robot control method based on chain communication, robot and storage medium |
| CN113696183B (en) * | 2021-09-10 | 2023-03-14 | 深圳优地科技有限公司 | Robot control method based on chain communication, robot and storage medium |
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Application publication date: 20101215 |