CN104343464A - Ad-hoc network mine rescue robot - Google Patents
Ad-hoc network mine rescue robot Download PDFInfo
- Publication number
- CN104343464A CN104343464A CN201310327894.0A CN201310327894A CN104343464A CN 104343464 A CN104343464 A CN 104343464A CN 201310327894 A CN201310327894 A CN 201310327894A CN 104343464 A CN104343464 A CN 104343464A
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- China
- Prior art keywords
- robot
- disaster relief
- hoc network
- manet
- underground
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- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 238000013461 design Methods 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 7
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 238000005065 mining Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 238000011160 research Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 7
- 230000006854 communication Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000003245 coal Substances 0.000 description 8
- 239000013307 optical fiber Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
- 238000003973 irrigation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- -1 fire Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
- Alarm Systems (AREA)
Abstract
The invention provides an ad-hoc network mine rescue robot. A variable structure with multiple sections of crawlers is adopted in design, the robot with four-crawler swing arms can be adjusted in height and posture through motion of rotating arms, and excellent through capacity under the complex environment is achieved; a wireless ad-hoc network function is achieved, an IEEE802.11n wireless network technology is adopted, ad-hoc network is performed in a WDS mode, and long-range and high-speed data communication underground is achieved. The ad-hoc network mine rescue robot is provided with a functional environmental monitor and most of sensors commonly used underground, an 8-path sensor input interface is reserved, and full-time function reuse can be realized through the 8-path interface; the robot is provided with a functional handheld terminal which is lightweight and compact and functional. Underground operation can be controlled through the robot, and underground environment monitoring data, voice frequency and video information can be further acquired.
Description
Technical field
The present invention relates to areas of information technology, particularly a kind of MANET Mine Disaster Relief Robot.
Background technology
Downhole coal mine operating environment is complicated, is often subject to the threat of the disasters such as gas, mine dust, fire, water, top board in process of production.Because China's mine natural conditions are poor, add that technology and management etc. are all multi-faceted not in place, and the continuous growth of country to coal resources demand in recent years, China's coal-mine Environment of Mine Disaster accident is frequently occurred, and casualties is very heavy.After coal mining accident occurs, the complexity of environment and danger make rescue personnel to carry out investigations close to scene or to sue and labour.Therefore, research and development mine Disaster Relief Robot is to Safety of Coal Mine Production, and the loss reducing the country and people's lives and properties has the meaning more wanted for ten minutes.
A kind of coal mine rescue and detection robot is disclosed in patent CN 101643096A.Comprise casing, driving wheel and optical fiber jack, driving wheel is symmetricly set on the both sides of casing, is connected with the drive unit in casing; Optical fiber jack is arranged in casing, and the drive motors that optical fiber is taken in mechanism and drive unit is electrically connected with control system respectively.Major diameter wheel has good climbing and obstacle performance; Damping device is installed between driving wheel and casing, while not affecting robot work, has extended the application life of robot; The present invention and parametric controller realize the optical fiber that data transmit and take in mechanism controls folding and unfolding by optical fiber, effectively control winding position when optical fiber reclaims; Car body takes the design form of overall flame proof, can at underground coal mine mine disaster scene containing explosive gas atmosphere work, there is performance that is dust-proof, waterproof simultaneously.But this robot is suitable for major diameter wheel, and the handling capacity under MODEL OVER COMPLEX TOPOGRAPHY is poor, use mine cable to carry out power supply and data transmission, locomitivity and communication distance receive the serious restriction of cable.
Summary of the invention
The present invention adopts varistructure multistage crawler belt to design, and four sections of crawler belt swing arm robots, by the motion adjustment height of turning arm and attitude, possess excellent handling capacity under complex environment; Possess wireless self-networking function, have employed IEEE802.11n radio network technique, with WDS mode MANET, realize the long distance in down-hole, high-speed data communication; The present invention has the environmental monitor of perfect in shape and function, contains most of down-hole sensors, reserved No. 8 sensor input interfaces, and 8 road interfaces can realize full-time multiplexing functions; There is the handheld terminal of perfect in shape and function, light small and exquisite, the perfect in shape and function of handheld terminal.Not only can control in underground work, subsurface environment monitored data, Voice & Video information can also be obtained.
The varistructured design of multistage crawler belt, can possess outstanding handling capacity under complicated terrain environment, can go deep into down-hole and set up communication link by MANET mode, to solve a difficult problem for telecommunication.Robot, with the environmental monitor of complete function, life detectors and audio and video acquisition devices, realizes the remote monitoring assessment of scene of the accident environment, for pick-up operation provides decision-making foundation, effectively improves the efficiency of disaster relief.MANET Mine Disaster Relief Robot system stability is reliable, adaptable to down-hole complex environment, compensate for the multiple deficiency of existing Mine Disaster Relief Robot, rescue personnel can be helped to carry out disaster relief programs rapidly, exactly, for disaster relief work provides decision-making foundation, effectively improve the efficiency of disaster relief.In mine disaster rescue, apply native system, efficiently carrying out and ensureing that rescue personnel's inherently safe all has great importance disaster relief work, greatly can improve coal mining accident emergency processing and disaster relief ability.This MANET Disaster Relief Robot system cloud gray model is effectively reliable,
detailed description of the invention:
The present invention is from the actual environment at coal mining accident scene, devise the varistructure caterpillar robot with overturn arm mechanism, have developed robot bottom layer driving and kinetic control system, adopt the design of varistructure multistage crawler belt, excellent handling capacity is possessed under the complex environment such as road, slope, step, rock, sand ground, rail, muddy, depression, irrigation canals and ditches, can cross and to be highly greater than or the degree of depth is less than obstruction or the degree of depth of self twice, enhance the handling capacity of robot under MODEL OVER COMPLEX TOPOGRAPHY.
