CN105204509A - Tracked mobile robot system achieving garden polling and field reconnaissance through remote control - Google Patents
Tracked mobile robot system achieving garden polling and field reconnaissance through remote control Download PDFInfo
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Abstract
The invention relates to the technical field of robots, in particular to a tracked mobile robot system achieving garden polling and field reconnaissance through remote control. The system comprises a remote communication control center and a plurality of tracked mobile robots. The tracked mobile robots execute operation according to commands sent by the remote communication control center and automatically detect the environment and execute conventional tasks if no command is received. The remote communication control center decodes and analyzes information fed back by the tracked mobile robots for decision making, and sends the commands to the robots. Furthermore, the tracked mobile robots are subjected to multi-hop transmission and cooperate in a self-networking mode. According to the tracked mobile robot system, remote communication control over the tracked mobile robots and cooperation between the tracked mobile robots can be achieved, the moving range and the application range of the tracked mobile robots are expanded, and manpower and material resources are saved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a crawler robot system for realizing garden inspection and field investigation through remote control.
Background
The robot can assist or replace the work of human beings, brings convenience for the human beings, and can be widely applied to various industries. In some parks with larger areas, if the method of installing the monitor is utilized to ensure the safety, a monitoring blind area exists; if manual patrol is used, a large number of patrol personnel are required to be invested; these problems can be solved if a campus patrol is performed with a mobile robot. Similarly, when in field investigation, the mobile robot can be used for assisting human beings to work. The invention mainly utilizes the mobile robot to carry out district patrol and field reconnaissance.
To use a mobile robot for patrolling a garden and performing field investigation, a suitable mobile mode needs to be selected.
The mobile robot is classified into a crawler type, a wheel type, a walking type, an underwater propulsion type, and the like. The crawler-type mobile robot is selected, has a larger action surface, can adapt to various complex and diversified pavements, can autonomously climb stairs and overcome terrain obstacles, can advance on uneven pavements, and can also operate in severe environments or in the field.
The mobile robot can automatically execute work, and mainly has two modes: one is by human control; one is by a pre-designed program. The invention adopts a method of utilizing a remote control system, human beings observe the field operation environment, make action decisions and issue commands to the robot to execute.
Due to the uncertainty of the motion and the position of the crawler-type mobile robot, wireless communication becomes a necessary communication mode of the mobile robot. Due to the complexity and time-varying nature of the transmission environment of wireless communication, it is a great challenge to transmit information such as images, sensing, control and the like between the mobile robot working site and the control background in real time. The invention patent CN1331641C of China authorizes a security machine passerby, which comprises a security patrol machine dog body, a security monitoring system, a control system and a multi-sensor information fusion system, and can automatically avoid obstacles to modify the advancing route according to two working modes of automatic patrol and manual control. However, the invention has the following disadvantages: (1) the wireless analog communication technology is adopted to transmit images, so that the reliability and the safety are insufficient; (2) the wheel type robot is not suitable for severe working environments such as the field and the like; (3) the camera has a small rotation range and cannot adapt to complex environments for field investigation. (4) Only the scene of a single mobile robot is considered, and communication, networking and cooperation among a plurality of robots are not considered, so that the application range of the mobile robot is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a crawler-type robot system for realizing garden inspection and field investigation through remote communication control. The system comprises a remote communication control center and a plurality of crawler-type robot systems; the remote communication control center decodes, analyzes and makes decisions on information fed back by the crawler-type mobile robot; sending a command to the action of the crawler-type mobile robot according to the acquired information; the crawler-type robot system executes different motions and operations according to commands sent by a remote control center; when the command of the remote control center is not received, the method has certain autonomy, can detect the environment by self and execute a conventional task; the mobile robot and other mobile robots communicate with each other in an ad hoc network mode and cooperate with each other; the remote communication control center, the crawler-type mobile robot and the crawler-type mobile robot are in information interaction through the wireless signal receiving and sending module.
Furthermore, the remote communication control center comprises an input/output module, a control and decision module, a compensation and prediction module, a statistical analysis module, a wireless communication network, a control module, an execution module and a feedback module; the input and output module supports two modes of video display and map display, supports voice and page input and output, and can generate characters or pictures to be displayed in an interface; the control and decision module receives the information of the input and output module, performs task allocation, path planning and the like, generates a control command, and sends the control command to the crawler-type mobile robot through the communication module and the wireless communication network; the compensation and prediction module compensates control commands and the like according to the information obtained by statistical learning; the statistical analysis module monitors the communication module and the wireless communication network, acquires information such as network state, control error and the like, and analyzes all received data according to data types; the crawler-type mobile robot comprises a control module, an execution module and a feedback module, maintains a small feedback system, and feeds back a feedback result to a remote communication control center through a wireless communication network; and the remote communication control center receives feedback information from the crawler-type mobile robot and sends the feedback information to the statistical analysis module and the input and output module.
