CN103128730A - Multi-form real-time information transmission rescue robot - Google Patents
Multi-form real-time information transmission rescue robot Download PDFInfo
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- CN103128730A CN103128730A CN2013100615660A CN201310061566A CN103128730A CN 103128730 A CN103128730 A CN 103128730A CN 2013100615660 A CN2013100615660 A CN 2013100615660A CN 201310061566 A CN201310061566 A CN 201310061566A CN 103128730 A CN103128730 A CN 103128730A
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Abstract
The invention relates to a multi-form real-time information transmission rescue robot. The multi-form real-time information transmission rescue robot comprises wheel-leg conversion mechanisms, flying devices, a real-time image acquisition and transmission device and a control system. Each wheel-leg conversion mechanism comprises a horizontal movement steering gear, a vertical rotation steering gear, a wheel rotation steering gear and a universal wheel, wherein the horizontal movement steering gear is connected with the vertical rotation steering gear through two connecting plates which cross each other, the wheel rotation steering gear is connected with the vertical rotation steering gear through a wheel-leg conversion plate, and the wheel rotation steering gear is connected with the universal wheel. Each flying device comprises a brushless motor, a flight controller, an attitude sensor, a brushless electronic stability control, a rotor support and a propeller, wherein the propeller is disposed at the end of the rotor support, and the brushless motor is connected with propeller through the brushless electronic stability control. The real-time image acquisition and transmission device comprises a camera module and a rotation steering gear, wherein a signal wire of the camera module is connected with the control system. The multi-form real-time information transmission rescue robot is applicable to disaster sites such as earthquake, mine, and terrorist blasting, and is highly flexible, highly maneuverable and convenient and practical.
Description
Technical field
The present invention is a kind of Disaster Relief Robot of polymorphic real time information transmission, belongs to the innovative technology of Disaster Relief Robot.
Background technology
Along with the development of current science and technology, the robot application popularity rate is more and more higher, and Disaster Relief Robot is an emerging development field of robot, belongs to a branch of dangerous school assignment robot, has the characteristics of dangerous school assignment robot.These works consider that in the burst accidents such as various natural calamities, terrorist activity, site environment is complicated dangerous, the present situation that rescue time is urgent, and design the Disaster Relief Robot that a economical and practical polymorphic real time information is transmitted, to improve disaster affected people rescue survival rate.This robot adopts the sufficient complex conversion of wheel and aerial rotor flying mode, can be applied at any time in the rescue work of various complicated disaster field, the information such as Real-time Collection wireless transmission site environment image, sound, for the rescue personnel formulates disaster relief scheme, in time carrying out rescue work provides the decision information foundation.This robot can be applicable to earthquake, the disaster fields such as colliery, the terrorist bombings.Have that flexibility is good, the characteristics of mobility strong, climbing and obstacle climbing ability are preferably arranged, can adapt to the multiple advantages such as on-the-spot various geographical environments.
The Disaster Relief Robot kind of present domestic development mainly contains wheel shoe, two kinds of patterns of flight.Wheel-pedrail robot is beneficial to and gathers the in detail definite information of environment, but its monitoring range is limited by at ground running, and efficient is not high; And the offline mode robot has air superiority, can gather disaster field information on a large scale, though made up the defective of wheel-pedrail robot, can't gather more accurate detailed information data, is unfavorable for that the rescue personnel makes decision-making effectively and timely.Say that so they have respectively the clear and definite division of labor, but also rest on working surfaces separately.
Summary of the invention
The Disaster Relief Robot that the object of the invention is to consider the problems referred to above and provide a kind of polymorphic real time information that can freely change between variform to transmit.The present invention overcomes various unfavorable obstacles, and ambient conditions can be informed in real time the Disaster Relief Robot of console by image.Reasonable in design, reliability is high.
technical scheme of the present invention is: the Disaster Relief Robot of polymorphic real time information transmission of the present invention, include the sufficient switching mechanism of wheel, flight instruments, real time image collection transmitting device and control system, wherein, taking turns sufficient switching mechanism includes and moves horizontally steering wheel, vertically rotate steering wheel, the wheel turns steering wheel, universal wheel, moving horizontally steering wheel is connected with the connecting plate of vertical rotation steering wheel by two right-angled intersections, the wheel turns steering wheel is connected by taking turns sufficient change-over panel with the vertical steering wheel that rotates, the wheel turns steering wheel is connected with universal wheel, flight instruments includes brushless motor, flight controller and attitude transducer, brushless electricity is transferred, the rotor support, screw, screw is arranged on the end of rotor support, brushless motor is transferred by brushless electricity and is connected with screw, the real time image collection transmitting device comprises camera module and rotates steering wheel, camera module is arranged on the rotation steering wheel that is positioned at rotor support top, the holding wire of camera module is connected with control system.
