CN103399577A - Detection sensing system for remotely operating rescue robot - Google Patents
Detection sensing system for remotely operating rescue robot Download PDFInfo
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- CN103399577A CN103399577A CN201310334362XA CN201310334362A CN103399577A CN 103399577 A CN103399577 A CN 103399577A CN 201310334362X A CN201310334362X A CN 201310334362XA CN 201310334362 A CN201310334362 A CN 201310334362A CN 103399577 A CN103399577 A CN 103399577A
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Abstract
The invention provides a detection sensing system for remotely operating a rescue robot. The detection sensing system comprises a monitoring computer, an on-board computer, a bottom control circuit unit, an image collecting and transmitting unit, a laser distance-measuring radar unit, an inertial attitude reference system unit and a detection sensor unit, wherein the bottom control circuit unit comprises a main control unit module, a pan-tilt camera driving module, a power supply module and a bottom circuit main board; the image collecting and transmitting unit comprises a pan-tilt camera and a video transmission module; the detection sensor unit comprises a temperature sensor, a sound sensor, a gas sensor and the like; the on-board computer is connected with the main control unit module through a USB (Universal Serial Bus) data interface; and the main control unit module and the pan-tile camera driving circuit module are designed to be arranged on the bottom control circuit main board through a pin type interface. The detection sensing system has good universality and higher transportability, and can be used for various types of robots such as rescue robots and domestic service robots.
Description
Technical field
What the present invention relates to is a kind of robot, specifically the detection sensory perceptual system of robot.
Background technology
A large amount of disasteies and man-made disaster all can occur every year in the whole world, as: fire, earthquake, war and mine disaster, huge disaster can cause large-area building collapse and casualties, and searching and rescuing those survivors that are trapped in ruins just becomes disaster generation the most urgent thing afterwards.Research shows, if these survivors can access effective relief within 48 hours, so dead possibility will reduce greatly.Yet the disaster field of complicated danger has brought huge threat to rescue personnel and survivor's personal safety, also can hinder rescue work and fast and effeciently carry out.Using rescue robot to assist and searching and rescuing is the effective means that solves this difficult problem.
Because disaster is with a varied topography, the rescue personnel can not in time enter in the buildings that caves in, and this just needs rescue robot to go deep into disaster field in time to find the survival personnel, and allows the rescue personnel understand as early as possible field data, the tissue rescue.So find as early as possible and effective identification survivor, and disaster scene information and topomap in time send to rescue personnel's manipulation end accurately, are rescue survivor's keys.
Summary of the invention
The object of the present invention is to provide and by wireless network, the information such as environmental information around rescue robot are sent back to the detection sensory perceptual system of a kind of operated from a distance rescue robot of manipulation end supervisory control comuter.
The object of the present invention is achieved like this:
the detection sensory perceptual system of a kind of operated from a distance rescue robot of the present invention, it is characterized in that: comprise supervisory control comuter, truck-mounted computer, the bottom control circuit unit, supervisory control comuter connects wireless router by cable network, truck-mounted computer is equipped with wireless network card, wireless network card is connected with wireless router by wireless network, truck-mounted computer, the bottom control circuit unit is installed on robot body, also be fixed with automatically controlled turntable support on robot body, the first steering wheel is installed on automatically controlled turntable support, the first steering wheel pivoted frame, the second steering wheel, the second steering wheel pivoted frame, the output terminal of the first steering wheel is connected with the first steering wheel pivoted frame, the output terminal of the second steering wheel is connected with the second steering wheel pivoted frame, the first steering wheel is arranged on the second steering wheel pivoted frame, the second steering wheel is arranged on automatically controlled turntable support, be fixed with mounting platform on the first steering wheel pivoted frame, fixedly inertia attitude reference system system unit and range laser radar unit on mounting platform, are connected and connect truck-mounted computer with the range laser radar unit in inertia attitude reference system system unit, the bottom control circuit unit comprises the bottom circuit main board and is arranged on main control unit module on the bottom circuit main board, the cradle head camera drive circuit module, power module, the main control unit module connects respectively truck-mounted computer, the cradle head camera drive circuit module, the first steering wheel, the second steering wheel, the cradle head camera drive circuit module connects cradle head camera, the wireless network that the image data information that cradle head camera will gather by video transmission module is set up by wireless router sends to supervisory control comuter, inertia attitude reference system system detects the attitude of robot, attitude data is transferred to truck-mounted computer, truck-mounted computer is passed to the main control unit module with the attitude of robot and angle rate of change, then the main control unit module controls the first steering wheel, the second steering wheel motion makes mounting platform and ground keep required angle.
