CN103338244B - A kind of mining environment exploring robot remote control terminal - Google Patents
A kind of mining environment exploring robot remote control terminal Download PDFInfo
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- CN103338244B CN103338244B CN201310250072.7A CN201310250072A CN103338244B CN 103338244 B CN103338244 B CN 103338244B CN 201310250072 A CN201310250072 A CN 201310250072A CN 103338244 B CN103338244 B CN 103338244B
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- intrinsic safety
- flame proof
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- optical transmitter
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- 238000005065 mining Methods 0.000 title claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 35
- 229910018095 Ni-MH Inorganic materials 0.000 claims abstract description 17
- 229910018477 Ni—MH Inorganic materials 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims abstract description 4
- 230000005236 sound signal Effects 0.000 claims description 5
- 206010045178 Tunnel vision Diseases 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 229910001095 light aluminium alloy Inorganic materials 0.000 claims description 3
- 239000000178 monomer Substances 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 208000031968 Cadaver Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The present invention relates to a kind of mining environment exploring robot remote control terminal, this robot remote control terminal is provided with a flame proof shell, the top of flame proof shell is provided with intrinsic safety shell and flame proof upper cover, flame proof covers and is fixed with LCDs, the top of intrinsic safety shell is provided with intrinsic safety intercom system and intrinsic safety keyboard, is provided with introducing device in intrinsic safety shell; Be divided into battery cavities and equipment cavity in flame proof shell, the inside of battery cavities is provided with Ni-MH battery group, and the front sealing of battery cavities is provided with battery cavities lid; The inside of equipment cavity is provided with optical transmitter and receiver, and the top of optical transmitter and receiver is fixed with video frequency collection card and industrial computer, and battery cavities is connected by terminal through walls with equipment cavity, and the inside of flame proof shell is connected with cable by introducing device, and the side of flame proof shell is provided with rotary switch.Do not rely on external power source during the work of this robot remote control terminal, lightweight, compact conformation, is convenient to rescue team member and carries, and effectively can improve rescue efficiency, brings very large facility to underground coal mine rescue work.
Description
Technical field
The present invention relates to a kind of robot remote control terminal, especially control enters the mining environment exploring robot remote control terminal of one that mine gas explosion disaster field carries out environment detection.
Background technology
Mining environment exploring robot system is the equipment replacing rescue team member to detect underground coal mine environment after disaster, and this robot system is made up of two parts: environment exploring robot and operator control unit.Mining environment exploring robot is the robot that alternative rescue personnel carries that environmental sensor gos deep into disaster field detection disaster area environmental parameter; Operator control unit be in safety place operator for monitoring the window of robot and robot operating state, for carrying out the device of remote control to the robot being in hazardous environment scene.
After mine disaster occurs, rescue work is very urgent, requires that ambulance corps can arrive at scene and carry out rescue work within the shortest time, therefore requires higher to rescue outfit pocket.At present, the operator terminal of mining environment exploring robot is based on notebook computer, but notebook computer does not have explosion-proof performance, so can not use at underground coal mine; The volume of mining computer is larger, heavier-weight, and powered by the power system in mines of outside, mobility is not strong, inconvenient rescue team member carries carrying, therefore be badly in need of one and do not need external power source, and mining environment exploring robot remote control terminal easy to carry, solve the rescue difficult problem after current mine disaster generation.
Summary of the invention
Be not suitable for underground coal mine explosion environment to solve a kind of existing robot remote control terminal and be not easy to the problem of carrying, the invention provides a kind of mining environment exploring robot remote control terminal, during the work of this robot remote control terminal, external power source is not relied on, can use fast, lightweight, compact conformation, be convenient to rescue team member carry, effectively can improve rescue efficiency, by the Remote to rescue robot, effectively ensure that the safety of rescue team member, bring very large facility to underground coal mine rescue work.
