CN101934522A - Remote control device for coring detection teleoperated robot - Google Patents
Remote control device for coring detection teleoperated robot Download PDFInfo
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- CN101934522A CN101934522A CN 201010225437 CN201010225437A CN101934522A CN 101934522 A CN101934522 A CN 101934522A CN 201010225437 CN201010225437 CN 201010225437 CN 201010225437 A CN201010225437 A CN 201010225437A CN 101934522 A CN101934522 A CN 101934522A
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Abstract
The invention discloses a remote control device for a coring detection teleoperated robot. The robot is remotely controlled to perform coring detection through a wireless communication network. The remote control device comprises a central processing unit module, a power module, a command input module, a station communication module and an information display module, wherein the central processing unit module is connected with the command input module, the station communication module and the information display module respectively and for data transmission with each other; the power module is respectively connected with the central processing unit module, the command input module, the station communication module and the information display module respectively and supplies electric energy required by each component; the station communication module comprises a data station unit and a picture transmission station unit; and the entire remote control device is integrated in a box which comprises a box cover and a box body and can be opened and closed.
Description
Technical field
The present invention relates to mobile robot's human-computer interaction technology and remote control field, be specifically related to the remote control that teleoperation robot is scouted in a kind of coring.
Background technology
In recent years, international terrorist activity is becoming increasingly rampant, and terrorist activity has become big public hazards of international community.Along with terrorist activity towards the high-tech development, the means of terrorist activity, method more the variation, endanger also more serious, the whole world be faced with the sternness nuclear, change, afraid fear threat.Research and development with reconnaissance robot of anti-nuclear chemical defence function seem very necessary.
Is example with Southeast China University's instrumental science and the robot sensing of engineering college with the nuclear and chemical reconnaissance robot of controlling the laboratory research and development, the robotic end of this robot has been loaded some and has been had the nuclear detective's instrument and the chemical apparatuses of specific function, and having manipulator can in needs, grasp the object of certain mass, several cameras are used to obtain video image and microphone is used to obtain robot voice signal on every side.
Because the residing specific nuclear biochemical working environment of nuclear and chemical reconnaissance robot, therefore coming robot operated by the Remote mode also just becomes inevitable choice.
Be in man-machine released state during teleoperation robot work, robot usually is in the inaccessible working site of operator's sight line, the operator can only understand the residing environment of robot, situation of movement, position by the controller in the hand, and navigates, controls the work that a series of needs such as robot is scouted, search are finished according to these information.And for such class coring investigation teleoperation robot, under a complicated unknown environment, easy to carry, flexible operation, the reliable remote control of data transmission security are most important for the realization of functions such as the course of work of robot and the chemical defence of anti-nuclear.
Summary of the invention
The object of the present invention is to provide the remote control that a kind of data transmission security is reliable and easy to carry, teleoperation robot is scouted in the coring of flexible operation.
Technical scheme of the present invention is as follows:
The remote control of teleoperation robot is scouted in a kind of coring, carry out coring by the cordless communication network remote control robot and scout, it is characterized in that: comprise CPU module, power module, order input module, station telecommunication module and information display module; Wherein CPU module is respectively with order input module, station telecommunication module and information display module is connected and carry out each other transfer of data, power module respectively with CPU module, order input module, station telecommunication module and information display module is connected and provide each several part required electric energy.
Because when wireless data transmits, the information content of view data is bigger, is easy to generate the delay of packet and loses.For addressing this problem, can adopt view data and other data to separate transmission manner, promptly use two radio station to carry out the transmission of view data and other data respectively, specifically, exactly: the station telecommunication module comprises data radio unit and the figure platform unit that conducts electricity; Wherein figure conducts electricity, and to be used to receive the picture pick-up device that is installed in robotic end taken and by the figure that the is installed in robotic end view data that the platform unit sends that conducts electricity in the platform unit; The data radio unit is used to receive other data except that view data that the data radio unit of robotic end sends, and to robotic end transmission control data.
In order further to strengthen the security and the stability of image data transmission, can also conduct electricity at above-mentioned figure increases cavity body filter in the platform unit and comes noise in the transmission of filtering data signal, and the viewdata signal that receives is transferred to CPU module after this cavity body filter filtering.
