CN103692446B - For tunnel detection with the movement of searching and rescuing, fly multi-robot system - Google Patents
For tunnel detection with the movement of searching and rescuing, fly multi-robot system Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 230000033001 locomotion Effects 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 80
- 239000013307 optical fiber Substances 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000012625 in-situ measurement Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 5
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 6
- 239000000835 fiber Substances 0.000 description 4
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- 238000013461 design Methods 0.000 description 3
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- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
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Abstract
For tunnel detection with the movement of searching and rescuing, fly a multi-robot system, comprise command terminal outside tunnel (1), operation control terminal (2), mobile vehicle robot (4) and flying robot (5); Optical fiber (3) communication is adopted between mobile vehicle robot and operation control terminal, and under the control mode of remote control guiding and automatic obstacle avoiding, deliver flying robot enter tunnel, there is laser beam (9) by laser generation module (8) and guides the flying robot taken off to fly; Automatically wireless communication networks is set up by wireless communication module between robot; Flying robot flies under the jointly controlling of laser aiming, remote control and automatic obstacle avoiding module, and to mobile vehicle robot passback detection information, by mobile vehicle robot further to command terminal transmission in-situ measurement information outside operation control terminal, tunnel; The present invention adopt mobile with fly combine, mode that optical fiber combines with wireless telecommunications achieves long distance measurement in tunnel and search and rescue.
Description
Art
The present invention relates to a kind of for tunnel detection with search and rescue movement, fly multi-robot system, belong to detection and search and rescue robot field.
Background technology
Detection and search and rescue robot are the study hotspots of robot field always, one of them branches into tunnel detection and search and rescue robot, be mainly used in the detection after mine calamity and rescue, before exploitation of mineral resources is planned to the detection in this Gu tunnel, region and map generates, the detection of military tunnel, the detection of Natural Caves.Tunnel detection is enter inside, tunnel with search and rescue robot research purpose, detection tunnel layout, terrain environment and design feature, probe gas environment and life-information, and detection data is transferred to teleworker.There is following difficult point in the research: the first, the problem entered.Terrain environment in tunnel is non-structured often, complicated.As often having crisscross equipment, the top board of inbreak, ponding and mire in the tunnel after mine calamity.Therefore, how to allow robot enter and long distance to advance be matter of utmost importance.The second, the problem of communication.Tunnel is often built or is formed in underground or massif, and wireless communication distance is short; Adopt the mode of wireless relay communication that communication also can be caused unstable because communication module placement position is not good.3rd, the problem of gaseous environment.There is poisonous or inflammable, explosion hazard gases in some tunnel, mine laneway environment is especially outstanding, therefore needs to carry out special protection to robot.In order to solve mobile problem, researcher proposes wheeled, that crawler type, wheel carry out convolution, rocker-type robot running gear, but total existing defects, be unable to cope with all landform; In order to solve Communication, several researchers have proposed optical-fibre communications mode (as CN201249820) and the communication system (as CN101265813, CN201794611 U) based on wireless sensor network, adopt the mode of Optical Fiber Transmission, communication distance is subject to the impact that robot carries fiber lengths, also there is the danger that in moving process, optical fiber is impaired; Adopt wireless sensor network mode, usually adopt miniature mobile robot to carry out the foundation of wireless network, the impact being also subject to robot travelling performance can be set up.For the problem of gaseous environment impact, need according to circumstances to carry out particular design, some researchers are also studied, as underground coal mine robot needs to carry out Explosion-proof Design.
In order to solve the problem of the long distance measurement in tunnel, under the support of China's post-doctors fund (20110491479) with state natural sciences fund youth fund (51205391), this research team by further research, explore a kind of for tunnel detection with the movement of searching and rescuing, fly multi-robot system.
Summary of the invention
The object of the invention is the defect in order to solve the detection of existing tunnel and search and rescue robot, a kind of tunnel is provided to detect the multi-robot system matched with flying robot with the mobile robot searched and rescued, combined with flight by mobile, optical fiber combines with wireless telecommunications, laser aiming combines with independent navigation, realizes the long distance measurement in tunnel.