Disaster Relief Robot for control core, has carried environmental monitoring system, Voice & Video acquisition system with PC104 industrial computer.Make the environmental monitor of perfect in shape and function, environmental monitor take arm processor as core, this monitor contains most of down-hole sensors such as mining temperature, humidity, oxygen concentration, carbonomonoxide concentration, methane concentration, dust, for ease of system extension, and the reserved 8 full-time multiplexing functions in tunnel, strengthen extended capability;
Possess life detection function, robot has carried the life detectors of independent research, and can realize 360 degree of detections to down-hole trapped personnel, detection range is maximum reaches 6m, and high to static target discrimination, rate of false alarm is low, can Timeliness coverage locate down-hole trapped personnel;
Have employed IEEE802.11n radio network technique, with WDS mode MANET, underground communica tion distance reaches as high as 2000m.Adopt IEEE 802.11n standard to set up cordless communication network as data transmission channel, designed and produced network trunk node, set up high speed, reliable and stable data link with WDS networking mode on this basis.
Devise the handheld terminal of Disaster Relief Robot based on ARM embedded platform and Android operation system, this handheld terminal is by carrying out exchanges data between C/S network model and Disaster Relief Robot.
Vision signal is sent to handheld terminal with H.264 compressed encoding form by RTP RTCP Real-time Transport Control Protocol, disaster relief personnel check environmental monitoring data and the audio and video information of the scene of the accident by the handheld terminal of complete function, and Long-distance Control can be carried out to robot, improve efficiency and the safety of rescue work.
The key technical indexes of the present invention:
(1) size: 300*450*100mm
(2) weight: 20kg
(3) maximal rate: 40 ms/min
(4) execution architecture: multistage crawler belt
(5) energy source and power: 24V dynamic lithium battery
(6) ultrasonic ranging: 20cm to 4m
(7) image definition: 420 lines
(8) illuminator: 5W LED
(9) pickup distance: 5m
(10) communication distance: 2km
(11) traffic rate: 5-142Mbps
(12) life detection scope: 2-6 rice, 360 °
(13) Environmental Monitoring: temperature, humidity, oxygen concentration, carbonomonoxide concentration, methane concentration, dust etc.
(14) working environment: road, slope, step, rock, sand ground, rail, muddy, depression, irrigation canals and ditches
(15) operating temperature :-10 DEG C ~ 80 DEG C.
Claims (4)
1. a MANET Mine Disaster Relief Robot, is characterized in that: devise the varistructure caterpillar robot with overturn arm mechanism, have developed robot bottom layer driving and kinetic control system, adopts the design of varistructure multistage crawler belt.
2. MANET Mine Disaster Relief Robot according to claim 1, is characterized in that: Disaster Relief Robot for control core, has carried environmental monitoring system, Voice & Video acquisition system with PC104 industrial computer.
3. MANET Mine Disaster Relief Robot according to claim 1, it is characterized in that: made the environmental monitor of perfect in shape and function, environmental monitor take arm processor as core, this monitor contains most of down-hole sensors such as mining temperature, humidity, oxygen concentration, carbonomonoxide concentration, methane concentration, dust, for ease of system extension, and the reserved 8 full-time multiplexing functions in tunnel.
4. MANET Mine Disaster Relief Robot according to claim 1, is characterized in that: robot has carried the life detectors of independent research, and can realize 360 degree of detections to down-hole trapped personnel, detection range is maximum reaches 6m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310327894.0A CN104343464A (en) | 2013-07-31 | 2013-07-31 | Ad-hoc network mine rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310327894.0A CN104343464A (en) | 2013-07-31 | 2013-07-31 | Ad-hoc network mine rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104343464A true CN104343464A (en) | 2015-02-11 |
Family
ID=52499848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310327894.0A Pending CN104343464A (en) | 2013-07-31 | 2013-07-31 | Ad-hoc network mine rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104343464A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105682108A (en) * | 2016-02-25 | 2016-06-15 | 中国矿业大学(北京) | Underground robot communication control system based on wireless sensor network |
| CN105758453A (en) * | 2016-02-29 | 2016-07-13 | 周丹 | Downhole environment and life detector |
-
2013
- 2013-07-31 CN CN201310327894.0A patent/CN104343464A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105682108A (en) * | 2016-02-25 | 2016-06-15 | 中国矿业大学(北京) | Underground robot communication control system based on wireless sensor network |
| CN105758453A (en) * | 2016-02-29 | 2016-07-13 | 周丹 | Downhole environment and life detector |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150211 |
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| WD01 | Invention patent application deemed withdrawn after publication |