CN102561294A - Telerobot-based geotechnical engineering parameter mobile test system and control system thereof - Google Patents
Telerobot-based geotechnical engineering parameter mobile test system and control system thereof Download PDFInfo
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- CN102561294A CN102561294A CN2011104146973A CN201110414697A CN102561294A CN 102561294 A CN102561294 A CN 102561294A CN 2011104146973 A CN2011104146973 A CN 2011104146973A CN 201110414697 A CN201110414697 A CN 201110414697A CN 102561294 A CN102561294 A CN 102561294A
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Abstract
The invention discloses a telerobot-based geotechnical engineering parameter mobile test system which comprises a remote portable data terminal and a telerobot operating platform, wherein the remote portable data terminal comprises a 433MHz wireless communication module, an image display and master control module and a data display and processing module; and the telerobot operating platform comprises a 433MHz wireless communication module, a global positioning system (GPS), a camera and a 2.4GHz internal wireless interface. After the structure is adopted, the manual recording and the data processing of personnel can be avoided, and operating platforms and control terminals of different instruments are replaced by the test system, so that the number of instruments needed to be carried in field operation can be greatly reduced, a robot platform is configured with the GPS and the camera, and the test system is applicable to field detection in the extremely severe weather. The invention also discloses a control method of the telerobot-based geotechnical engineering parameter mobile test system.
Description
Technical field
The present invention relates to a kind of ground field test equipment, belong to hydrogeological sniffer technical field.
Background technology
In view of more domestic ground field test great majority are in semi-automatic state; Still need personnel to carry out manual record and artificial data; And the test of DIFFERENT SOIL engineering parameter need use different testers with and supporting control circuit and operating platform, the instrument that carries when making open-air the detection is various, mixed and disorderly, has produced great inconvenience in some rugged environment work; Especially under the exceedingly odious environment; Operating personnel can't be near surveying the place, and in this case, traditional field test can't be carried out.
Based on above analysis, the inventor has invented a kind of geotechnical engineering parameter mobile test system based on remote-controlled robot to the blank of prior art.
Summary of the invention
Technical problem to be solved by this invention is the deficiency to prior art; A kind of geotechnical engineering parameter mobile test system and control method based on remote-controlled robot proposed; Carry the built-in wave point of 2.4GHz; Not only break away from personnel's hand-kept and data, and replaced the operating platform and the control terminal of different instruments, significantly reduced the required instrument quantity of carrying of field operation; Self robot platform is equipped with GPS navigation system and camera, is applicable to that the exceedingly odious field of weather surveys.
The present invention is for realizing the foregoing invention purpose, and the technical scheme of employing is:
A kind of geotechnical engineering parameter mobile test system based on remote-controlled robot comprises that remote portable data terminal and remote-controlled robot control platform;
The remote portable data terminal comprises that 433MHz wireless communication module, image show and main control module, and data show and processing module that wherein, image shows and main control module is used for the image demonstration, and other module is controlled; Data show and processing module is carried out the processing of data under the control of image demonstration and main control module; The 433MHz wireless communication module is used to realize controlling with remote-controlled robot the control instruction communication and the transfer of data of platform;
Remote-controlled robot is controlled platform and is comprised 433MHz wireless communication module, GPS navigation system, camera and the built-in wave point of 2.4GHz; Wherein, The 433MHz wireless communication module is used to receive the control command from data terminal, and detection data is beamed back data terminal; The real-time display and operation platform of GPS navigation system position, and its coordinate figure transferred to data terminal; Camera is shown in data terminal with image in real time through wireless communication module; Said remote-controlled robot is controlled platform and is also carried the built-in wave point of 2.4GHz, correspondingly respectively surveys submodule and all is equipped with the built-in wave point of 2.4GHz, given unique identifier.
Control method based on the geotechnical engineering parameter mobile test system of remote-controlled robot comprises the steps:
(1), comprises that the initialization of upper remote portable data terminal and remote-controlled robot control platform initialization with system initialization;
(2) under the control of remote portable data terminal, robot platform is advanced to the detection place;
(3) the remote-controlled robot platform carries out with following location probe that 2.4GHz is wireless to be docked, and each probe has unique identifier;
(4) remote-controlled robot platform control specifies probe to survey, and probe value is read and carries out being sent to the remote portable data terminal through wireless module after the preliminary treatment, and the information of transmission comprises probe value, position coordinates and picture signal.
