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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- CN105204509A CN105204509A CN201510646397.6A CN201510646397A CN105204509A CN 105204509 A CN105204509 A CN 105204509A CN 201510646397 A CN201510646397 A CN 201510646397A CN 105204509 A CN105204509 A CN 105204509A
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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 present invention relates to robotics, particularly a kind ofly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation.
Background technology
Robot can assist or replace the work of the mankind, for the mankind bring many convenient, can be widely applied to all trades and professions.In the garden that some areas are larger, if utilize the method for installing watch-dog to ensure safety, there is monitoring blind area; If utilize artificial patrol, need to drop into a large amount of patrollers; If utilize mobile robot to carry out garden patrol, then can address these problems.Equally, when reconnoitring, mobile robot also can be utilized to assist the mankind to carry out work in the wild.The present invention mainly utilizes mobile robot to carry out garden patrol and ground observation.
Utilize mobile robot to carry out garden patrol and ground observation, need to select suitable move mode.
Mobile robot is divided into crawler type, wheeled, walking, underwater propulsion formula etc.The present invention selects caterpillar mobile robot, because caterpillar mobile robot has larger acting surface, various complicated and diversified road surface can be adapted to, can self-determination climbing stairs ladder and overcome terrain obstruction, advance on rough road surface, can also in the presence of a harsh environment or field work etc.
Mobile robot can automatically perform work, mainly contains two kinds of modes: a kind of is control by people; A kind of is program by designing in advance.Be limited to complicacy and the uncertainty of prior art and application scenarios, caterpillar type robot cannot independently complete all tasks, and the present invention selects the method utilizing tele-control system, mankind observation site operating environment, make action decision, then issue an order and to perform to robot.
Due to the motion of caterpillar mobile robot and the uncertainty of position, wireless telecommunications become the communication modes of mobile robot's indispensability.Due to complicacy and the time variation of the transmission environment of wireless telecommunications, at mobile robot's operation field and the information such as transmitting image, sensing, control real-time between backstage to be controlled, be faced with great challenge.Chinese invention patent CN1331641C authorizes a kind of security personnel's machine pathfinding people, comprise security guard patrol robot dog body, safety defense monitoring system, control system and multi-sensor Information Fusion System four part, according to autonomous patrol and manual control two kinds of working methods, can revise advance route by autonomous avoiding obstacles.But this invention has the following disadvantages: (1) adopts wireless simulation mechanics of communication transmitting image, reliability and security inadequate; (2) adopt wheeled robot, cannot the harsh environments such as field be adapted to; (3) video camera revolution range is less, cannot adapt to the complex environment of field study.(4) only consider the scene of single mobile robot, do not consider the communication between multiple robot, networking and cooperate, limit the usable range of mobile robot.
Summary of the invention
The present invention is directed to the above-mentioned defect of prior art, propose and a kind ofly patrol and examine the crawler frame robot system with ground observation by telecommunication control realization garden.Native system comprises telecommunication control center and several crawler frame robot systems; Wherein, described telecommunication control center, decodes to caterpillar mobile robot feedack, analysis and decision; According to the information obtained, order is sent to the action of caterpillar mobile robot; Described crawler frame robot system, performs different motions and operation according to the order that remote control center sends; When not receiving the order of remote control center, there is certain independence, can oneself testing environment, perform normal work to do; With the mode mutual communication of other mobile robot by MANET, mutually cooperate; Wherein, described telecommunication control center and described caterpillar mobile robot, and carry out information interaction by wireless signal transceiver module between caterpillar mobile robot.
Further, described telecommunication control center comprises input/output module, control and decision-making module, compensates and prediction module, statistical analysis module, cordless communication network, control module, execution module and feedback module; Wherein, described input/output module supports video display and map denotation two kinds of patterns, support voice and page input and output, can generating character or figure show in interface; Described control and decision-making module receive the information of input/output module, carry out task matching, path planning etc., and generate control command, send to described caterpillar mobile robot by communication module and wireless communication networks; The information that described compensation and prediction module obtain according to statistical learning, compensates control command etc.; Described statistical analysis module monitoring communication module and wireless communication networks, obtain the information such as network state, departure, the total data received analyzed according to data type; Described caterpillar mobile robot includes control module and execution module and feedback module, the feedback system that self maintained one is little, and by wireless communication networks, feedback result is fed back to telecommunication control center; Telecommunication control center, from described caterpillar mobile robot receiving feedback information, sends to described statistical analysis module and described input/output module.
