CN103495979B - Explosive-handling robot controlled through wireless and wired channels - Google Patents
Explosive-handling robot controlled through wireless and wired channels Download PDFInfo
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- CN103495979B CN103495979B CN201310456942.6A CN201310456942A CN103495979B CN 103495979 B CN103495979 B CN 103495979B CN 201310456942 A CN201310456942 A CN 201310456942A CN 103495979 B CN103495979 B CN 103495979B
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Abstract
The invention relates to an explosive-handling robot controlled through wireless and wired channels. The explosive-handling robot comprises a robot body, a control platform device used for sending command signals for controlling the robot body, a receiving and processing device used for receiving and processing the command signals, a wireless transmission device, a wired transmission device and a wireless/wired switchover switch arranged on the control platform device, and the wireless transmission device and the wired transmission device are connected between the control platform device and the receiving and processing device. The control platform device is operated to generate the command signals for controlling the robot body, the wireless/wired switchover switch is controlled to select the wireless transmission device or the wired transmission device to transmit the command signals to the control platform device according to the needs of an explosion handling field, and therefore the robot body is effectively and accurately controlled.
Description
Technical field
The present invention relates to robot, refer to a kind of explosive-removal robot controlled by Wireless/wired binary channels particularly.
Background technology
Explosive-removal robot is that explosive personnel are for disposing or destroy the equipment special of suspicious explosive, it can be used for various complicated landform and carries out explosive, and replace explosive personnel carrying, transfer suspicious explosive product and other dangerous things, unnecessary casualties can be avoided.
Because explosive site environment is complicated, therefore, under which kind of environment, adopt which kind of control mode can effectively, the accurate problem controlling to become an important research to explosive-removal robot.Controlled in wireless used at present easily receives the impact of full range interference in explosive scene, thus causes using, and has line traffic control to be easily subject to the impact of the complicated terrain environment in explosive scene.
Summary of the invention
The object of the invention is overcome above-mentioned the deficiencies in the prior art and provide a kind of explosive-removal robot controlled by Wireless/wired binary channels, this explosive-removal robot can be wireless or have the mode of line traffic control to control according to concrete explosive environmental selection, thus can control explosive-removal robot efficiently and accurately.
The technical scheme realizing the object of the invention employing is: a kind of explosive-removal robot controlled by Wireless/wired binary channels, being comprised:
Robot body;
Console device, for sending the command signal controlling described robot body;
Receiving and processing device, for receiving the described command signal of process;
Radio transmitting device, is connected between described console device and receiving and processing device, for command signal described in wireless transmission;
Wired transmission device, is connected between described console device and receiving and processing device, for command signal described in wire transmission; And
Wireless/wired change-over switch, is located on described console device, described command signal is transmitted by described wired transmission device or radio transmitting device for selecting.
The present invention produces the command signal of control machine human body by operating console device, need to control Wireless/wired change-over switch according to explosive scene to select, by radio transmitting device or wired transmission device, command signal is transferred to console device, thus realize control machine human body efficiently and accurately.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the explosive-removal robot that the present invention is controlled by Wireless/wired binary channels.
Fig. 2 is console device process chart of the present invention.
Fig. 3 is data collision process chart of the present invention.
Fig. 4 receiving and processing device process chart of the present invention.
Fig. 5 is that receiving and processing device of the present invention is to the dissection process flow chart receiving data.
Detailed description of the invention
Below in conjunction with meeting with specific embodiment, the present invention is further detailed explanation.
As shown in Figure 1, the explosive-removal robot that the present invention is controlled by Wireless/wired binary channels, comprise: robot body, console device and receiving and processing device, be connected to radio transmitting device and wired transmission device between console device and receiving and processing device.Console device is provided with Wireless/wired change-over switch, by selecting to control Wireless/wired change-over switch, described command signal is undertaken being transferred to receiving and processing device by radio transmitting device or wired transmission device, receiving and processing device receives and transfers to robot body after processing command signal, thus realizes the action control to robot body.
The present invention controls explosive-removal robot by Wireless/wired binary channels and comprises: the process of console device, wired transmission device are to the process of data collision, receiving and processing device process, receiving and processing device to the dissection process receiving data, and detailed process is as follows respectively.
Console device handling process as shown in Figure 2, timer is set after initialization data, then the command signals data that inputted by console device of read operation personnel, is sent command signals data to receiving and processing device by radio transmitting device or wired transmission device by selecting to control Wireless/wired change-over switch.
If the timing of timer arrives, communication monitoring module sends communication monitoring instruction to receiving and processing device.
If the timing of timer does not arrive, then judge whether to receive the response data that receiving and processing device returns, if received, judge that whether these data are normal, if normal, to resolve and by screen display, otherwise abandon this data.
If do not receive the response signal that receiving and processing device is beamed back within the communication monitoring time, then control described communications status display lamp and send emergent prompting, and control described emergency parachute sending module by console device and send the signal making described robot body make emergency action, make the timely stop motion of robot body, and alert makes corresponding detection.Robot controlling reliability is added by real-time Communication for Power monitoring.
For having prevented line traffic control from occurring traffic congestion, the present invention by wired transmission device send data time first detection line whether have conflict, if any conflict then carry out clash handle, handling process as shown in Figure 3, comprises following concrete steps:
Initializing cable transmitting device, if this Wireline is idle, then sends data, and carries out collision detection, and the mode of collision detection is by the data of transmission and receives data compare by bit, if both are consistent, not conflict is described; If both are inconsistent, then illustrate and there occurs conflict.