In the above-mentioned steps (1), the initialization of system also comprises sets up wireless telecommunications, obtains robot GPS position initialize signal, and obtains camera initial pictures interface.
After adopting such scheme, beneficial effect of the present invention is following:
(1) the present invention is applicable to the situation that environment is abominable, operating personnel can't get into, traditional detection can't be carried out;
(2) the present invention uses unified compatibility to control robot platform, reduces the required controlling platform of DIFFERENT SOIL engineering sounding instrument;
(3) the present invention uses the built-in wave point of 2.4GHz to dock with the next detection instrument, has the advantage of one-to-many butt joint, unique identifier control, accurate butt joint;
(4) the present invention uses the 433MHz wireless communication module, has the advantages that communication distance is far away, antijamming capability is strong, is fit to open-air the use;
(5) robot among the present invention controls platform, has the GPS location, can read position coordinates and stored position information in real time;
(6) robot manipulation's platform of the present invention carries camera, through wireless module image is sent to data terminal in real time, is beneficial to realize remote control.
Description of drawings
Fig. 1 is overall framework figure of the present invention;
Fig. 2 is a measurement flow chart of the present invention.
Specific embodiments
Below in conjunction with accompanying drawing the enforcement of technical scheme of the present invention is done further to describe in detail.
As shown in Figure 1, the present invention provides a kind of geotechnical engineering parameter mobile test system based on remote-controlled robot, comprises that remote portable data terminal and remote-controlled robot control platform, introduces respectively below.
The remote portable data terminal comprises that 433MHz wireless communication module, image show and main control module, and data show and processing module that wherein, image shows and main control module is used for the image demonstration, and other module is controlled; Data show and processing module is carried out the processing of data under the control of image demonstration and main control module; The 433MHz wireless communication module is used to realize controlling with remote-controlled robot the control instruction communication and the transfer of data of platform.
Remote-controlled robot is controlled platform and is comprised 433MHz wireless communication module, GPS navigation system, camera and the built-in wave point of 2.4GHz, advances, retreats, turns left and function such as right-hand rotation to realize remote control.Wherein, the 433MHz wireless communication module is used to receive the control command from data terminal, and detection data is beamed back data terminal; The GPS navigation system is display and operation platform position in real time, and its coordinate figure is transferred to data terminal, is used for follow-up data; Camera is shown in data terminal with image in real time through wireless communication module, handled easily personnel control and location; Said remote-controlled robot is controlled platform and is also carried the built-in wave point of 2.4GHz, and correspondingly respectively survey submodule and all be equipped with the built-in wave point of 2.4GHz, given unique identifier, convenient different instrument docks with robot platform.
Please cooperate shown in Figure 2ly again, be the detection flow process of mobile test provided by the present invention system:
(1) at first with system initialization, comprise that the initialization of upper remote portable data terminal and remote-controlled robot control platform initialization, specifically comprise and set up wireless telecommunications, obtain robot GPS position initialize signal, and obtain camera initial pictures interface;
(2) under the control of remote portable data terminal, robot platform is advanced to the detection place;
(3) the remote-controlled robot platform carries out with following location probe that 2.4GHz is wireless to be docked, and each probe has unique identifier, convenient accurately butt joint;
(4) remote-controlled robot platform control specifies probe to survey, and probe value is read and carries out being sent to the remote portable data terminal through wireless module after the preliminary treatment, and the information of transmission comprises probe value, position coordinates and picture signal.