The technical solution adopted for the present invention to solve the technical problems is:
Detect with the movement of searching and rescuing, the multi-robot system that flies for tunnel to be a kind of half autonomous exploration multi-robot system, to comprise command terminal outside tunnel, operation control terminal, mobile vehicle robot and flying robot;
Operation control terminal comprises robot actuation means, monitoring module, data memory module, optical fiber communication modules, wireless communication module, environment detection module, this operation control terminal carries out information interaction by optical fiber communication modules, wireless communication module and mobile vehicle robot and flying robot, realize the control to robot, environmental information collection, display with storage; And carry out communication with command terminal outside tunnel 1;
Mobile vehicle robot comprises a set of travel mechanism, and is equipped with optical fiber releasing device, optical fiber communication modules, wireless communication module, environment detection module, laser generation module, automatic obstacle avoiding module, and as the transport agent of flying robot; Mobile vehicle robot carries out communication by optical fiber and wireless network and operation control terminal, the mobile control mode that mobile vehicle robot adopts the remote control guiding of operation control terminal to combine with automatic obstacle avoiding enters the scene of detecting, environment is detected, and to operation control terminal transmission in-situ measurement information;
Flying robot comprises aviation mechanism, and is equipped with wireless communication module, environment detection module, laser generation module, laser detection module, automatic obstacle avoiding module; Communication connection is carried out by wireless network in the flying machine human world, and coordinates each flying machine human world by wireless communication module and carry out collaborative work, automatically sets up wireless communication networks; Flying robot utilizes environment detection module to detect environment, and by wireless communication networks to mobile vehicle robotic transfer detection information, then by mobile vehicle robot to operation control terminal passback in-situ measurement information;
The laser generation module Emission Lasers bundle vectored flight robot flight of mobile vehicle robot, flying robot utilizes laser detection module can perception laser beam, and this flying robot flies under the jointly controlling of the remote control of laser aiming, operation control terminal, automatic obstacle avoiding module three; The flying machine human world also can utilize laser aiming to fly;
Described optical fiber releasing device Shi Yige center is provided with the optical fiber reel device of optical fiber slip ring, for fiber optic storage and release, is arranged in mobile vehicle robot, along with it is advanced and passive release optical fiber prolongation communication length;
The described environment detection module be arranged on mobile vehicle robot (4) and flying robot (5) comprises gas sensor, temperature sensor, life detecting device, picture pick-up device, in order to detect picture in gas componant, environment temperature, life-information and the tunnel in tunnel and video information;
The travel mechanism 7 of described mobile vehicle robot 4 can be crawler-type mobile mechanism, can be wheeled locomotion mechanism, can be wheel-track combined travel mechanism, can be rocker-type travel mechanism;
The aviation mechanism 10 of described flying robot 5 can be fixed-wing aviation mechanism, can be rotor flying mechanism, can be flapping flight mechanism.
Pass through technique scheme, outside tunnel, command terminal is arranged on outside, tunnel, operation control terminal is arranged on the home in tunnel or near position to be detected, outside tunnel, command terminal is connected and communication by network with operation control terminal, operation control terminal is connected by optical-fibre communications with mobile vehicle robot, also can carry out wireless connections simultaneously; Mobile vehicle robot moves to depths, tunnel under the control of operation control terminal, and the environmental information of detection is transferred to control terminal, and then to command terminal transmission outside tunnel; When mobile vehicle robot cannot move ahead because fiber lengths is limited or landform is obstructed, operation control terminal controls the 1st flying robot and takes off and continue detection, and now mobile vehicle robot can make laser generation module produce the flight of laser beam vectored flight robot;
Though flying robot's Stimulated Light guides still can depart from laser beam under the control of the module of the remote control of operation control terminal and independent navigation, and detect tunnel internal information in all directions, the component distributing of such as tunnel tunneling boring gas and concentration, and environmental information is sent to mobile vehicle robot, and then utilize Optical Fiber Transmission to operation control terminal, when the wireless communication module of this flying robot, to monitor communication distance too large, wireless signal is caused to weaken, communication bandwidth reduces, when communication bandwidth is down to setting value, 1st flying robot selects on the spot and puts landing and use as fixing communication relay station, 2nd flying robot takes off from mobile vehicle robot, along laser beam, movable information according to the 1st flying robot flies, more than the 1st flying robot, and detect the communication signal with the 1st flying robot, when interval is excessive, signal weakens to setting value, 2nd flying robot selects and puts landing as the use of fixing communication relay station, same mode can send the 3rd, the individual flying robot in 4 ... to be to extend detection range, when laser beam to block by barrier or turning round appears in tunnel, branch time, flying robot can select put drop to barrier or turn round, bifurcation is as communication relay station and new laser beam occurs guide flying robot's flight of taking off subsequently.