Can also in above-mentioned remote control, increase the extended function module that is connected with central controller module, multiple interfaces such as this extended function module can circumscribed USB, audio frequency, so that operating personnel select the auxiliary control of various extraneous auxiliary equipment, for example audio amplifier, USB handle etc. according to actual needs.
In order to guarantee security and the portability of whole remote control in mobile transportation, this remote control can be installed in one constitute by case lid and casing and can open, in the closed chest; Wherein information display module is embedded in the case lid inner surface; Other parts are installed on box house and tank surface; When chest is closed, whole device be one can man portable chest; After chest is opened, can read and control operation by display in the information display module that is installed on the case lid surface and the input block information of carrying out that is installed on the order input module of tank surface.
The remote control that teleoperation robot is scouted in coring of the present invention has the following advantages:
Because adopted view data and other data to separate transmission manner and the filtering of use cavity body filter, real time of data transmission and reliability are better, and increased coring scouting teleoperation robot controllable distance;
Whole remote control is integrated in the chest, and when chest was closed, all parts were all in cabinet interior, were easy to carry and possessed high security; After chest is opened, can carry out various control operations to coring scouting teleoperation robot easily by information display module that is installed in the case lid inner surface and the order input module that is installed on box house.
Description of drawings
Fig. 1 is a system block diagram of the present invention;
Fig. 2 is the outline drawing after the specific embodiment of the invention closure;
Fig. 3 is the outline drawing of the specific embodiment of the invention after opening;
Fig. 4 is the structural representation of the specific embodiment of the invention;
Fig. 5 is the circuit theory diagrams of command input circuit in the specific embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated:
The remote control of teleoperation robot is scouted in a kind of coring, as shown in Figure 1, carry out coring by the cordless communication network remote control robot and scout, it is characterized in that: comprise CPU module, power module, order input module, station telecommunication module and information display module; Wherein CPU module is respectively with order input module, station telecommunication module and information display module is connected and carry out each other transfer of data, power module respectively with CPU module, order input module, station telecommunication module and information display module is connected and provide each several part required electric energy.
The structure of this specific embodiment as shown in Figure 4, wherein CPU module is made up of a PC104 industrial computer, it is not only the core of whole system hardware, is responsible for the data transmission and the contact of each intermodule, plays a part to connect each module simultaneously physically.
The order input module is made up of input block and these two parts of command input circuit.Input block comprises robot motion's control button, camera gauge tap and mode control switch.Robot motion's control button mainly by several be used to control robot move with robot on the direction controller that is similar to steering wheel and the game paddle of joint angles of manipulator form; The camera gauge tap mainly is made up of some analog knobs of actions such as visual angle that is used to control camera and luffing angle; Mode control switch mainly is the switch that is used to select and switch the artificial operation mode of machine.Can select and control the mode of operation and the action of robot easily by these input blocks, and provide the two-value on the mechanical-physical to change and change continuously, for command input circuit identification.As shown in Figure 5, command input circuit is made up of A, B, C three parts, A partly be model be C8051F340 single-chip microcomputer, B part by several switch elements constitute, the C part is made up of corresponding several Schmidt triggers.One end of command input circuit links to each other with the input block in this module, the USB mouth of the industrial computer in the other end and the CPU module is connected, the physical location change of input block is converted into the signal of telecommunication, gives the industrial computer of CPU module by the USB oral instructions.Wherein the switch element in the B part adopts the simple circuit design structure of switch port difference ground connection and power supply, and the physical change that each control module in the input block produces can obtain the rectangular pulse signal DIx of initial high-low level by the B part; It is the chip of HCF40106BM1 that Schmidt trigger in the C part has adopted the model that is integrated with not gate, its effect is the pulse signals shaping, the rectangular pulse signal DIx that he sends switch element is converted to comparatively desirable rectangular pulse signal Dx, send the single-chip microcomputer C8051F340 of C part then to, C8051F340 is the main control chip of command input circuit, and the comparatively desirable rectangular pulse signal Dx that he sends Schmidt trigger finally passes to the USB interface of the industrial computer of central controller module.