Further, the crawler-type mobile robot comprises a power supply module, a control module, a signal acquisition module, a monitoring module, a motion module, a communication module and an input/output module; the control module is connected with the power supply module, the signal acquisition module, the monitoring module, the motion module, the communication module and the input and output module and is responsible for state control, command analysis and command sending of the whole system; the motion module adjusts the motion state, motion track and the like of the tracked robot after receiving the command sent by the control module; in addition, the camera of the monitoring module can be rotated, lifted and scheduled to be adjusted, and the monitoring module can efficiently acquire information.
Furthermore, the control module comprises a system control and decision module, a state monitoring and control module, an information acquisition control module, a communication control module and a motion control module;
the system control and decision module is the brain of the crawler-type mobile robot and is responsible for the behavior of the whole crawler-type mobile robot;
the state monitoring and controlling module monitors the state of the state monitoring sensor group by controlling the state monitoring sensor group, so as to prevent accidents;
the information acquisition control module controls the information acquisition sensor group to acquire information;
the communication control module controls the transceiving of the communication module, the distribution of communication resources and the configuration and maintenance of control parameters;
the motion control module controls the robot to walk, turn around, regulate speed, climb and the like, and receives feedback of the motion module.
Further, the analysis control module automatically selects a normal patrol mode or a remote operation control mode according to the set mode and the operation environment, and operates according to the set mode.
The invention also provides a networking method of the crawler-type mobile robot, wherein the remote communication control center sends a networking command to the crawler-type mobile robot; the crawler-type mobile robot actively scans and monitors the wireless frequency point set in the system according to the networking command, and establishes communication with other crawler-type mobile robots through the monitored frequency point and information; each crawler-type mobile robot respectively occupies a time slot channel and reports the acquired data for designating the networking to a remote communication control center; the remote communication control center analyzes and optimizes the received networking data according to the reported information, converts an optimization result into a command message and sends the command message to the crawler-type mobile robot; the remote communication control center, the crawler-type mobile robot and the crawler-type mobile robot perform data interaction through a wireless communication network.
Furthermore, after a communication link between the remote communication control center and the crawler-type mobile robot is interrupted, the crawler-type mobile robot can actively scan and monitor the wireless frequency points set in the system, establish communication with other crawler-type mobile robots, and establish a communication channel with the remote communication control center by taking the other crawler-type mobile robots as relays.
Furthermore, when the images transmitted back by the crawler-type mobile robot contain people, the remote communication control center uses the robot as an interphone to communicate with the people in the images according to needs, and relevant consultation and inquiry are carried out to know the field situation.
Furthermore, the crawler-type robot reports the received abnormal data and emergency situations and performs early warning according to the requirement.
After the crawler-type robot system or the method is adopted, aiming at the environment complexity of park inspection and field investigation, a plurality of crawler-type robots can be simultaneously remotely controlled in real time, networking can be carried out according to the field environment condition, the mutual communication and cooperation among the crawler-type robots are realized, the moving range and the application range of the robots are enlarged, and manpower and material resources are saved.
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The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic block diagram of a telecommunications control center of the present invention.
Fig. 3 is a schematic block diagram of the tracked robot of the present invention.
Fig. 4 is a block diagram of a control system of the tracked robot of the present invention.
Fig. 5 is a flow chart of the operation of the crawler-type robot during routine patrol.
In the figure: the system comprises a remote communication control center 1, a tracked robot 2, a wireless communication network 3, an input/output module 101, a control and decision module 102, a compensation and prediction module 103, a statistical learning module 104, a control module 106, an execution module 107, a feedback module 108, an output module 201, an information acquisition sensor group 202, a motion module 203, a communication module 204, a state monitoring sensor group 205, a power module 206, a system control and decision module 301, a state monitoring and control module 302, an information acquisition control module 303, a communication control module 304, a motion control module 305, a driving circuit module 306, a photoelectric encoder 307 and a database 308.