Adopt above-mentioned scheme, some beneficial effect following can be reached:
(1) introduce flying robot and participate in tunnel detection, flying robot, not by the impact of complicated landform in tunnel, can detect by flight forward fast;
(2) set up wireless communication networks by multiple stage flying robot, the locus that can adjust landing because of flying robot is more conducive to setting up sane wireless communication networks.
(3) have employed mobile working in coordination with flying robot to detect, optical fiber combines with wireless, extends detection range;
(4) adopt laser aiming, automatic obstacle avoiding, Remote match, be more conducive to the efficient flight of flying robot in tunnel environment and detection;
(5) density of the gas in tunnel is different, and the height gathered in tunnel is different from position, and flying robot can detect the gas componant at differing heights place, tunnel, can detect gaseous environment information accurately.
Accompanying drawing explanation
Fig. 1 is that the present invention is for the structural representation of tunnel detection with the movement of searching and rescuing, the multi-robot system that flies;
Fig. 2 is the schematic diagram that the present invention is applied to the detection of certain tunnel;
Fig. 3 is the enlarged drawing at I place in Fig. 2.
In figure: 1, command terminal 2, operation control terminal 3, optical fiber 4, mobile vehicle robot 5, flying robot 6, optical fiber releasing device 7, travel mechanism 8, laser generation module 9, laser beam 10, aviation mechanism 11, laser detection module 12, environment detection module 13, tunnel 14, barrier outside tunnel
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, detecting with the movement of searching and rescuing, the multi-robot system that flies for tunnel is a kind of half autonomous exploration multi-robot system, comprises command terminal 1 outside tunnel, operation control terminal 2, mobile vehicle robot 4 and flying robot 5;
Operation control terminal 2 comprises robot actuation means, monitoring module, data memory module, optical fiber communication modules, wireless communication module, environment detection module, this operation control terminal 2 carries out information interaction by optical fiber communication modules, wireless communication module and mobile vehicle robot 4 and flying robot 5, realize the control to robot, environmental information collection, display with storage; And carry out communication with command terminal outside tunnel 1;
In Fig. 1,2,3, mobile vehicle robot 4 comprises a set of travel mechanism 7, the robot of mobile vehicle shown in figure 4 have employed crawler-type mobile mechanism, this mobile vehicle robotic equipment has optical fiber releasing device 6, optical fiber communication modules, wireless communication module, environment detection module, laser generation module 8, automatic obstacle avoiding module, and as the transport agent of flying robot 5; Mobile vehicle robot carries out communication by optical fiber 3 and wireless network and operation control terminal 2, the mobile control mode that mobile vehicle robot 4 adopts the remote control guiding of operation control terminal 2 to combine with automatic obstacle avoiding enters the scene of detecting, environment is detected, and transmits in-situ measurement information to operation control terminal 2;
Flying robot 5 comprises aviation mechanism 10, this aviation mechanism can be fixed-wing aviation mechanism, rotor flying mechanism, flapping flight mechanism, flying robot 5 shown in Fig. 1,2 have employed four axle rotor flying mechanisms, and flying robot is equipped with wireless communication module, environment detection module 12, laser generation module 8, laser detection module 11, automatic obstacle avoiding module;
Carry out communication connection by wireless network between flying robot 5, and coordinate to carry out collaborative work between each flying robot 5 by wireless communication module, automatically set up wireless communication networks; Flying robot 5 utilizes environment detection module to detect environment, and transmits detection information by wireless communication networks to mobile vehicle robot 4, then returns in-situ measurement information by mobile vehicle robot 4 to operation control terminal 2;
The laser generation module 8 Emission Lasers bundle 9 vectored flight robot 5 of mobile vehicle robot 4 flies, flying robot 5 utilizes laser detection module can perception laser beam 9, and this flying robot 5 flies under the remote control of laser aiming, operation control terminal 2 and the jointly controlling of automatic obstacle avoiding module; The flying machine human world also can utilize laser aiming to fly.