The present invention can also comprise:
1, temperature sensor, sound transducer, gas sensor are installed on robot body, the information that temperature sensor, sound transducer, gas sensor will record respectively separately sends truck-mounted computer to.
Advantage of the present invention is:
1. this detection sensory perceptual system has good versatility, and the stronger characteristics such as portability can be used as the detection sensory perceptual system solution of the caterpillar type robot of the number of different types such as rescue robot and home services robot.
2. can carry according to actual needs various information sensor equipment, can find timely and effectively rapidly target, accurately depict target place environmental information and position.
3. communication control system of the present invention can be realized the real-time communication of manipulation end personnel and robot, in time understands the disaster assistance field data.
Description of drawings
Fig. 1 is the solution of the present invention frame diagram;
Fig. 2 is bottom control circuit main board framework schematic diagram of the present invention;
Fig. 3 a is the automatically controlled turntable front view of two degrees of freedom of the present invention, and Fig. 3 b is the automatically controlled turntable left view of two degrees of freedom of the present invention;
Fig. 4 is the automatically controlled rotating platform control system framework of two degrees of freedom of the present invention schematic diagram;
Fig. 5 is scene schematic diagram of the invention process.
Embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～5, in order to find timely and effectively the survivor, and survivor's site environment information of living in is sent to supervisory control comuter 1 one ends rapidly, allow the rescue worker recognize quickly and accurately survivor's position and the details of environment of living in, a kind of detection sensory perceptual system of rescue robot has been completed in the present invention's design, the present invention adopts master-slave mode computer control design, and monitoring computers 1 is principal computer, and vehicle-mounted end computing machine 4 is from computing machine.In the present invention, the functions such as the establishment of principal computer charge map, man-machine interaction, mainly be responsible for sensor information processing and transmission, control command transmitting-receiving, the generation of bottom control command analysis etc. from computing machine.Principal computer with carry out data communication from computing machine by wireless network.Vehicle-mounted end mainly comprises: bottom control circuit unit 8111215, image acquisition and transmission unit 910, range laser radar unit 14, inertia attitude reference system system unit 13, acquisition sensor unit 22.The bottom control circuit unit mainly comprises: main control unit module 12, cradle head camera driver module 11, power module 8 and bottom circuit main board 15.Image acquisition and transmission unit mainly comprise: video transmission module 9 and cradle head camera 10.The acquisition sensor unit, as the external environment condition acquisition sensor, mainly comprises: temperature sensor 5, sound transducer 6, gas sensor 7 etc., the kind of sensor and quantity can be expanded according to actual service condition.Range laser radar unit 14 is as the space outerpace acquisition sensor of rescue robot, site space is surveyed perception, and the surrounding space data message that collects is sent to operating side supervisory control comuter 1 by wireless network, carry out environment by 1 pair of rescue robot 23 surrounding space of supervisory control comuter and build figure.
Truck-mounted computer 4 is responsible for receiving the data message that each sensor collects, and the data message that will receive sends to supervisory control comuter 1 by wireless network.For fear of the transmission delay phenomenon that too much causes due to signal data, therefore the wireless network that the image data information that cradle head camera 10 is gathered uses the video transmission module 9 of self to set up by wireless router 2 sends to supervisory control comuter 1.The image data information that cradle head camera 10 gathers is carried out data processing and transmission without truck-mounted computer 4, is conducive to the smooth reception of 1 pair of sensor signal of supervisory control comuter, has improved reliability and the real-time of sensor information.
In conjunction with Fig. 1, this detection sensory perceptual system scheme is carried out general description.The present invention is a kind of detection sensory perceptual system of operated from a distance rescue robot,, it is characterized in that with the environmental information around rescue robot 23 and whether exist the information such as survivor to be sent back to the manipulation end supervisory control comuter by wireless network: manipulation end supervisory control comuter 1, truck-mounted computer 4, bottom control circuit unit, image acquisition and transmission unit, range laser radar unit 14, inertia attitude reference system unite unit 13 and acquisition sensor unit 22.Wherein, the bottom control circuit unit mainly comprises: main control unit module 12, cradle head camera driver module 11, power module 8 and bottom circuit main board 15, image acquisition and transmission unit mainly comprise: cradle head camera 10 and video transmission module 9, the acquisition sensor unit mainly comprises: temperature sensor 5, sound transducer 6, gas sensor 7 etc., the kind of sensor and quantity can be expanded according to actual service condition.Wherein, truck-mounted computer 4 is connected by the usb data interface with main control unit module 12, main control unit module 12 is installed on bottom control circuit main board 15 by the contact pin type Interface design with cradle head camera drive circuit module 11, and power module 8 is connected with main control unit module 12 and provides required electric energy for main control unit module 12 and cradle head camera drive circuit module 11 etc. and other chips.