The technical solution adopted for the present invention to solve the technical problems is: this robot remote control terminal comprises LCDs, flame proof upper cover, intrinsic safety intercom system, intrinsic safety shell, battery cavities lid, intrinsic safety keyboard, rotary switch, flame proof shell, introducing device, Ni-MH battery group, terminal through walls, industrial computer, video frequency collection card and optical transmitter and receiver; This robot remote control terminal is provided with a flame proof shell, the top of flame proof shell is provided with the intrinsic safety shell of Fang Tizhuan and one become 5 ° of-15 ° of inclinations angle flame proof upper cover with horizontal plane, flame proof covers and is fixed with LCDs, the top of intrinsic safety shell is provided with intrinsic safety intercom system and intrinsic safety keyboard, intrinsic safety intercom system is made up of intrinsic safety audio amplifier and intrinsic safety microphone, is provided with introducing device in intrinsic safety shell; Be divided into battery cavities and equipment cavity in flame proof shell, the inside of battery cavities is provided with Ni-MH battery group, and Ni-MH battery group is in series by three pieces of 20AH monomer Ni-MH batteries, and the front sealing of battery cavities is provided with battery cavities lid; The inside of equipment cavity is provided with optical transmitter and receiver, the top of optical transmitter and receiver is fixed with video frequency collection card and industrial computer, battery cavities is connected by terminal through walls with equipment cavity, Ni-MH battery group passes through terminal through walls to the power electrical apparatus in equipment cavity, the inside of flame proof shell is connected with cable by introducing device, and the side of flame proof shell is provided with rotary switch.Described flame proof shell is light aluminum alloy material, is easy to carry.
Industrial computer uses Atom3.5 cun of low-power consumption industrial control mainboard, and handling machine people transmits next data and control command; This optical transmitter and receiver is provided with four road video light ends, and this optical transmitter and receiver is with the two-way serial ports of positive and negative two-way audio signal and a road; Video frequency collection card adopts USB video frequency collection card, and be 2. connected with industrial computer by USB line, 3., 4., 5., 6. four tunnel vision signals receive four road video BNC delivery outlets of optical transmitter and receiver respectively, for receiving video signals; 7. No. 2 serial ports of industrial computer are connected with the serial ports of optical transmitter and receiver, for transmitting data by Serial Port Line; Intrinsic safety intercom system by tone frequency channel wire 8. and tone frequency channel wire be 9. connected, for the transmission of sound with the forward audio interface of optical transmitter and receiver and reverse audio interface respectively; 10. intrinsic safety keyboard is connected with No. 1 serial ports of industrial computer by Serial Port Line, and LCDs adopts 10.4 cun of stiff dough display screens, is 1. connected with the video interface of industrial computer by video line, for showing data and video.
During use, by optical transmitter and receiver, be connected with robot through optical fiber, transmission data, control command, by operation intrinsic safety keyboard, is issued industrial computer, then is sent instruction through optical transmitter and receiver to robot by operating personnel; Intercommunication is carried out by intrinsic safety intercom system and survival personnel; The environmental information collected, video and audio signal are sent to remote control terminal by optical transmitter and receiver by robot, and video frequency collection card gathers vision signal, is dealt into industrial computer by USB; LCDs is connected with industrial computer, and real-time display device people field condition, so that the control of robot; Environmental information, by after industrial computer process, is also shown in LCDs.
The model of described LCDs is G104SN02V2; Described industrial computer is CTN-BAO135E type industrial control mainboard; The model of described optical transmitter and receiver is HT-SD100-4V1D2A.
The invention has the beneficial effects as follows, during the work of this robot remote control terminal, external power source is not relied on, can use fast, lightweight, compact conformation, is convenient to rescue team member and carries, effectively can improve rescue efficiency, by the Remote to rescue robot, effectively ensure that the safety of rescue team member, bring very large facility to underground coal mine rescue work.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is external structure schematic diagram of the present invention.
Fig. 2 is internal structure schematic diagram of the present invention.
Fig. 3 is that system of the present invention connects block diagram.
In figure, 1. LCDs, 2. flame proof upper cover, 3. intrinsic safety intercom system, 4. intrinsic safety shell, 5. battery cavities lid, 6. intrinsic safety keyboard, 7. rotary switch, 8. flame proof shell, 9. introducing device, 10. Ni-MH battery group, 11. terminals through walls, 12. industrial computers, 13. video frequency collection cards, 14. optical transmitter and receivers.