Described optical fiber releasing device 6 Shi Yige center is provided with the optical fiber reel device of optical fiber slip ring, for fiber optic storage and release, is arranged in mobile vehicle robot, along with it is advanced and passive release optical fiber prolongation communication length.
Described environment detection module is arranged on mobile vehicle robot and flying robot, comprise gas sensor, temperature sensor, life detecting device, picture pick-up device, in order to detect picture in gas componant, environment temperature, life-information and the tunnel in tunnel and video information.
Pass through technique scheme, outside tunnel, command terminal 1 is arranged on outside, tunnel, operation control terminal 2 is arranged on the home in tunnel or near position to be detected, outside tunnel, command terminal 1 is connected and communication by network with operation control terminal 2, operation control terminal 2 is connected by optical fiber 3 communication with mobile vehicle robot 4, also can carry out wireless connections simultaneously, the application of native system introduced by application schematic diagram when the present invention shown in composition graphs 2,3 detects tunnel, Tu Zhong mobile vehicle robot 4 delivers multiple stage flying robot 5, move to depths, tunnel under the control of operation control terminal 2, and the environmental information of detection is transferred to control terminal 2, and then transmit to command terminal outside tunnel 1, in Fig. 2, mobile vehicle robot 4 cannot move ahead because barrier 14 stops, operation control terminal 1 controls the 1st flying robot 5 and takes off and continue detection, and now mobile vehicle robot 4 can make laser generation module 8 produce laser beam 9 vectored flight robot 5 to fly, though flying robot 5 Stimulated Light guides still can depart from laser beam under the control of the module of the remote control of operation control terminal 2 and independent navigation, and detect tunnel 13 internal information in all directions, the component distributing of such as tunnel tunneling boring gas and concentration, and environmental information is sent to mobile vehicle robot 4, and then utilize optical fiber 3 to transfer to operation control terminal 2, when the wireless communication module of this flying robot 5, to monitor communication distance too large, wireless signal is caused to weaken, communication bandwidth reduces, when communication bandwidth is down to setting value, 1st flying robot 5 selects on the spot and puts landing and use as fixing communication relay station, 2nd flying robot takes off from mobile vehicle robot 4, along laser beam 9, according to the movable information autonomous flight of the 1st flying robot 5, more than the 1st flying robot 5, and detect the communication signal with the 1st flying robot 5, when interval is excessive, signal weakens to setting value, 2nd flying robot 5 selects and puts landing as the use of fixing communication relay station, same mode can send the 3rd, the individual flying robot 5 in 4 ... to be to extend detection range, when laser beam to block by barrier or turning round appears in tunnel, branch time, flying robot 5 can select put drop to barrier or turn round, bifurcation is as communication relay station and new laser beam 9 occurs guide the flying robot 5 taken off subsequently to fly.
