CN103399577B - A kind of detection sensory perceptual system of operated from a distance rescue robot - Google Patents
A kind of detection sensory perceptual system of operated from a distance rescue robot Download PDFInfo
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- CN103399577B CN103399577B CN201310334362.XA CN201310334362A CN103399577B CN 103399577 B CN103399577 B CN 103399577B CN 201310334362 A CN201310334362 A CN 201310334362A CN 103399577 B CN103399577 B CN 103399577B
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Abstract
The object of the present invention is to provide a kind of detection sensory perceptual system of operated from a distance rescue robot, comprise supervisory control comuter, truck-mounted computer, bottom control circuit unit, image capturing and transmitting unit, range laser radar unit, inertial attitude reference system unit and acquisition sensor unit, bottom control circuit unit comprises main control unit module, cradle head camera driver module, power module and bottom circuit main board, image capturing and transmitting unit comprises cradle head camera and video transmission module, acquisition sensor unit comprises temperature sensor, sound transducer, gas sensor etc., truck-mounted computer is connected by usb data interface with main control unit module, main control unit module and cradle head camera drive circuit module are installed on bottom control circuit main board by contact pin type Interface design.The present invention has good versatility, stronger portability, can as the detection sensory perceptual system of the robot of the number of different types such as rescue robot and home-services robot.
Description
Technical field
What the present invention relates to is a kind of robot, specifically the detection sensory perceptual system of robot.
Background technology
All can there is a large amount of disasteies and man-made disaster 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 be trapped in ruins just becomes thing the most urgent after disaster occurs.Research shows, if these survivors can effectively be succoured within 48 hours, so dead possibility will reduce greatly.But complicated dangerous disaster field brings huge threat to the personal safety of rescue personnel and survivor, and rescue work also can be hindered fast and effeciently to carry out.Using rescue robot to carry out auxiliary search and rescue is the effective means solving this difficult problem.
Because disaster is with a varied topography, rescue personnel can not enter in time caves in buildings, and this just needs rescue robot to go deep into disaster field Timeliness coverage survival personnel, and allows rescue personnel understand field data as early as possible, tissue rescue.So find as early as possible and effectively identify survivor, and disaster scene information and topomap will be sent to rescue personnel's manipulation end in time accurately, be the key of rescue survivor.
Summary of the invention
The object of the present invention is to provide the detection sensory perceptual system by wireless network, the information such as the environmental information around rescue robot being sent back to 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, bottom control circuit unit, supervisory control comuter connects wireless router by cable network, truck-mounted computer is provided with wireless network card, wireless network card is connected with wireless router by wireless network, truck-mounted computer, bottom control circuit unit is installed on robot body, robot body is also fixed with automatically controlled turntable support, automatically controlled turntable support is installed the first steering wheel, first steering wheel pivoted frame, second steering wheel, 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, first steering wheel is arranged on the second steering wheel pivoted frame, second steering wheel is arranged on automatically controlled turntable support, first steering wheel pivoted frame is fixed with mounting platform, mounting platform is fixed inertial attitude reference system unit and range laser radar unit, inertial attitude reference system unit is all connected truck-mounted computer with range laser radar unit, bottom control circuit unit comprises bottom circuit main board and is arranged on the main control unit module on bottom circuit main board, cradle head camera drive circuit module, power module, main control unit module connects truck-mounted computer respectively, cradle head camera drive circuit module, first steering wheel, second steering wheel, cradle head camera drive circuit module connects cradle head camera, the wireless network that the image data information of collection is set up by wireless router is sent to supervisory control comuter by video transmission module by cradle head camera, the attitude of inertial attitude reference system measuring robots, attitude data is transferred to truck-mounted computer, the attitude of robot and angle rate of change are passed to main control unit module by truck-mounted computer, then main control unit module controls the first steering wheel, second steering wheel motion makes mounting platform and ground keep required angle.
The present invention can also comprise:
1, robot body is provided with temperature sensor, sound transducer, gas sensor, temperature sensor, sound transducer, gas sensor send the information recorded separately to truck-mounted computer respectively.
Advantage of the present invention is:
1. this detection sensory perceptual system has good versatility, the features such as stronger portability, can 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 various information sensor equipment according to actual needs, can find target timely and effectively rapidly, exact picture goes out target place environmental information and position.