Detailed Description
As shown in fig. 1, the internet of things detection system of the present invention includes a remote communication control center 1, the remote communication control center 1 is connected with a wireless signal transceiver module, and further includes a signal processing module and an analysis module 2, the tracked robot 2 is also connected with a wireless signal transceiver module, so that data exchange is performed between the remote communication control center and the tracked robot through a wireless communication network 3. Therefore, the remote communication control center 1 sends a control command to the tracked robot 2 through the wireless communication network 2, the tracked robot 2 receives data related to the corresponding running state control, then executes different motions and operations according to the command sent by the remote control center, and detects the environment according to the pre-designed route and the data obtained by the sensor when the command of the remote control center is not received, and executes conventional tasks.
Further, the wireless communication network 3 in fig. 1 is a heterogeneous wireless communication network composed of a plurality of independent wireless communication networks, wherein the heterogeneous wireless communication network includes a WIFI communication network, a CDMA/LTE communication network, infrared, and the like;
as shown in fig. 2, the remote communication control center 1 includes an input/output module 101, a control and decision module 102, a compensation and prediction module 103, a statistical analysis module 104, a wireless communication network 3, a control module 106, an execution module 107, and a feedback module 108; the input/output module 101 supports two modes of video display and map display, supports voice and page input/output, and can generate characters or pictures to be displayed in an interface; the control and decision module 102 receives the information of the input and output module 101, performs task allocation, path planning and the like, generates a control command, and sends the control command to the crawler-type mobile robot 2 through the communication module and the wireless communication network 3; the compensation and prediction module 103 compensates the control command and the like according to the information obtained by statistical learning; the statistical analysis module 104 monitors the communication module and the wireless communication network 3, acquires information such as network state, control error and the like, and analyzes all received data according to data types; the crawler-type mobile robot 2 comprises a control module 106, an execution module 107 and a feedback module 108, maintains a small feedback system, and feeds back a feedback result to the remote communication control center 1 through the wireless communication network 3; the remote communication control center 1 receives feedback information from the crawler type mobile robot 2 and sends the feedback information to the statistical analysis module 104 and the input/output module 101.
As shown in fig. 3, the tracked mobile robot 1 includes a power module 206, a control module 106, an information collection sensor group 202, a state monitoring sensor group 205, a motion module 203, a communication module 204, and an output module 201; the control module 106 is connected with the power module 206, the signal acquisition module 202, the monitoring module 205, the motion module 203, the communication module 204 and the output module 201, and is responsible for state control, command analysis and command transmission of the whole system; the motion module 203 adjusts the motion state, motion track and the like of the tracked robot 1 after receiving the command sent by the analysis control module; in addition, the camera of the monitoring module 205 can be rotated, lifted and scheduled to be adjusted, so that the monitoring module can efficiently acquire information; the output module 201 reads the fixed position data, and performs display, early warning and audio output.
Further, as shown in fig. 4, the control module 106 of the tracked robot 1 includes a system control and decision module 301, a state monitoring and control module 302, an information acquisition control module 303, a communication control module 304, and a motion control module 305; the system control and decision module 301 is the brain of the crawler-type mobile robot 2 and is responsible for the behavior of the whole crawler-type mobile robot 2; the state monitoring and control module 302 monitors the state of the sensor group 305 by controlling the sensor group, so as to prevent accidents; the information acquisition control module 303 performs information acquisition by controlling the information acquisition sensor group 302; the communication control module 304 controls the transceiving, communication resource allocation, control parameter configuration and maintenance of the communication module 304; the motion control module 305 drives the motion module 308 through a driving circuit, so as to control the robot to walk, turn around, regulate speed, climb, and the like, and receives feedback of the motion module 303 through the photoelectric encoder 307, so as to provide information for analysis and control.
The working flow in the conventional patrol mode in the crawler-type mobile robot system is shown in fig. 4: and patrolling according to a set route, and further performing data acquisition and analysis when an obstacle and other unknown objects are found. If the life is a moving life, reporting and tracking are needed; if the object is not moving, whether the vital signs exist is further confirmed. If the vital signs exist, reporting; if no vital signs exist, the detour continues to patrol.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims.
Claims (10)
1. The utility model provides a realize that garden patrols and examines and open-air reconnaissance's track robot system which characterized in that through remote control: the system comprises a remote control center and a plurality of crawler-type robots with park inspection and field investigation capabilities; the remote communication control center sends a control command to the tracked robot; decoding and analyzing the received reported information according to the communication protocol standard and the control rule, and generating and displaying images and characters; the tracked robot travels according to the command and a required route, monitors the surrounding environment in real time, and reports the detected data and results to a remote control center by using a wireless channel; according to the command of a remote communication control center or according to the requirement, the crawler-type robot can forward data, multi-hop transmission is realized, and the crawler-type robot communicate with each other in an ad hoc network mode and cooperate with each other; wherein,
and the remote control center, the tracked robot and the tracked robot perform image and data interaction through a plurality of wireless signal transceiving modules.
2. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 1, wherein: the crawler-type robot system comprises a power supply module, a control module, a signal acquisition module, a monitoring module, a motion module, a communication module and an input/output module; the control module is connected with the power supply module, the control module, the signal acquisition module, the monitoring module, the motion module, the communication module and the display module and is responsible for state control, command analysis and command sending of the whole system; the motion module adjusts the motion state, motion track and the like of the tracked robot after receiving the command sent by the control module; in addition, the camera of the monitoring module can be rotated, lifted and scheduled to be adjusted, and the monitoring module can efficiently acquire information.
3. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 2, wherein: the control module comprises a system control and decision-making module, a state monitoring and control module, an information acquisition control module, a communication control module and a motion control module; the system control and decision module is the brain of the crawler-type mobile robot and is responsible for the behavior of the whole crawler-type mobile robot; the state monitoring and controlling module monitors the state of the state monitoring sensor group by controlling the state monitoring sensor group, so as to prevent accidents; the information acquisition control module controls the information acquisition sensor group to acquire information; the communication control module controls the transceiving of the communication module, the distribution of communication resources and the configuration and maintenance of control parameters; the motion control module controls the robot to walk, turn around, regulate speed, climb and the like, and receives feedback of the motion module.
4. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 1, wherein: the remote communication control center comprises an input/output module, a control and decision module, a compensation and prediction module, a statistical analysis module, a wireless communication network, a control module, an execution module and a feedback module; the control and decision module receives information of the input and output module, performs task allocation, path planning and the like, generates a control command, and sends the control command to the crawler-type mobile robot through the communication module and the wireless communication network; the compensation and prediction module compensates control commands and the like according to the information obtained by statistical learning; the statistical analysis module monitors the communication module and the wireless communication network, acquires information such as network state, control error and the like, and analyzes all received data according to data types; and the remote communication control center receives feedback information from the crawler-type mobile robot and sends the feedback information to the statistical analysis module and the input and output module.
5. The tracked robot system for realizing garden inspection and field investigation through remote control according to claim 4, wherein the tracked mobile robot comprises a control module, an execution module and a feedback module, maintains a small feedback system by itself, and feeds back a feedback result to the remote communication control center through a wireless communication network.
6. The tracked robot system for realizing garden inspection and field investigation by remote control according to claim 5, wherein the analysis control module automatically selects a regular patrol mode or a remote operation control mode according to a set mode and an operation environment, and operates according to the set mode.
7. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 6, wherein: in a conventional patrol mode, patrol is carried out according to a set route, and data acquisition and analysis are further carried out when an obstacle and other unknown objects are found; if the life is a moving life, reporting and tracking are needed; if the object is an unmoved object, further confirming whether the vital signs exist; if the vital signs exist, reporting; if no vital signs exist, the detour continues to patrol.
8. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 7, wherein: when a communication link between the remote communication control center and the crawler-type mobile robot is interrupted, the crawler-type mobile robot can actively scan and monitor the set wireless frequency points in the system, establish communication with other crawler-type mobile robots and establish a network.
9. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 8, wherein: when the images transmitted back by the crawler-type mobile robot contain people, the remote communication control center uses the robot as an interphone to communicate with the people in the images according to needs, and relevant consultation and inquiry are carried out to know the field situation.
10. The track robot system for realizing garden inspection and field reconnaissance through remote control according to claim 9, wherein: and the crawler-type robot reports the received abnormal data and emergency, and performs early warning according to the requirement.
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| CN110442133A (en) * | 2019-07-29 | 2019-11-12 | 南京市晨枭软件技术有限公司 | A kind of method and system of multiple groups industrial robot work compound |
| CN111405496A (en) * | 2020-03-26 | 2020-07-10 | 上海有个机器人有限公司 | Communication method and system based on cross-type communication link |
| CN111405495A (en) * | 2020-03-26 | 2020-07-10 | 上海有个机器人有限公司 | Asynchronous communication method, medium, terminal and device based on cross-type communication link |
| CN113814989A (en) * | 2020-06-19 | 2021-12-21 | 周世海 | Deformable combined robot and control system thereof |
| CN112040426A (en) * | 2020-11-05 | 2020-12-04 | 成都中航信虹科技股份有限公司 | Single carrier ad hoc network communication method and system |
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