Manipulation end supervisory control comuter 1 adopts personal desktop computer, and operating system is windows xp system, and wireless router 2 adopts the TP-LINK740 wireless router, is connected by cable network with supervisory control comuter 1, and sets up wireless network.Truck-mounted computer 4 adopts Acer Aspire one D270-26Ckk portable notebook, is connected with the main control unit module 12 of bottom control circuit unit by the usb data interface downwards, realizes the data transmission work with the bottom control circuit unit.Upwards with notebook, with the wireless network card 3 of the IEEE802.11g standard that carries, by wireless network, with manipulation end wireless router 2, be connected, thereby realize principal computer and from the data transmission work of computing machine.acquisition sensor unit 22 is installed on the reserved location of rescue robot 23 front ends, be convenient to each sensor and gather ambient condition information, temperature sensor 5, sound transducer 6, gas sensor 7 is connected with truck-mounted computer 4 by the usb data interface respectively, range laser radar unit 14 is installed on the mounting platform 16 of the automatically controlled turntable of two degrees of freedom, be connected with truck-mounted computer 4 by the serial data interface, the data message that responsible each sensor of reception of truck-mounted computer 4 collects also sends to supervisory control comuter 1 with data message by wireless network, by supervisory control comuter 1 with data analysis and processing.Wherein: range laser radar unit 14 adopts the range laser radar of HOKUYO URG-04LX model, is used for rescue robot 23 surrounding space environment are built figure.Temperature sensor 5 adopts the PT100 temperature sensor, for detection of the temperature variation of rescue robot 23 surrounding environment.Sound transducer 6 adopts common dynamic microphones, is used for receiving the voice signal of rescue robot 23 surrounding environment, and whether identification is emergency sound, and sets up speech communication with the survival personnel and contact.Gas sensor 7 adopts MH-410 infrared carbon dioxide gas sensor, for detection of the concentration change of carbon dioxide in rescue robot 23 surrounding environment.What cradle head camera 10 adopted is KaiCong sip1018 model cradle head camera, support level 270 degree, up and down 120 degree scopes are rotated, built-in wifi module, support the 802.11b/g/n agreement, the wireless network of building with wireless router 2 is connected, and the image data transmission that cradle head camera 10 is photographed by wireless network is to supervisory control comuter 1, processed by 1 pair of image data information of supervisory control comuter, and image scene is shown.
In conjunction with Fig. 2, the bottom control circuit unit is formed and describes.The bottom control circuit unit mainly comprises: main control unit module 12, cradle head camera drive circuit module 11, power module 8 and bottom circuit main board 15, each module pass through the contact pin type design and installation on bottom circuit main board 15.Main control unit module 12, take Freescale MC9S12XS128 single-chip microcomputer as main control chip, is used for controlling cradle head camera drive circuit module 11.The H bridge circuit that cradle head camera drive circuit module 11 is built by MOSFET IRF3205 chip, MC33883EG chip, as driving the common direct current motor drive circuit that forms of chip, are used for controlling turning to and rotating speed of cradle head camera drive motor.Power module 8 provides required electric energy for main control unit module 12 and cradle head camera drive circuit module 11 and other each chips.
In conjunction with Fig. 3, the automatically controlled turntable structure of two degrees of freedom is described.The automatically controlled turntable of two degrees of freedom mainly comprises: inertia attitude reference system system unit 13, mounting platform 16, steering wheel I17, steering wheel II20, steering wheel I pivoted frame 18, steering wheel II pivoted frame 19, automatically controlled turntable support 21.Inertia attitude reference system system unit 13 adopts the inertia attitude reference system system of Xsens MTi model, be connected with truck-mounted computer 4 by the serial data interface, and inertia attitude reference system system unit 13 is fixedly installed on mounting platform 16 jointly with range laser radar unit 14, guarantee that inertia attitude reference system system unit 13 is consistent with range laser radar unit 14 attitudes.Mounting platform 16 is connected with steering wheel I pivoted frame 18, and automatically controlled turntable support 21 is installed on rescue machine human body 23 reserved location, with rescue machine human body 23, is fixedly connected with.Steering wheel I17 is installed on steering wheel II pivoted frame 19, and output terminal is connected with steering wheel I pivoted frame 18, degree of freedom adjustment before and after being used for controlling.Steering wheel II20 is installed on automatically controlled turntable support 21, and output terminal is connected with steering wheel II pivoted frame 19, is used for controlling the adjustment of left and right degree of freedom.When rescue robot 23 tilted forward and back, steering wheel I17 was responsible for carrying out front and back degree of freedom adjustment, made mounting platform 16 keep parallel to the ground.When rescue robot 23 tilted, steering wheel II20 was responsible for carrying out left and right degree of freedom adjustment, made mounting platform 16 continue to keep horizontality.When rescue robot 23 all around states all changed, steering wheel I17, steering wheel II20 adjusted simultaneously, and mounting platform 16 is kept and the ground level state always, to guarantee effective work of range laser radar unit 14.