3. communication control system of the present invention can realize the real-time communication of manipulation end personnel and robot, understands disaster assistance field data in time.
Accompanying drawing explanation
Fig. 1 is the solution of the present invention frame diagram;
Fig. 2 is bottom control circuit main board block schematic illustration 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 block schematic illustration of two degrees of freedom of the present invention;
Fig. 5 is scene schematic diagram of the invention process.
Embodiment
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 5, in order to find survivor timely and effectively, and site environment information residing for survivor is sent to supervisory control comuter 1 one end rapidly, rescue worker is allowed to recognize the position of survivor and the details of residing environment quickly and accurately, the present invention's design completes a kind of detection sensory perceptual system of rescue robot, the present invention adopts master-slave mode computing machine control design case, 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, receive and dispatch from the sensor information process of computing machine primary responsibility and transmission, control command, bottom control command analysis generation etc.Principal computer with carry out data communication from computing machine by wireless network.Vehicle-mounted end mainly comprises: bottom control circuit unit 8111215, image capturing and transmitting unit 910, range laser radar unit 14, inertial attitude reference system unit 13, acquisition sensor unit 22.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 capturing and transmitting unit mainly comprises: video transmission module 9 and cradle head camera 10.Acquisition sensor unit, as 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, detection perception is carried out to site space, and collected surrounding space data message is sent to operating side supervisory control comuter 1 by wireless network, carry out environment by supervisory control comuter 1 pair of rescue robot 23 surrounding space and build figure.
Truck-mounted computer 4 is responsible for the data message that each sensor of reception collects, and the data message received is sent to supervisory control comuter 1 by wireless network.In order to avoid the transmission delay phenomenon too much caused due to signal data, therefore the image data information gathered by cradle head camera 10 uses the video transmission module 9 of self to be sent to supervisory control comuter 1 by the wireless network that wireless router 2 is set up.The image data information that cradle head camera 10 gathers carries out data processing and transmission without truck-mounted computer 4, is conducive to the smooth reception of supervisory control comuter 1 pair of sensor signal, improves reliability and the real-time of sensor information.
Range laser radar 14 operationally needs to keep certain level angle with ground, and rescue robot 22 is in the process run, and cannot ensure the stable of self attitude.In order to ensure effective work of range laser radar 14, jointly be installed on the mounting platform 16 of an automatically controlled turntable of two degrees of freedom by range laser radar unit 14 and inertial attitude reference system unit 13, the automatically controlled turntable of two degrees of freedom is arranged on rescue robot 23 top reserved location.The automatically controlled turntable of two degrees of freedom uses two steering wheels as performer, and inertial attitude reference system unit 13 is as the detecting sensor of rescue robot 23 attitude, and bottom control circuit unit is as the control core of the automatically controlled turntable of two degrees of freedom.The automatically controlled turntable of two degrees of freedom mainly comprises: inertial attitude reference system unit 13, mounting platform 16, steering wheel I17, steering wheel II20, steering wheel I pivoted frame 18, steering wheel II pivoted frame 19 and automatically controlled turntable support 21.Steering wheel I17 controls Anterior-Posterior, and steering wheel II20 controls left and right degree of freedom.When rescue robot 23 tilts forward and back, steering wheel I17 is responsible for carrying out Anterior-Posterior adjustment, makes mounting platform 16 keep parallel to the ground.When rescue robot 23 tilts, steering wheel II20 is responsible for carrying out left and right degree of freedom adjustment, makes mounting platform 16 continue to keep horizontality.When rescue robot 23 all around state all changes, steering wheel I17, steering wheel II20 then adjust simultaneously, and mounting platform 16 is kept and ground level state, to ensure effective work of range laser radar 14 always.