Embodiment
In FIG, this robot remote control terminal comprises LCDs 1, flame proof upper cover 2, intrinsic safety intercom system 3, intrinsic safety shell 4, battery cavities lid 5, intrinsic safety keyboard 6, rotary switch 7, flame proof shell 8, introducing device 9, Ni-MH battery group 10, terminal through walls 11, industrial computer 12, video frequency collection card 13 and optical transmitter and receiver 14; This robot remote control terminal is provided with a flame proof shell 8, the top of flame proof shell 8 is provided with the intrinsic safety shell 4 of Fang Tizhuan and one become 5 ° of-15 ° of inclinations angle flame proof upper cover 2 with horizontal plane, flame proof upper cover 2 is fixed with LCDs 1, the top of intrinsic safety shell 4 is provided with intrinsic safety intercom system 3 and intrinsic safety keyboard 6, intrinsic safety intercom system 3 is made up of intrinsic safety audio amplifier and intrinsic safety microphone, is provided with introducing device 9 in intrinsic safety shell 4; Be divided into battery cavities and equipment cavity in flame proof shell 8, the inside of battery cavities is provided with Ni-MH battery group 10, and Ni-MH battery group 10 is in series by three pieces of 20AH monomer Ni-MH batteries, and the front sealing of battery cavities is provided with battery cavities lid 5; The inside of equipment cavity is provided with optical transmitter and receiver 14, the top of optical transmitter and receiver 14 is fixed with video frequency collection card 13 and industrial computer 12, battery cavities is connected by terminal 11 through walls with equipment cavity, Ni-MH battery group 10 by terminal 11 through walls to the power electrical apparatus established in chamber, the inside of flame proof shell 8 is connected with cable by introducing device 9, and the side of flame proof shell 8 is provided with rotary switch 7.Described flame proof shell 8 is light aluminum alloy material, is easy to carry.
Industrial computer 12 uses Atom3.5 cun of low-power consumption industrial control mainboard, and handling machine people transmits next data and control command; This optical transmitter and receiver 14 is provided with four road video light ends, and this optical transmitter and receiver 14 is with the two-way serial ports of positive and negative two-way audio signal and a road; Video frequency collection card 13 adopts USB video frequency collection card, is 2. connected with industrial computer 12 by USB line, and 3., 4., 5., 6. four tunnel vision signals receive four road video BNC delivery outlets of optical transmitter and receiver 14 respectively, for receiving video signals; 7. No. 2 serial ports of industrial computer 12 are connected with the serial ports of optical transmitter and receiver 14, for transmitting data by Serial Port Line; Intrinsic safety intercom system 3 by tone frequency channel wire 8. and tone frequency channel wire be 9. connected, for the transmission of sound with the forward audio interface of optical transmitter and receiver 14 and reverse audio interface respectively; 10. intrinsic safety keyboard 6 is connected with No. 1 serial ports of industrial computer 12 by Serial Port Line, and LCDs 1 adopts 10.4 cun of stiff dough display screens, is 1. connected with the video interface of industrial computer 12 by video line, for showing data and video.
During use, by optical transmitter and receiver 14, be connected with robot through optical fiber, transmission data, control command, by operation intrinsic safety keyboard 6, is issued industrial computer 12, then is sent instruction through optical transmitter and receiver 14 to robot by operating personnel; Intercommunication is carried out with survival personnel by intrinsic safety intercom system 3; The environmental information collected, video and audio signal are sent to remote control terminal by optical transmitter and receiver 14 by robot, and video frequency collection card 13 gathers vision signal, are dealt into industrial computer 12 by USB; LCDs 1 is connected with industrial computer 12, and real-time display device people field condition, so that the control of robot; Environmental information is also shown in LCDs 1 after being processed by industrial computer 12.
The model of described LCDs 1 is G104SN02V2; Described industrial computer 12 is CTN-BAO135E type industrial control mainboard; The model of described optical transmitter and receiver 14 is HT-SD100-4V1D2A.
Claims (4)
1. a mining environment exploring robot remote control terminal, this robot remote control terminal comprises LCDs (1), flame proof upper cover (2), intrinsic safety intercom system (3), intrinsic safety shell (4), battery cavities lid (5), intrinsic safety keyboard (6), rotary switch (7), flame proof shell (8), introducing device (9), Ni-MH battery group (10), terminal through walls (11), industrial computer (12), video frequency collection card (13) and optical transmitter and receiver (14), it is characterized in that, this robot remote control terminal is provided with a flame proof shell (8), the top of flame proof shell (8) is provided with the intrinsic safety shell (4) of Fang Tizhuan and one become 5 ° of-15 ° of inclinations angle flame proof upper cover (2) with horizontal plane, flame proof upper cover (2) is fixed with LCDs (1), the top of intrinsic safety shell (4) is provided with intrinsic safety intercom system (3) and intrinsic safety keyboard (6), intrinsic safety intercom system (3) is made up of intrinsic safety audio amplifier and intrinsic safety microphone, is provided with introducing device (9) in intrinsic safety shell (4), flame proof shell is divided into battery cavities and equipment cavity in (8), and the inside of battery cavities is provided with Ni-MH battery group (10), and the front sealing of battery cavities is provided with battery cavities lid (5), the inside of equipment cavity is provided with optical transmitter and receiver (14), the top of optical transmitter and receiver (14) is fixed with video frequency collection card (13) and industrial computer (12), battery cavities is connected by terminal through walls (11) with equipment cavity, Ni-MH battery group (10) by terminal through walls (11) to the power electrical apparatus in equipment cavity, the inside of flame proof shell (8) is connected with cable by introducing device (9), and the side of flame proof shell (8) is provided with rotary switch (7).
