CN105041371A - All terrain intelligent moving rescue robot - Google Patents
All terrain intelligent moving rescue robot Download PDFInfo
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- CN105041371A CN105041371A CN201510313088.7A CN201510313088A CN105041371A CN 105041371 A CN105041371 A CN 105041371A CN 201510313088 A CN201510313088 A CN 201510313088A CN 105041371 A CN105041371 A CN 105041371A
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Abstract
The invention discloses an all terrain intelligent moving rescue robot. The surviving capability, the exercise capability, the perception capability and the communication capability of the all terrain intelligent moving rescue robot are enhanced, the problem that a conventional small moving robot is not perfect enough in function or a technology adopted for a function on some aspect falls behind is solved, and the all terrain intelligent moving rescue robot has higher mining accident rescue operation capability. The all terrain intelligent moving rescue robot is powered by a lithium battery so that the duration of the all terrain intelligent moving rescue robot is improved; due to the design of a track and a suspension system and the use of a control algorithm and a brushless direct current motor, the all terrain intelligent moving rescue robot has high exercise capability; due to the arrangement of a laser radar and various sensors, the surrounding information collecting capability of the all terrain intelligent moving rescue robot is guaranteed; the design of the overall structure guarantees a required maximum running speed, the sealing of road surface water and the carrying of relief goods; and a controller and a wireless data interactive device guarantee good man-machine information communication. Through integration of functions, the all terrain intelligent moving rescue robot can finish given tasks excellently on the mining accident rescue site.
Description
Technical field
The present invention relates to the technical field of full landform intelligent mobile rescue robot, particularly relate to full landform intelligent mobile rescue robot in actual job process, higher mine disaster rescue field is required to its overall performance.
Background technology
On-the-spot at mine disaster rescue, due to the threat of unknown hazards, the existence of the existence of such as toxic gas, the indefinite even secondary mine disaster possibility occurrence of visibility, also the restriction of disaster-stricken field rescue space size or after mine disaster, the manpower rescue made have received restriction, therefore the development of small-sized full landform intelligent mobile rescue robot more and more comes into one's own.Mostly improve not or the technology comparatively backwardness that certain aspect function adopts by function for existing miniature mobile robot, can not meet actual needs well.Part miniature mobile robot still uses long-distance line powered or uses lead accumulator that its job area and flying power are greatly limited.The small-size multifunction mobile robot of wheeled construction can only travel on relatively flat, surperficial harder road surface.Small-size multifunction mobile robot is also had to adopt ultrasonic wave and infrared sensor to make it in data acquisition, be subject to a definite limitation.At present a lot of small-size multifunction mobile robot allomeric function is strong, only focuses on the strengthening of function in a certain respect and ignores the reinforcement of other aspect functions, thus having influence on the overall operation level of small-size multifunction mobile robot.
Summary of the invention
In order to overcome the deficiency that above-mentioned small-size multifunction mobile robot exists, creationaryly in the present invention design a kind of full landform intelligent mobile rescue robot, all do perfect in its survival ability, locomitivity, perception, communication capacity, there is better actual field work capacity.
The technical solution adopted in the present invention:
(1) in order to solve the problem that part miniature mobile robot still uses long-distance line powered or uses lead accumulator to make its job area and flying power be greatly limited, we adopt lithium battery to provide power resources for miniature mobile robot, ensure the flying power of robot well.
(2) in order to ensure full landform intelligent mobile rescue robot stability in the process of moving and entirely orographical.We select spring-damper as the main support of car body and system stored energy damper element, the rational layout of spring-damper and select rational spring rate and damped coefficient can the uneven vibration caused in maximized absorption road surface, plays the effect to vehicle body damping.The use of excellent algorithm and brshless DC motor also makes it pass through narrow regions and ability in barrier of keeping away is given prominence to.The intelligent mobile rescue robot that these all make is applicable to full landform.
(3) in order to avoid the shortcoming of ultrasonic wave and infrared sensor and the omission that gathers surrounding environment effective information.Laser radar and various gas and human body detection sensor is adopted to realize, to the Real-time Collection of ambient condition information and the tracking treating rescue personnel, also providing effective information for the self-service navigation of car body.
(4) in order to promote the maximum travelling speed of miniature mobile robot and prevent moisture to the erosion of whole miniature mobile robot and the relief better carried out treating rescue personnel after mine disaster.We devise full landform intelligent mobile rescue robot overall structure, ensure that its maximum operational speed well, to the sealing of moisture and carrying relief goods.
(5) adopt the scheme of body control and Long-distance Control, select host computer, slave computer controller, radio receiving transmitting module and wireless video module to be that man-machine interaction and data transmission provide good guarantee.
Compared with prior art, the invention has the beneficial effects as follows and make full landform intelligent mobile rescue robot have more function, avoid the existing miniature mobile robot shortcoming that mostly function is improved not or the technology that certain aspect function adopts comparatively falls behind.The overall operation ability of the full landform intelligent mobile rescue robot that the integration of multiple function makes is very high, meets mine disaster well and rescues reinforcement job requirements.
Accompanying drawing explanation
Below in conjunction with accompanying drawing manual, this patent is described:
Fig. 1 is the pictorial diagram of the advanced suspension mechanism of mobile robot.
Fig. 2 is mobile robot's gas sensor.
Fig. 3 is mobile robot's human body detection sensor.
Fig. 4 is mobile robot's radio receiving transmitting module.