Claims (3)
1. geotechnical engineering parameter mobile test system based on remote-controlled robot is characterized in that: comprise that remote portable data terminal and remote-controlled robot control platform;
The remote portable data terminal comprises that 433MHz wireless communication module, image show and main control module, and data show and processing module that wherein, image shows and main control module is used for the image demonstration, and other module is controlled; Data show and processing module is carried out the processing of data under the control of image demonstration and main control module; The 433MHz wireless communication module is used to realize controlling with remote-controlled robot the control instruction communication and the transfer of data of platform;
Remote-controlled robot is controlled platform and is comprised 433MHz wireless communication module, GPS navigation system, camera and the built-in wave point of 2.4GHz; Wherein, The 433MHz wireless communication module is used to receive the control command from data terminal, and detection data is beamed back data terminal; The real-time display and operation platform of GPS navigation system position, and its coordinate figure transferred to data terminal; Camera is shown in data terminal with image in real time through wireless communication module; Said remote-controlled robot is controlled platform and is also carried the built-in wave point of 2.4GHz, correspondingly respectively surveys submodule and all is equipped with the built-in wave point of 2.4GHz, given unique identifier.
2. the control method to the geotechnical engineering parameter mobile test system based on remote-controlled robot as claimed in claim 1 is characterized in that comprising the steps:
(1), comprises that the initialization of upper remote portable data terminal and remote-controlled robot control platform initialization with system initialization;
(2) under the control of remote portable data terminal, robot platform is advanced to the detection place;
(3) the remote-controlled robot platform carries out with following location probe that 2.4GHz is wireless to be docked, and each probe has unique identifier;
(4) remote-controlled robot platform control specifies probe to survey, and probe value is read and carries out being sent to the remote portable data terminal through wireless module after the preliminary treatment, and the information of transmission comprises probe value, position coordinates and picture signal.
3. the control method of the geotechnical engineering parameter mobile test system based on remote-controlled robot as claimed in claim 2; It is characterized in that: in the said step (1); The initialization of system also comprises sets up wireless telecommunications; Obtain robot GPS position initialize signal, and obtain camera initial pictures interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104146973A CN102561294A (en) | 2011-12-13 | 2011-12-13 | Telerobot-based geotechnical engineering parameter mobile test system and control system thereof |
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| CN2011104146973A CN102561294A (en) | 2011-12-13 | 2011-12-13 | Telerobot-based geotechnical engineering parameter mobile test system and control system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107860892A (en) * | 2017-11-30 | 2018-03-30 | 上海合时智能科技有限公司 | Soil analysis and investigation robot |
| CN109856662A (en) * | 2018-12-13 | 2019-06-07 | 北京炎凌嘉业机电设备有限公司 | Radiation source detection moves robot |
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| JP2002321180A (en) * | 2001-04-24 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Robot control system |
| JP2005313303A (en) * | 2004-04-30 | 2005-11-10 | Japan Science & Technology Agency | Robot remote control system |
| CN1765595A (en) * | 2004-10-29 | 2006-05-03 | 三星光州电子株式会社 | Robot control system and robot control method thereof |
| JP2006139525A (en) * | 2004-11-12 | 2006-06-01 | Hitachi Home & Life Solutions Inc | Autonomous mobile robot |
| CN101377547A (en) * | 2008-09-28 | 2009-03-04 | 东南大学 | Nuclear pollution detecting method based on remote operating mobile robot |
| CN101561683A (en) * | 2009-04-01 | 2009-10-21 | 东南大学 | Motion control device of robot for detecting environmental pollution |
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| JP2002321180A (en) * | 2001-04-24 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Robot control system |
| JP2005313303A (en) * | 2004-04-30 | 2005-11-10 | Japan Science & Technology Agency | Robot remote control system |
| CN1765595A (en) * | 2004-10-29 | 2006-05-03 | 三星光州电子株式会社 | Robot control system and robot control method thereof |
| JP2006139525A (en) * | 2004-11-12 | 2006-06-01 | Hitachi Home & Life Solutions Inc | Autonomous mobile robot |
| CN101377547A (en) * | 2008-09-28 | 2009-03-04 | 东南大学 | Nuclear pollution detecting method based on remote operating mobile robot |
| CN101561683A (en) * | 2009-04-01 | 2009-10-21 | 东南大学 | Motion control device of robot for detecting environmental pollution |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107860892A (en) * | 2017-11-30 | 2018-03-30 | 上海合时智能科技有限公司 | Soil analysis and investigation robot |
| CN109856662A (en) * | 2018-12-13 | 2019-06-07 | 北京炎凌嘉业机电设备有限公司 | Radiation source detection moves robot |
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Application publication date: 20120711 |