In conjunction with Fig. 4, the control system of the automatically controlled turntable of two degrees of freedom is described.The control system of the automatically controlled turntable of two degrees of freedom is a typical closed-loop control system, MTi inertia attitude reference system system 13 detects the attitude of a robot, attitude data is transferred to truck-mounted computer 4 by serial ports, truck-mounted computer 4 obtains the attitude of current rescue robot 23 and the attitude angle rate of change at the X/Y axle by resolving communications protocol, pass to main control unit module 12 by serial ports again, carry out the PID controller 12 li of main control unit modules, then control steering wheel I17, steering wheel II20 motion, drive the automatically controlled turntable of two degrees of freedom with the maintenance level.Controlled frequency is identical with the Refresh Data frequency of MTi inertia attitude reference system system 13, is 50Hz.
In conjunction with Fig. 5, the operating process of this detection sensory perceptual system is described.Rescue robot 23 is moved into the disaster assistance scene, the image information that video transmission module 9 is taken cradle head camera 10 in rescue robot 23 traveling process sends to supervisory control comuter 1, the image scene that the personnel that control show by supervisory control comuter 1 is understood the ambient condition information of rescue robot 23, and can observe the survival personnel that whether exist by supervisory control comuter 1.Each sensor in acquisition sensor unit 22 is cooperating simultaneously, environmental information around the rescue robot 23 that collects is sent to truck-mounted computer 4, and after truck-mounted computer 4 is processed, data message is being sent to supervisory control comuter 1 by wireless network, finally by supervisory control comuter 1, carry out processes and displays and in time check for the rescue personnel.Wherein: temperature sensor 5 is responsible for detecting the temperature variation around rescue robot 23, when the rescue robot surrounding environment occur high temperature or etc. during abnormal conditions, can send at supervisory control comuter 1 abnormality alarms such as high temperature.Gas sensor 7 is responsible for detecting the concentration change of carbon dioxide in rescue robot 23 surrounding environment, when occurring that gas concentration lwevel is crossed high abnormal conditions around rescue robot 23, can send gas concentration lwevel at supervisory control comuter 1 and cross high abnormality alarm.Sound transducer 6 is responsible for receiving the voice signal of rescue robot 23 surrounding environment, and whether identification is emergency sound, and sets up speech communication with the survival personnel and contact.Work simultaneously in range laser radar unit 14, the space environment information of rescue robot 23 processes is sent to supervisory control comuter 1, carries out environment by supervisory control comuter 1 and build figure, and survival personnel's particular location is carried out mark.Finally, can timely and effective discovery survival personnel and accurately depict survival personnel place particular location by native system rescue robot 23, and set up speech communication with the survival personnel and contact.
Claims (2)
1. the detection sensory perceptual system of an operated from a distance rescue robot, it is characterized in that: comprise supervisory control comuter, truck-mounted computer, the bottom control circuit unit, supervisory control comuter connects wireless router by cable network, truck-mounted computer is equipped with wireless network card, wireless network card is connected with wireless router by wireless network, truck-mounted computer, the bottom control circuit unit is installed on robot body, also be fixed with automatically controlled turntable support on robot body, the first steering wheel is installed on automatically controlled turntable support, the first steering wheel pivoted frame, the second steering wheel, the second steering wheel pivoted frame, the output terminal of the first steering wheel is connected with the first steering wheel pivoted frame, the output terminal of the second steering wheel is connected with the second steering wheel pivoted frame, the first steering wheel is arranged on the second steering wheel pivoted frame, the second steering wheel is arranged on automatically controlled turntable support, be fixed with mounting platform on the first steering wheel pivoted frame, fixedly inertia attitude reference system system unit and range laser radar unit on mounting platform, are connected and connect truck-mounted computer with the range laser radar unit in inertia attitude reference system system unit, the bottom control circuit unit comprises the bottom circuit main board and is arranged on main control unit module on the bottom circuit main board, the cradle head camera drive circuit module, power module, the main control unit module connects respectively truck-mounted computer, the cradle head camera drive circuit module, the first steering wheel, the second steering wheel, the cradle head camera drive circuit module connects cradle head camera, the wireless network that the image data information that cradle head camera will gather by video transmission module is set up by wireless router sends to supervisory control comuter, inertia attitude reference system system detects the attitude of robot, attitude data is transferred to truck-mounted computer, truck-mounted computer is passed to the main control unit module with the attitude of robot and angle rate of change, then the main control unit module controls the first steering wheel, the second steering wheel motion makes mounting platform and ground keep required angle.