The present invention includes the structure of the sufficient switching mechanism of wheel, flight instruments, real time image collection transmitting device and control system due to employing, robot of the present invention is take land and air double-used as design concept, in carrying out the low-altitude detection task process with the flight form, as find special or suspicious situation, control via work centre, can be converted to the land form by robot, make further and confirming to take turns sufficient complex conversion mode, gather and transmit back more definite situation information, help work centre to make more accurate decision, avoid the meaningless transfer of rescue personnel.The present invention is that a kind of design is ingenious, function admirable, the Disaster Relief Robot of convenient and practical polymorphic real time information transmission.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the Disaster Relief Robot of the polymorphic real time information transmission of the present invention.
Fig. 2 is the structural representation of aviation mechanism of the present invention and camera.
Fig. 3 is the structural representation of robot foot formula form of the present invention.
Fig. 4 is the structural representation of the wheeled form of robot of the present invention.
Fig. 5 is the structural representation of robot of the present invention wheel foot portions.
The specific embodiment
Embodiment:
structural representation of the present invention as shown in Figure 1, the Disaster Relief Robot of polymorphic real time information transmission of the present invention, include the sufficient switching mechanism of wheel, flight instruments, real time image collection transmitting device and control system, wherein, taking turns sufficient switching mechanism includes and moves horizontally steering wheel 12, vertically rotate steering wheel 13, wheel turns steering wheel 14, universal wheel 15, move horizontally steering wheel 12 and vertically rotate steering wheel 13 by the connecting plate 17 of two right-angled intersections, 18 connect, wheel turns steering wheel 14 is connected by taking turns sufficient change-over panel 16 with the vertical steering wheel 13 that rotates, wheel turns steering wheel 14 is connected with universal wheel 15, move horizontally steering wheel and control the direction of foot swinging kick campaign, that vertically rotates that steering wheel controls foot proposes the leg motion, by to swinging kick, propose the leg motion and coordinate to control, realize sufficient formula walking, by contacting of the vertical rotation steering wheel angle of rotating up and down and the pendulum angle control wheel section that moves horizontally steering wheel 12 or foot and ground, realize the conversion between the wheel foot.When being in the running on wheels pattern, adopt differential control by the wheel turns steering wheel, realize straight line moving and the turning of robot.Flight instruments includes brushless motor 1, flight controller and attitude transducer 2, brushless electricity accent 4, rotor support 5, screw 7, screw 7 is arranged on the end of rotor support 5, brushless motor 1 transfers 4 to be connected with screw 7 by brushless electricity, four relative rotors have identical direction of rotation, divide two groups, the direction of rotation of two groups is different.The information that flight controller is passed back according to attitude transducer is coordinated the motion of screw, realize the robot smooth flight, the real time image collection transmitting device comprises camera module 3 and rotates steering wheel 6, camera module 3 is arranged on the rotation steering wheel 6 that is positioned at rotor support 5 tops, and the holding wire of camera module 3 is connected with control system 11.
The holding wire of above-mentioned camera module 3 passes the robot automobile body plate and is connected with control system 11.In the present embodiment, the robot automobile body plate includes car body panel 9 and the body 10 of getting off.Upper car body panel 9 is installed in the end face of the body 10 of getting off, and four rotor connecting plates 8 are installed in the end face of car body panel 9.Control system 11 is installed in the end face of the body 10 of getting off, and the holding wire of camera module 3 passes car body panel 9 and is connected with control system 11.
In the present embodiment, it is the ARM9 processor of core that above-mentioned control system adopts S3C2440.
In the present embodiment, above-mentioned camera module 3 is the CMOS camera.The CMOS camera detects disaster area surrounding environment in real time, and sends to the image information data that collects the ARM9 processor to process; The image information that the ARM9 processor is incited somebody to action after treatment by wireless module is sent back to control centre.The control personnel send instruction according to the image information that collects, and the ARM9 processor determines that according to instruction robot adopts wheeled, sufficient formula or offline mode further to investigate.The steering wheel that above-mentioned rotation steering wheel 6 rotates for making 360 degree.