If when conflict being detected, calculate the back off time required for transmission instruction, transmission priority is arranged to instruction analysis, important instruction is preferentially sent when conflicting.Back off time algorithm is: according to transfer rate calculate every bar command frame transmitting time, receive the Echo Frame time, the transmitting time of the every bar command frame of back off time T=+reception Echo Frame time+program processing time+the Frame stand-by period.Calculate stand-by period employing binary system index algorithm, stand-by period t=(2
i-1) * interval basic time * preferred number.Severity level according to message arranges preferred number, and the low preferred number of rank is high.Basic time, the transmission time value slightly larger than every bar command frame was got at interval, and i gets number of retransmissions N.
Receiving and processing device process receives the flow process of data as shown in Figure 4, specifically comprises: initialize receiving and processing device and set timer time, if any data receiver, then and resolution data, and control machine human body performs corresponding actions.If do not receive data in timer time, then stop action.
Particularly, to receiving and processing device to receiving the flow process that processes of data as shown in Figure 5, if the starting character receiving data correctly, judge that whether the length of data is correct, if correct, judge that whether these data are the address of robot body, if it is judge whether BCC verification is correct, if correctly extract command frame, complete data processing.
By above-mentioned detailed operation process, the present invention according to the corresponding transmission means of the environmental selection at explosive scene, can realize control machine human body quickly and accurately and carries out corresponding action.The present invention also has the following advantages:
1, the present invention can have Wireless/wired two kinds of control modes simultaneously, unified interface is provided, the Wireless/wired module being realized program by Wireless/wired change-over switch is freely switched, and realizes the function that same operation interface has controlled in wireless simultaneously and has line traffic control, easy to operate simple and direct.
2, the present invention with the addition of collision detection process when wired transmission device data send, and improves communication quality.Add robot controlling reliability.
3, in data communication process, have real-time Communication for Power monitoring function, when cannot receive response at the appointed time, robot automatically stops action and alert carries out link detecting, prevents from operating unexpected generation.
4, receiving and processing device is through the multiple judgement of data and verification, decreases the bit error rate, ensures the correct execution of instruction.
Claims (6)
1., by the explosive-removal robot that Wireless/wired binary channels controls, comprising:
Robot body;
Console device, for sending the command signal controlling described robot body;
Receiving and processing device, for receiving the described command signal of process;
It is characterized in that, also comprise:
Radio transmitting device, is connected between described console device and receiving and processing device, for command signal described in wireless transmission;
Wired transmission device, is connected between described console device and receiving and processing device, for command signal described in wire transmission; And
Wireless/wired change-over switch, is located on described console device, described command signal is transmitted by described wired transmission device or radio transmitting device for selecting;
Described console device also comprises:
Communication monitoring module, for monitoring the response signal that described receiving and processing device sends;
Communications status display lamp, with described communication monitoring model calling; And
Emergency parachute sending module;
Communication monitoring module does not receive described response signal in setting-up time, then control described communications status display lamp and send emergent prompting, and control described emergency parachute sending module by console device and send the signal making described robot body make emergency action.
2. according to claim 1 by the explosive-removal robot that Wireless/wired binary channels controls, it is characterized in that: described radio transmitting device carries out Signal transmissions by RS232 agreement.
3. according to claim 2 by the explosive-removal robot that Wireless/wired binary channels controls, it is characterized in that: described wired transmission device carries out Signal transmissions by RS485 agreement.
4. according to claim 2 by the explosive-removal robot that Wireless/wired binary channels controls, it is characterized in that: described receiving and processing device is provided with RS232 interface and RS485 interface, is connected respectively with described radio transmitting device and wired transmission device.
5. according to claim 1 by explosive-removal robot that Wireless/wired binary channels controls, it is characterized in that: described wired transmission device is when sending command signal, carry out collision detection and carry out clash handle, if when conflict being detected, calculate the back off time required for transmission instruction, transmission priority is arranged to instruction analysis, important instruction is preferentially sent when conflicting.
6. according to claim 5 by the explosive-removal robot that Wireless/wired binary channels controls, it is characterized in that: the mode of described collision detection is compared by bit the data of transmission and the data received, if both are consistent, then do not conflict; If both are inconsistent, then there occurs conflict.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310456942.6A CN103495979B (en) | 2013-09-30 | 2013-09-30 | Explosive-handling robot controlled through wireless and wired channels |
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| CN201310456942.6A CN103495979B (en) | 2013-09-30 | 2013-09-30 | Explosive-handling robot controlled through wireless and wired channels |
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| CN103495979A CN103495979A (en) | 2014-01-08 |
| CN103495979B true CN103495979B (en) | 2015-06-24 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN107297740A (en) * | 2016-04-14 | 2017-10-27 | 广明光电股份有限公司 | the control system of robot |
| CN106292672A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multi-platform control crusing robot |
| CN106292671A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multiple spot distribution centralized Control cruising inspection system |
| CN107081764A (en) * | 2017-03-27 | 2017-08-22 | 常州明景智能科技有限公司 | Light anti-interference explosive-removal robot and its application method |
| CN107564256B (en) * | 2017-08-13 | 2020-07-28 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle-mounted sound RDS system and software monitoring method |
| CN108247632A (en) * | 2017-12-28 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of cooperation robot control system based on ROS |
| CN109140015B (en) * | 2018-09-10 | 2020-09-15 | 吉林省智鼎新能源科技有限公司 | Valve controller and control method |
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| CN101398687A (en) * | 2008-10-10 | 2009-04-01 | 北京科技大学 | Information treating platform of small-sized both feet robot |
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| CN102990665A (en) * | 2012-12-07 | 2013-03-27 | 大连民族学院 | Reconnaissance robot based on wireless communication |
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| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
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| US20070276538A1 (en) * | 2003-12-17 | 2007-11-29 | Abb Research Ltd. | Tool for an Industrial Robot |
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