Fig. 5 is the reception of mobile robot's wireless video and wireless video transmitter.
Detailed description of the invention
Fig. 1 is car body and the suspension of full landform intelligent mobile rescue robot, and lithium battery provides power resources for it.Suspension and lithium battery ensure that caterpillar robot has good rideability and flying power.The full landform intelligent mobile rescue robot that the design of body construction makes is carried out rescue work with speed faster and need not be worried the impact of moisture on its entirety.Gas sensor comprises CO, air mass sensor, PM2.5 sensor in the process of moving, can detect the change of caterpillar robot place environment.Pyroelectric human body detecting sensor, can with or without personnel in testing environment.Meanwhile, laser radar also gathers ambient condition information.The data of controller host computer process laser radar sensor and carry out map structuring and navigation, realize independent navigation.Slave computer has Three models, first can receive the navigation information of host computer transmission and control brushless electric machine motion by brushless controller, secondly the value of various gas sensor can be read, and be dealt into remote monitoring interface by wireless module, the control instruction of far-end then also can be received by radio receiving transmitting module.Its allomeric function ensure that its higher work capacity, thus meets actual field job requirements well.
Claims (6)
1. a full landform intelligent mobile rescue robot, it adopts battery as power resources, ensures that it normally travels; Suspension is adopted to lower the Vibration Condition of car body on road surface; Utilize sensor collection ambient condition information to arrange for car body navigation and rescue work and provide effective information; Controller and wireless receipt transceiver module ensure that man-machine interaction well; Adopt lithium battery instead of lead accumulator to power not only environmental protection, also improve the flying power of full landform intelligent mobile rescue robot; The use of the design of crawler belt and passive suspension system, layout and control algolithm and brshless DC motor makes it possess powerful locomitivity; The use of laser radar and gas and human body detection sensor ensure that the acquisition capacity of its ambient condition information; Integrally-built design ensure that the maximum operational speed of requirement, the sealing of road pavement water and carrying relief goods; What host computer, slave computer controller and wireless data interactive device made man-machinely has good information communication; The caterpillar robot that the integration of these functions makes has powerful work capacity; And traditional miniature mobile robot function is improved mostly not or certain aspect function adopts the technology overall performance that comparatively backwardness makes to be subject to bottleneck restriction; Full landform intelligent mobile rescue robot in the present invention has been taken into account more many-sided function and has also been adopted comparatively advanced technology, and what make that it can be outstanding at mine disaster rescue scene finishes the work.
2. full landform intelligent mobile rescue robot according to claim 1, its feature is in selecting lithium battery advantageously as power supply, lithium battery not only environmental protection, lightweight, and comparatively strong to thermal adaptability, application life is longer, thus ensure that the flying power of full landform intelligent mobile rescue robot.
3. full landform intelligent mobile rescue robot according to claim 1, its feature is in employing crawler belt and passive suspension system, efficiently solve its robust motion in Fast marching process, the use of excellent algorithm and brshless DC motor also makes it pass through narrow regions and ability in barrier of keeping away is given prominence to, and the intelligent mobile rescue robot that these all make is applicable to full landform.
4. full landform intelligent mobile rescue robot according to claim 1, its feature is in the use of laser radar and gas and human body detection sensor, the real-time monitoring to ambient condition information can be ensured and treat the tracking of rescue personnel, also can provide data message for own path planning.
5. full landform intelligent mobile rescue robot according to claim 1, its feature ensure that the maximum operational speed of requirement, the sealing of road pavement water and carrying relief goods in integrally-built design.
6. full landform intelligent mobile rescue robot according to claim 1, what its feature made in host computer, slave computer controller and wireless data interactive device man-machinely has good information communication, ROS (RobotOperatingSystem) is robot software's platform, it can provide the function of similar operations system for disparate computers cluster, and the full landform intelligent mobile rescue robot that the use of ROS makes can self-servicely navigate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510313088.7A CN105041371A (en) | 2015-06-10 | 2015-06-10 | All terrain intelligent moving rescue robot |
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| CN201510313088.7A CN105041371A (en) | 2015-06-10 | 2015-06-10 | All terrain intelligent moving rescue robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105676848A (en) * | 2016-03-11 | 2016-06-15 | 湖南人工智能科技有限公司 | Robot autonomous navigation method based on ROS operating system |
| CN106842230A (en) * | 2017-01-13 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | Mobile Robotics Navigation method and system |
| CN107450571A (en) * | 2017-09-30 | 2017-12-08 | 江西洪都航空工业集团有限责任公司 | A kind of AGV dolly Laser navigation systems based on ROS |
| CN107905835A (en) * | 2017-12-22 | 2018-04-13 | 中国矿业大学 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| CN110353373A (en) * | 2019-07-31 | 2019-10-22 | 正如(广东)机器人科技有限公司 | Parasols robot, method and computer storage medium |
| US20200408437A1 (en) * | 2014-11-07 | 2020-12-31 | Sony Corporation | Control system, control method, and storage medium |
| CN113202547A (en) * | 2021-05-17 | 2021-08-03 | 中南大学 | Underground automatic adjustable safety protection vehicle and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20200408437A1 (en) * | 2014-11-07 | 2020-12-31 | Sony Corporation | Control system, control method, and storage medium |
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| CN113202547A (en) * | 2021-05-17 | 2021-08-03 | 中南大学 | Underground automatic adjustable safety protection vehicle and use method thereof |
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