2. the mining environment exploring robot remote control terminal of one according to claim 1, is characterized in that, described flame proof shell (8) is light aluminum alloy material.
3. the mining environment exploring robot remote control terminal of one according to claim 1, is characterized in that, described Ni-MH battery group (10) is in series by three pieces of 20AH monomer Ni-MH batteries.
4. the mining environment exploring robot remote control terminal of one according to claim 1, it is characterized in that, described industrial computer (12) uses Atom3.5 cun of low-power consumption industrial control mainboard, this optical transmitter and receiver (14) is provided with four road video light ends, and this optical transmitter and receiver (14) is with the two-way serial ports of positive and negative two-way audio signal and a road; Video frequency collection card (13) adopts USB video frequency collection card, and be 2. connected with industrial computer (12) by USB line, 3., 4., 5., 6. four tunnel vision signals receive four road video BNC delivery outlets of optical transmitter and receiver (14) respectively; No. 2 serial ports of industrial computer (12) are 7. connected with the serial ports of optical transmitter and receiver (14) by Serial Port Line; Intrinsic safety intercom system (3) by tone frequency channel wire 8. and tone frequency channel wire be 9. connected with the forward audio interface of optical transmitter and receiver (14) and reverse audio interface respectively; Intrinsic safety keyboard (6) is 10. connected with No. 1 serial ports of industrial computer (12) by Serial Port Line, and LCDs (1) adopts 10.4 cun of stiff dough display screens, is 1. connected with the video interface of industrial computer (12) by video line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310250072.7A CN103338244B (en) | 2013-06-21 | 2013-06-21 | A kind of mining environment exploring robot remote control terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310250072.7A CN103338244B (en) | 2013-06-21 | 2013-06-21 | A kind of mining environment exploring robot remote control terminal |
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| Publication Number | Publication Date |
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| CN103338244A CN103338244A (en) | 2013-10-02 |
| CN103338244B true CN103338244B (en) | 2015-11-18 |
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| CN201310250072.7A Expired - Fee Related CN103338244B (en) | 2013-06-21 | 2013-06-21 | A kind of mining environment exploring robot remote control terminal |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103956782A (en) * | 2014-03-31 | 2014-07-30 | 刘建 | Anti-explosion machine box for mining robot |
| CN109085785A (en) * | 2018-08-28 | 2018-12-25 | 天地（常州）自动化股份有限公司 | Mine-used I. S dual bus operating terminal |
| CN114554752A (en) * | 2022-01-24 | 2022-05-27 | 淮北矿业股份有限公司 | Multi-element control terminal of intelligent coal mine excavation equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321180A (en) * | 2001-04-24 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Robot control system |
| CN102314169A (en) * | 2010-07-27 | 2012-01-11 | 上海中为智能机器人有限公司 | Wireless remote control intelligent terminal of mine autonomous intelligent detection multi-robot system |
| CN102419902A (en) * | 2011-12-23 | 2012-04-18 | 华南理工大学 | Remote control device special for robot and having personal digital assistant (PDA) functions |
-
2013
- 2013-06-21 CN CN201310250072.7A patent/CN103338244B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321180A (en) * | 2001-04-24 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Robot control system |
| CN102314169A (en) * | 2010-07-27 | 2012-01-11 | 上海中为智能机器人有限公司 | Wireless remote control intelligent terminal of mine autonomous intelligent detection multi-robot system |
| CN102419902A (en) * | 2011-12-23 | 2012-04-18 | 华南理工大学 | Remote control device special for robot and having personal digital assistant (PDA) functions |
Non-Patent Citations (1)
| Title |
|---|
| 机器人作战平台操控终端系统的设计;朱礼尧等;《北京理工大学学报》;20100831;第30卷(第8期);全文 * |
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Granted publication date: 20151118 Termination date: 20160621 |