In the present embodiment, the image information that above-mentioned ARM9 processor is incited somebody to action after treatment by wireless module is sent back to control centre.Above-mentioned wireless module is connected with the ARM9 processor by USB interface.Above-mentioned wheel turns steering wheel 14 is connected with universal wheel 15 by shaft coupling.Above-mentioned rotor support 5 is for being cross rotor support.
In the present embodiment, above-mentioned screw 7 includes four screws, and four screws are the end that the decussation structure is arranged on cross rotor support 5.Four relative rotors have identical direction of rotation, divide two groups, and the direction of rotation of two groups is different.The information that flight controller is passed back according to attitude transducer is coordinated the motion of screw, realizes the robot smooth flight.
Operation principle of the present invention is as follows: after the people that starts the machine, robot takes action according to the signal that control centre sends, and when the ARM9 processor sends instruction to the CMOS camera, opens camera.The CMOS camera will detect disaster area surrounding environment in real time, and send to the image information data that collects the ARM9 processor to process; The image information that the ARM9 processor is incited somebody to action after treatment by wireless module is sent back to control centre.
When carrying out the low-altitude detection task with the flight form, the control personnel judge according to the image information that robot collects, send the sporting flying control instruction to robot, when finding suspicious sign, the control personnel send the landing movement instruction, after the robot security lands, determine to adopt wheeled or sufficient formula motor pattern according to the ground road conditions.
When robot adopted wheeled motion, advance and retreat and turning motion instruction that the ARM9 processor sends according to the control personnel were controlled four wheels and are rotated the coordinated movement of various economic factors between steering wheel, made robot arrive suspected sites and carried out further information gathering.When running into the highway section that is not suitable for adopting wheeled motion, the control personnel send conversion instruction to arm processor, and robot takes turns sufficient conversion according to instruction by taking turns sufficient switching mechanism, and control arrives the position of appointment.
Of the present inventionly take turns sufficient switching mechanism by three independently conversions of steering wheel control wheel foot, move horizontally the direction that steering wheel is controlled foot swinging kick campaign; That vertically rotates that steering wheel controls foot proposes the leg motion, by to swinging kick, propose the leg motion and coordinate to control, realize sufficient formula walking; By contacting of the vertical rotation steering wheel angle of rotating up and down and the pendulum angle control wheel section that moves horizontally steering wheel or foot and ground, realize the conversion between the wheel foot.When being in the running on wheels pattern, adopt differential control by the wheel turns steering wheel, realize straight line moving and the turning of robot.The information that flight controller is passed back according to attitude transducer is coordinated the motion of screw, realizes the robot smooth flight.The CMOS camera of above-mentioned real time image collection transmitting device can gather large-scale image information, and treated device sends back to control centre by wireless module after processing.
Claims (10)
1. the Disaster Relief Robot of a polymorphic real time information transmission, it is characterized in that including the sufficient switching mechanism of wheel, flight instruments, real time image collection transmitting device and control system, wherein, taking turns sufficient switching mechanism includes and moves horizontally steering wheel (12), vertically rotate steering wheel (13), wheel turns steering wheel (14), universal wheel (15), move horizontally steering wheel (12) and vertically rotate steering wheel (13) by the connecting plate (17 of two right-angled intersections, 18) connect, wheel turns steering wheel (14) is connected by the sufficient change-over panel of wheel (16) with the vertical steering wheel (13) that rotates, wheel turns steering wheel (14) is connected with universal wheel (15), flight instruments includes brushless motor (1), flight controller and attitude transducer (2), brushless electricity is transferred (4), rotor support (5), screw (7), screw (7) is arranged on the end of rotor support (5), brushless motor (1) transfers (4) to be connected with screw (7) by brushless electricity, the real time image collection transmitting device comprises camera module (3) and rotates steering wheel (6), camera module (3) is arranged on the rotation steering wheel (6) of rotor support (5) top, the holding wire of camera module (3) is connected with control system (11).
2. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, the holding wire that it is characterized in that above-mentioned camera module (3) passes the robot automobile body plate and is connected with control system (11).
3. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that it is the ARM9 processor of core that above-mentioned control system adopts S3C2440.
4. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that above-mentioned camera module (3) is the CMOS camera.
5. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that the steering wheel that above-mentioned rotation steering wheel (6) rotates for making 360 degree.
6. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1 is characterized in that the image information that above-mentioned ARM9 processor is incited somebody to action after treatment by wireless module is sent back to control centre.
7. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that above-mentioned wireless module is connected with the ARM9 processor by USB interface.
8. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that above-mentioned wheel turns steering wheel (14) is connected with universal wheel (15) by shaft coupling.
9. the Disaster Relief Robot of polymorphic real time information transmission according to claim 1, is characterized in that above-mentioned rotor support (5) is for being cross rotor support.
10. the Disaster Relief Robot of polymorphic real time information transmission according to claim 9, is characterized in that above-mentioned screw (7) includes four screws, and four screws are the end that the decussation structure is arranged on cross rotor support (5).
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| CN2013100615660A CN103128730A (en) | 2013-02-27 | 2013-02-27 | Multi-form real-time information transmission rescue robot |
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| CN2013100615660A CN103128730A (en) | 2013-02-27 | 2013-02-27 | Multi-form real-time information transmission rescue robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522854A (en) * | 2013-10-25 | 2014-01-22 | 天津大学 | Wheeled-like movable robot with capacities of flying and water passing |
| CN105667631A (en) * | 2016-03-28 | 2016-06-15 | 上海交通大学 | Self-bouncing obstacle-crossing remote control vehicle |
| CN105905290A (en) * | 2016-05-30 | 2016-08-31 | 哈工大机器人集团有限公司 | Movable flight vehicle |
| CN106427436A (en) * | 2015-08-10 | 2017-02-22 | 汤翠华 | Modularization all-terrain traffic device |
| CN107905835A (en) * | 2017-12-22 | 2018-04-13 | 中国矿业大学 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| CN107985580A (en) * | 2017-12-14 | 2018-05-04 | 西南交通大学 | A kind of multi-modal deformable rotor robot |
| CN108248708A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Isomorphism modularization robot crawler-type mobile mechanism |
| CN109629625A (en) * | 2018-12-14 | 2019-04-16 | 上海海事大学 | A kind of fixed point depth dredging robot car body |
| CN112706609A (en) * | 2021-01-22 | 2021-04-27 | 国网安徽省电力有限公司淮北供电公司 | Emergent maintenance device of electric power calamity trouble |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113602386A (en) * | 2021-09-06 | 2021-11-05 | 晋能控股集团有限公司 | Coal mine detection and rescue robot with glider and working method |
| CN117549329A (en) * | 2024-01-10 | 2024-02-13 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
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| US20020060267A1 (en) * | 2000-09-26 | 2002-05-23 | Arie Yavnai | Unmanned mobile device |
| CN1944091A (en) * | 2006-11-07 | 2007-04-11 | 北京航空航天大学 | Multifunction aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522854A (en) * | 2013-10-25 | 2014-01-22 | 天津大学 | Wheeled-like movable robot with capacities of flying and water passing |
| CN106427436A (en) * | 2015-08-10 | 2017-02-22 | 汤翠华 | Modularization all-terrain traffic device |
| CN105667631A (en) * | 2016-03-28 | 2016-06-15 | 上海交通大学 | Self-bouncing obstacle-crossing remote control vehicle |
| CN105905290A (en) * | 2016-05-30 | 2016-08-31 | 哈工大机器人集团有限公司 | Movable flight vehicle |
| CN108248708A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Isomorphism modularization robot crawler-type mobile mechanism |
| CN107985580A (en) * | 2017-12-14 | 2018-05-04 | 西南交通大学 | A kind of multi-modal deformable rotor robot |
| CN107985580B (en) * | 2017-12-14 | 2023-12-05 | 西南交通大学 | Multi-mode deformable rotor robot |
| CN107905835A (en) * | 2017-12-22 | 2018-04-13 | 中国矿业大学 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| CN109629625A (en) * | 2018-12-14 | 2019-04-16 | 上海海事大学 | A kind of fixed point depth dredging robot car body |
| CN112706609A (en) * | 2021-01-22 | 2021-04-27 | 国网安徽省电力有限公司淮北供电公司 | Emergent maintenance device of electric power calamity trouble |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113147294B (en) * | 2021-04-30 | 2022-06-14 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113602386A (en) * | 2021-09-06 | 2021-11-05 | 晋能控股集团有限公司 | Coal mine detection and rescue robot with glider and working method |
| CN117549329A (en) * | 2024-01-10 | 2024-02-13 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
| CN117549329B (en) * | 2024-01-10 | 2024-03-22 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
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Application publication date: 20130605 |