2. the detection sensory perceptual system of a kind of operated from a distance rescue robot according to claim 1, it is characterized in that: temperature sensor, sound transducer, gas sensor are installed on robot body, and the information that temperature sensor, sound transducer, gas sensor will record respectively separately sends truck-mounted computer to.
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Cited By (15)
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| CN103996264A (en) * | 2014-05-08 | 2014-08-20 | 山东大学 | Mobile intelligent security system based on wireless local area network (WLAN) communication |
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Portable wireless remote control command communication system device for mine intrinsic safety rescue detection robot |
| CN105234920A (en) * | 2015-10-19 | 2016-01-13 | 浙江核芯监测科技有限公司 | Nuclear and radiation emergency robot system |
| CN105357500A (en) * | 2015-12-15 | 2016-02-24 | 福建省特种设备检验研究院 | Accident scene information monitoring system based on multi-sensor mobile networking |
| CN105807774A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Intelligent service robot for workshop |
| CN107065892A (en) * | 2017-06-09 | 2017-08-18 | 杭州电子科技大学 | Life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless |
| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN109727520A (en) * | 2019-01-29 | 2019-05-07 | 天津卡达克数据有限公司 | Artificial intelligence vehicle |
| CN110421563A (en) * | 2019-07-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of industrial robot builds figure positioning system and robot |
| CN110650176A (en) * | 2019-08-09 | 2020-01-03 | 江苏大学 | Special hybrid power vehicle service platform based on augmented reality technology and control method |
| CN111416553A (en) * | 2020-03-27 | 2020-07-14 | 贵州航天林泉电机有限公司 | Non-contact position feedback steering engine control circuit |
| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN114578730A (en) * | 2022-02-22 | 2022-06-03 | 武汉珞珈天铭电气科技有限公司 | Control circuit of wire repairing robot |
| CN118178107A (en) * | 2024-05-16 | 2024-06-14 | 中国人民解放军总医院 | Self-following first-aid kit based on intelligent positioning |
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| CN103996264B (en) * | 2014-05-08 | 2016-04-20 | 山东大学 | A kind of intelligent movable security system based on WLAN communication |
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Portable wireless remote control command communication system device for mine intrinsic safety rescue detection robot |
| CN105234920A (en) * | 2015-10-19 | 2016-01-13 | 浙江核芯监测科技有限公司 | Nuclear and radiation emergency robot system |
| CN105357500A (en) * | 2015-12-15 | 2016-02-24 | 福建省特种设备检验研究院 | Accident scene information monitoring system based on multi-sensor mobile networking |
| CN105807774A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Intelligent service robot for workshop |
| CN107065892A (en) * | 2017-06-09 | 2017-08-18 | 杭州电子科技大学 | Life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless |
| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN109727520A (en) * | 2019-01-29 | 2019-05-07 | 天津卡达克数据有限公司 | Artificial intelligence vehicle |
| CN110421563A (en) * | 2019-07-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of industrial robot builds figure positioning system and robot |
| WO2021017083A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Industrial robot modeling and positioning system, and robot |
| CN110650176A (en) * | 2019-08-09 | 2020-01-03 | 江苏大学 | Special hybrid power vehicle service platform based on augmented reality technology and control method |
| CN111416553A (en) * | 2020-03-27 | 2020-07-14 | 贵州航天林泉电机有限公司 | Non-contact position feedback steering engine control circuit |
| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN114578730A (en) * | 2022-02-22 | 2022-06-03 | 武汉珞珈天铭电气科技有限公司 | Control circuit of wire repairing robot |
| CN118178107A (en) * | 2024-05-16 | 2024-06-14 | 中国人民解放军总医院 | Self-following first-aid kit based on intelligent positioning |
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