The station telecommunication module is used for carrying out radio communication and transmitting related data with robotic end, comprises data radio unit and figure two parts in platform unit that conduct electricity.The data radio unit mainly is made up of data radio and the number road two parts that conduct electricity, and an end on several roads that conduct electricity is connected with data radio station, then is connected with the COM port or COM device or COM1 of industrial computer in the CPU module on the other hand.The communication mode of data radio communication is duplex communication: the multiple information that can return the robot running on the one hand by this radio station, the surplus electric weight of battery that comprises robot, signal strength signal intensity with the robot radio communication, voice signal around the robot that microphone obtained in the robot etc., and the robot measured status information about robot of various sensors of carrying, comprise the environmental data around the robot, the robot pose data, the location navigation data, the status data of robot, manipulator state and stress data, the data that nuclear radiation close rate and chemical apparatuses are measured etc.; On the one hand can be to the robot transfer control instruction by this radio station, reaching the purpose of control robot, control command comprises makes that robot advances, retreats, stops, left-hand bend, right-hand bend, original place are spinned, quicken, move the position of deceleration, reverses its direction and robotic end camera and focusing etc.Figure mainly is made up of figure platform, cavity body filter and the figure road that conducts electricity that conducts electricity the platform unit that conducts electricity, and the conduct electricity COM2 of the industrial computer in an end and the CPU module on road of figure is connected, and this part can only one-way transmission; Figure conducts electricity after platform receives the vedio data that robotic end is taken and send, and through cavity body filter filtering, is handled by the figure road that conducts electricity again, sends the industrial computer in the CPU module at last to.
Information display module mainly is made of a LCD, the input of display is connected on the VGA interface of the industrial computer in the CPU module, industrial computer in the CPU module is handled the Various types of data information that receives according to predefined program, is transferred to display then and shows.
This specific embodiment also comprises the extended function module that industrial computer direct and in the CPU module is connected, and major function is to draw several data interface, for example USB interface, COBBAIF etc. by industrial computer.By this extended function module, an audio amplifier can be connected on the COBBAIF, play the voice signal that robotic end collects at the control device end in real time; Also a USB handle USB interface be can be connected, operation of components and control robots such as place of switches rocking bar be come by control USB handle.
The electronic devices and components of above-mentioned each big module are all powered by power module, this power module mainly provides initial voltage by rechargeable lithium battary, through the needed magnitude of voltage of electric pressure converter conversion each big parts of output, be transferred to each parts then, thereby energy be provided for each module.
Shown in accompanying drawing 2, accompanying drawing 3, the remote control in the specific embodiment of the invention is integrated in one and can man portablely comprises case lid and casing and can open, in the closed chest, handle be housed on the casing that LCD is embedded in the case lid inner surface; Other parts are installed on box house; When chest was closed, whole device was a chest; After chest is opened, can carry out various control operations to coring scouting teleoperation robot easily by information display module that is installed in the case lid inner surface and the order input module that is installed on box house.
When using remote control control coring of the present invention to scout the teleoperation robot operation, at first can demonstrate the surplus electric weight of battery of robot in the display of information display module, teleoperation robot is entrained to be the video information of camera, the status information that the various sensors that robot carries are measured about robot, comprise robot environmental data on every side, the robot pose data, the location navigation data, the status data of robot, manipulator state and stress data, the data that nuclear radiation close rate and chemical apparatuses are measured etc., the audio amplifier in the extended function module can play the voice signal around the robot that microphone obtained in the robot in real time.Operating personnel can fully understand present working environment of robot and duty according to above data message, and the control robot carries out various instructions.By the input blocks such as switch, rocking bar of order input module, the operator can control robot intuitively, sends control command.Control command sends the industrial computer of central processing module to by the command input circuit of order input module, and then the data radio that sends the station telecommunication module to carries out radio communication, thereby reaches the action behavior of control robot.After the robot responds, his various status informations and and measured data of the measured nuclear radiation close rate of survey meter and chemical apparatuses etc. send back the industrial computer of CPU module in real time by the station telecommunication module, and be presented in real time in the display of information display module, the operator can understand the various information of robot in real time by information display module, thus the control operation that can continue.
Above-mentioned only is a concrete real embodiment of the present invention, is used for helping to understand the present invention.But should be appreciated that embodiments of the present invention are not limited in this,, all should be included in protection scope of the present invention the various variation instance that the present invention did.