In addition, in order to ensure the communication reliability between operation control terminal 2 and mobile vehicle robot 4, can let flying robot 5 fly away from operation control terminal 2 or mobile vehicle robot 4, wireless communication module according to the change landing point of communication bandwidth, and sets up wireless communication networks automatically.Even if the optical fiber 3 that mobile vehicle robot 4 discharges interrupts for some reason, system also crew can rely on wireless communication networks work.In some special tunnel, at the beginning, mobile vehicle robot 4 is just possibly cannot use, and this sample system can adopt flying robot 5 to carry out detection operation completely.
Claims (3)
1. one kind detects with the movement of searching and rescuing, fly multi-robot system for tunnel, comprise command terminal outside tunnel (1), operation control terminal (2), it is characterized in that: this system also comprises mobile vehicle robot (4) and flying robot (5); Described operation control terminal (2) comprises robot actuation means, monitoring module, data memory module, optical fiber communication modules, wireless communication module, environment detection module, this operation control terminal (2) carries out information interaction by optical fiber communication modules, wireless communication module and mobile vehicle robot (4) and flying robot (5), realize the control to robot, the collection of environmental information, display and storage, and carry out communication with command terminal outside tunnel (1);
Mobile vehicle robot (4) comprises a set of travel mechanism (7), and be equipped with optical fiber releasing device (6), optical fiber communication modules, wireless communication module, environment detection module, laser generation module (8), automatic obstacle avoiding module, and as the transport agent of flying robot (5); Mobile vehicle robot and operation control terminal (2) carry out communication by optical fiber (3), the mobile control mode that mobile vehicle robot (4) adopts the remote control guiding of operation control terminal (2) to combine with automatic obstacle avoiding enters the scene of detecting, environment is detected, and to operation control terminal (2) transmission detection information;
Flying robot (5) comprises aviation mechanism (10), and is equipped with wireless communication module, environment detection module (12), laser generation module (8), laser detection module (11), automatic obstacle avoiding module; Flying robot carries out communication connection by wireless network between (5), and coordinates each flying machine human world by wireless communication module and carry out collaborative work, automatically sets up wireless communication networks; Flying robot (5) utilizes environment detection module (12) to detect environment, and to mobile vehicle robot (4) transmission detection information, then by mobile vehicle robot (4) to operation control terminal (2) transmission in-situ measurement information;
Laser generation module (8) Emission Lasers bundle (9) vectored flight robot (5) flight of mobile vehicle robot (4), flying robot (5) utilizes laser detection module (11) can perception laser beam (9), and flies under controlling the remote control of laser aiming, operation control terminal (2), the triple combination of automatic obstacle avoiding module; The flying machine human world also can adopt laser aiming to fly.
2. according to claim 1 for tunnel detection with search and rescue movement, fly multi-robot system, it is characterized in that: described optical fiber releasing device (6) Shi Yige center is provided with the optical fiber reel device of optical fiber slip ring, store and release for optical fiber (3), be arranged in mobile vehicle robot, along with it is advanced and passive release optical fiber prolongation communication length.
3. according to claim 1 for tunnel detection with search and rescue movement, fly multi-robot system, it is characterized in that: the described environment detection module be arranged on mobile vehicle robot (4) and flying robot (5) comprises gas sensor, temperature sensor, life detecting device, picture pick-up device, in order to detect picture in gas componant, environment temperature, life-information and the tunnel in tunnel and video information.
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| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
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| CN108194129A (en) * | 2018-03-28 | 2018-06-22 | 中国矿业大学(北京) | A kind of mine Disastrous environment search and rescue device based on aircraft |
| CN109229378B (en) * | 2018-07-31 | 2022-04-05 | 哈尔滨工程大学 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
| CN108858203A (en) * | 2018-08-21 | 2018-11-23 | 深圳威琳懋生物科技有限公司 | A kind of exploration robot can be realized chained record transmission |
| CN112965531A (en) * | 2021-03-04 | 2021-06-15 | 中国矿业大学 | Microminiature aircraft for unmanned detection of coal mine goaf and method thereof |
| CN114906253B (en) * | 2022-05-17 | 2023-11-17 | 南京理工大学工程技术研究院有限公司 | High-terrain-adaptability material delivery trolley and application method thereof |
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