Composition graphs 1, carries out general description to this detection sensory perceptual system scheme.The present invention is a kind of detection sensory perceptual system of operated from a distance rescue robot, by wireless network by the environmental information around rescue robot 23 and whether there is the information such as survivor and be sent back to manipulation end supervisory control comuter, it is characterized in that: manipulation end supervisory control comuter 1, truck-mounted computer 4, bottom control circuit unit, image capturing and transmitting unit, range laser radar unit 14, inertial attitude reference system unit 13 and acquisition sensor unit 22.Wherein, 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 capturing and transmitting unit mainly comprises: cradle head camera 10 and video transmission module 9, 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 usb data interface with main control unit module 12, main control unit module 12 and cradle head camera drive circuit module 11 are installed on bottom control circuit main board 15 by contact pin type Interface design, 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 windowsxp system, and wireless router 2 adopts TP-LINK740 wireless router, is connected, and sets up wireless network with supervisory control comuter 1 by cable network.Truck-mounted computer 4 adopts AcerAspireoneD270-26Ckk portable notebook, passes downwardly through usb data interface and is connected with the main control unit module 12 of bottom control circuit unit, realizes the data transmission work with bottom control circuit unit.Upwards be connected with manipulation end wireless router 2 by wireless network with the wireless network card 3 of notebook by the IEEE802.11g standard carried, thus realize principal computer and the data transmission work from computing machine.Acquisition sensor unit 22 is installed on the reserved location of rescue robot 23 front end, 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 respectively by usb data interface, 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 serial data interface, data message is also sent to supervisory control comuter 1 by wireless network by the data message that each sensor of the responsible reception of truck-mounted computer 4 collects, by supervisory control comuter 1 by data analysis and process.Wherein: range laser radar unit 14 adopts the range laser radar of HOKUYOURG-04LX model, for building figure to rescue robot 23 surrounding space environment.Temperature sensor 5 adopts PT100 temperature sensor, for detecting the temperature variation of rescue robot 23 surrounding environment.Sound transducer 6 adopts common dynamic microphones, for receiving the voice signal of rescue robot 23 surrounding environment, identifying whether to be emergency sound, and setting up speech communication with survival personnel and contact.Gas sensor 7 adopts MH-410 infrared carbon dioxide gas sensor, for detecting the concentration change of carbon dioxide in rescue robot 23 surrounding environment.What cradle head camera 10 adopted is KaiCongsip1018 model cradle head camera, support level 270 degree, upper and lower 120 degree of scopes are rotated, built-in wifi module, support 802.11b/g/n agreement, the wireless network built with wireless router 2 is connected, and the image data transmission photographed by cradle head camera 10 by wireless network is to supervisory control comuter 1, processed by supervisory control comuter 1 pair of image data information, and image scene is shown.
Composition graphs 2, is described bottom control circuit unit composition.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, and each module passes through contact pin type design and installation on bottom circuit main board 15.Main control unit module 12 with Freescale MC9S12XS128 single-chip microcomputer for main control chip, for controlling cradle head camera drive circuit module 11.The direct current motor drive circuit that H-bridge circuit, MC33883EG chip that cradle head camera drive circuit module 11 is built by MOSFETIRF3205 chip form jointly as driving chip, 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.
Composition graphs 3, is described the automatically controlled turntable structure of two degrees of freedom.The automatically controlled turntable of two degrees of freedom mainly comprises: inertial attitude reference 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.Inertial attitude reference system unit 13 adopts the inertial attitude reference system of XsensMTi model, be connected with truck-mounted computer 4 by serial data interface, and inertial attitude reference system unit 13 and range laser radar unit 14 are fixedly installed on mounting platform 16 jointly, ensure that inertial attitude reference system unit 13 is consistent with range laser radar unit 14 attitude.Mounting platform 16 and steering wheel I pivoted frame 18 are connected, and automatically controlled turntable support 21 is installed on the reserved location of rescue machine human body 23, is fixedly connected with rescue machine human body 23.Steering wheel I17 is installed on steering wheel II pivoted frame 19, and output terminal is connected with steering wheel I pivoted frame 18, for controlling Anterior-Posterior adjustment.Steering wheel II20 is installed on automatically controlled turntable support 21, and output terminal is connected with steering wheel II pivoted frame 19, for controlling left and right degree of freedom adjustment.When rescue robot 23 tilts forward and back, steering wheel I17 is responsible for carrying out Anterior-Posterior adjustment, makes mounting platform 16 keep parallel to the ground.When rescue robot 23 tilts, steering wheel II20 is responsible for carrying out left and right degree of freedom adjustment, makes mounting platform 16 continue to keep horizontality.When rescue robot 23 all around state all changes, steering wheel I17, steering wheel II20 then adjust simultaneously, and mounting platform 16 is kept and ground level state, to ensure effective work of range laser radar unit 14 always.