Claims (6)
1. the remote control of teleoperation robot is scouted in a coring, carry out coring by the cordless communication network remote control robot and scout, it is characterized in that: comprise CPU module, power module, order input module, station telecommunication module and information display module; Wherein CPU module is respectively with order input module, station telecommunication module and information display module is connected and carry out each other transfer of data, power module respectively with CPU module, order input module, station telecommunication module and information display module is connected and provide each several part required electric energy.
2. the remote control of teleoperation robot is scouted in coring according to claim 1, and it is characterized in that: the order input module is connected with CPU module by USB port; The station telecommunication module is connected with CPU module by COM port; Information display module is connected with CPU module by the VGA port.
3. scout the remote control of teleoperation robot as coring as described in the claim 2, it is characterized in that: described station telecommunication module comprises data radio unit and the figure platform unit that conducts electricity; Wherein figure conducts electricity, and to be used to receive the picture pick-up device that is installed in robotic end taken and by the figure that the is installed in robotic end view data that the platform unit sends that conducts electricity in the platform unit; The data radio unit is used to receive other data except that view data that the data radio unit of robotic end sends, and to robotic end transmission control data.
4. scout the remote control of teleoperation robot as coring as described in the claim 3, it is characterized in that: the described figure platform unit that conducts electricity comprises cavity body filter, and the viewdata signal that receives is transferred to CPU module after this cavity body filter filtering.
5. the remote control of teleoperation robot is scouted in coring according to claim 1, it is characterized in that: also comprise the extended function module that is connected with CPU module.
6. scout the remote control of teleoperation robot as coring as described in the claim 1,2,3,4 or 5, it is characterized in that: described remote control be installed in one constitute by case lid and casing and can open, in the closed chest; Wherein information display module is embedded in the case lid inner surface; Other parts are installed on box house; When chest is closed, whole device be one can man portable chest; After chest is opened, can read and control operation by order input module that is installed on interior and the information display module information of carrying out that is installed on the case lid inner surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010225437 CN101934522A (en) | 2010-07-13 | 2010-07-13 | Remote control device for coring detection teleoperated robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010225437 CN101934522A (en) | 2010-07-13 | 2010-07-13 | Remote control device for coring detection teleoperated robot |
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| CN 201010225437 Pending CN101934522A (en) | 2010-07-13 | 2010-07-13 | Remote control device for coring detection teleoperated robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102636820A (en) * | 2012-03-16 | 2012-08-15 | 信源通科技（深圳）有限公司 | Exploration system |
| CN105773659A (en) * | 2016-05-16 | 2016-07-20 | 苏州金建达智能科技有限公司 | Multifunctional robot for factory |
| CN106200667A (en) * | 2016-09-05 | 2016-12-07 | 南京理工大学 | Petrochemical iy produced site intelligent cruising inspection system |
| CN108012077A (en) * | 2017-11-10 | 2018-05-08 | 北京臻迪科技股份有限公司 | Camera control method, photographic method, apparatus and system |
| CN108334076A (en) * | 2018-01-09 | 2018-07-27 | 佛山科学技术学院 | A kind of complex organism assists kinematic system and its movement technique |
| CN111482972A (en) * | 2020-03-19 | 2020-08-04 | 季华实验室 | Fire-fighting and disaster-relief robot and system |
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| CN102636820A (en) * | 2012-03-16 | 2012-08-15 | 信源通科技（深圳）有限公司 | Exploration system |
| CN105773659A (en) * | 2016-05-16 | 2016-07-20 | 苏州金建达智能科技有限公司 | Multifunctional robot for factory |
| CN105773659B (en) * | 2016-05-16 | 2019-02-12 | 广州中设机器人智能装备股份有限公司 | A kind of factory's multi-function robot |
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| CN108334076A (en) * | 2018-01-09 | 2018-07-27 | 佛山科学技术学院 | A kind of complex organism assists kinematic system and its movement technique |
| CN108334076B (en) * | 2018-01-09 | 2020-12-29 | 佛山科学技术学院 | Super-individual assisted exercise system and exercise method thereof |
| CN111482972A (en) * | 2020-03-19 | 2020-08-04 | 季华实验室 | Fire-fighting and disaster-relief robot and system |
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Application publication date: 20110105 |