Composition graphs 4, is described the control system of the automatically controlled turntable of two degrees of freedom.The control system of the automatically controlled turntable of two degrees of freedom is a typical closed-loop control system, MTi inertial attitude reference system 13 detects the attitude of a robot, by attitude data by Serial Port Transmission to truck-mounted computer 4, truck-mounted computer 4 obtains the attitude of current rescue robot 23 and the attitude angle rate of change at X/Y axle by resolving communications protocol, main control unit module 12 is passed to again by serial ports, PID controller is performed in main control unit module 12, then control steering wheel I17, steering wheel II20 move, and drive the automatically controlled turntable of two degrees of freedom to keep level.Controlled frequency is identical with the Refresh Data frequency of MTi inertial attitude reference system 13, is 50Hz.
Composition graphs 5, is described the operating process of this detection sensory perceptual system.Rescue robot 23 is moved into disaster assistance scene, in rescue robot 23 traveling process, the image information that cradle head camera 10 is taken is sent to supervisory control comuter 1 by video transmission module 9, manipulation personnel understand the ambient condition information of rescue robot 23 by the image scene that supervisory control comuter 1 shows, and can observe whether there are survival personnel by supervisory control comuter 1.Each sensor in acquisition sensor unit 22 cooperating simultaneously, environmental information around the rescue robot 23 collected is sent to truck-mounted computer 4, and after truck-mounted computer 4 processes, data message is being sent to supervisory control comuter 1 by wireless network, finally carry out processes and displays by supervisory control comuter 1 and check in time for rescue personnel.Wherein: temperature sensor 5 is responsible for detecting the temperature variation around rescue robot 23, when rescue robot surrounding environment occur high temperature or etc. abnormal conditions time, the abnormality alarms such as high temperature can be sent at supervisory control comuter 1.Gas sensor 7 is responsible for the concentration change detecting carbon dioxide in rescue robot 23 surrounding environment, when rescue robot 23 surrounding occurs that gas concentration lwevel crosses high abnormal conditions, can send gas concentration lwevel cross high abnormality alarm at supervisory control comuter 1.Sound transducer 6 is responsible for the voice signal receiving rescue robot 23 surrounding environment, identifies whether to be emergency sound, and sets up speech communication with survival personnel and contact.Range laser radar unit 14 works simultaneously, and the space environment information of rescue robot 23 process is sent to supervisory control comuter 1, carries out environment and builds figure, and mark the particular location of survival personnel by supervisory control comuter 1.Finally, timely and effective discovery survival personnel and exact picture can be gone out survive personnel place particular location by native system rescue robot 23, and set up speech communication with 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, bottom control circuit unit, supervisory control comuter connects wireless router by cable network, truck-mounted computer is provided with wireless network card, wireless network card is connected with wireless router by wireless network, truck-mounted computer, bottom control circuit unit is installed on robot body, robot body is also fixed with automatically controlled turntable support, automatically controlled turntable support is installed the first steering wheel, first steering wheel pivoted frame, second steering wheel, 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, first steering wheel is arranged on the second steering wheel pivoted frame, second steering wheel is arranged on automatically controlled turntable support, first steering wheel pivoted frame is fixed with mounting platform, mounting platform is fixed inertial attitude reference system unit and range laser radar unit, inertial attitude reference system unit is all connected truck-mounted computer with range laser radar unit, bottom control circuit unit comprises bottom circuit main board and is arranged on the main control unit module on bottom circuit main board, cradle head camera drive circuit module, power module, main control unit module connects truck-mounted computer respectively, cradle head camera drive circuit module, first steering wheel, second steering wheel, cradle head camera drive circuit module connects cradle head camera, the wireless network that the image data information of collection is set up by wireless router is sent to supervisory control comuter by video transmission module by cradle head camera, the attitude of inertial attitude reference system unit inspection robot, attitude data is transferred to truck-mounted computer, the attitude of robot and angle rate of change are passed to main control unit module by truck-mounted computer, then main control unit module controls the first steering wheel, 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: robot body is provided with temperature sensor, sound transducer, gas sensor, temperature sensor, sound transducer, gas sensor send the information recorded separately to truck-mounted computer respectively.
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| CN110650176B (en) * | 2019-08-09 | 2022-04-26 | 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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