Further, described caterpillar mobile robot comprises power module, control module, signal acquisition module, monitoring module, motion module, communication module and input/output module; Wherein, described control module connects described power module, signal acquisition module, monitoring module, motion module, communication module and input/output module, is responsible for the state control of whole system, command analysis, order transmission; Described motion module, after receiving the order of control module transmission, adjusts the motion state, movement locus etc. of caterpillar type robot; In addition, also can rotate the camera of monitoring module, be elevated, Dispatching adjustment, ensure that monitoring module can Information Monitoring efficiently.
Further, described control module comprises Systematical control and decision-making module, condition monitoring and control module, information acquisition control module, communication control module, and motion-control module;
Wherein, described Systematical control and decision-making module are the brains of caterpillar mobile robot, are responsible for whole caterpillar mobile robot behavior;
Described condition monitoring and control module, by controlling condition monitoring sensors group, to the monitoring state of self, prevent unexpected generation;
Described information acquisition control module control information pick-up transducers group carries out information acquisition;
Transmitting-receiving, the communication resources of described communication control module communication control module distribute, controling parameters configures and safeguard;
The walking of described moving control module for controlling robot, turn around, speed governing, climbing etc., and receive the feedback of motion module.
Further, described analysis and Control module selects conventional patrol pattern or operated from a distance control model automatically according to the pattern of setting and operating environment, and carries out work according to the pattern of setting.
The present invention also proposes a kind of caterpillar mobile robot network-building method, and telecommunication control center sends networking commands to caterpillar mobile robot; Described caterpillar mobile robot, according to the wireless frequency set in described networking commands active scan and interception system, and by the frequency that listens to and information, is set up and the communication of other caterpillar mobile robots; Each caterpillar mobile robot takies a non-slotted channel respectively, specifies the data of described networking to report telecommunication control center by obtaining; Optimum results to the networking data analysis received and optimization according to reporting information, and is changed into command messages and sends to caterpillar mobile robot by described telecommunication control center; Wherein, described telecommunication control center and described caterpillar mobile robot and caterpillar mobile robot all carry out data interaction by wireless communication networks.
Further, have no progeny in communication link between telecommunication control center and caterpillar mobile robot, the wireless frequency that described caterpillar mobile robot can set in active scan and interception system, set up the communication with other caterpillar mobile robots, using other caterpillar mobile robots as relaying, set up the communication path with telecommunication control center.
Further, when comprising people in the image that caterpillar mobile robot is passed back, telecommunication control center utilizes robot to exchange with the people in image as intercom as required, the consulting carrying out being correlated with, cross-examinees, understands field condition.
Further, the abnormal data received and emergency case report by caterpillar type robot, and carry out early warning as required.
After adopting above-mentioned crawler frame robot system or method, the environmental complexity with ground observation is patrolled and examined for garden, real time remote can be carried out to multiple caterpillar type robot to control simultaneously simultaneously, and networking can be carried out according to site environment situation, realize the mutual communication between caterpillar type robot and cooperation, expand scope of activities and the range of application of robot, save human and material resources.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the theory diagram of telecommunication control center of the present invention.
Fig. 3 is the theory diagram of caterpillar type robot of the present invention.
Fig. 4 is the control system block diagram of caterpillar type robot of the present invention.
Operational flowchart when Fig. 5 is the patrol of caterpillar type robot of the present invention routine.
In figure: 1 is telecommunication control center, 2 is caterpillar type robot, 3 is wireless communication networks, 101 is input/output module, 102 for controlling and decision-making module, 103 for compensating and prediction module, 104 is statistical learning module, 106 is control module, 107 is execution module, 108 is feedback module, 201 is output module, 202 is information acquisition sensor group, 203 is motion module, 204 is communication module, 205 is condition monitoring sensors group, 206 is power module, 301 is Systematical control and decision-making module, 302 is condition monitoring and control module, 303 is information acquisition control module, 304 is communication control module, 305 is motion-control module, 306 is drive circuit module, 307 is photoelectric encoder, 308 is database.
Embodiment
As shown in Figure 1, Internet of Things detection system of the present invention comprises telecommunication control center 1, described telecommunication control center 1 is connected with wireless signal transceiver module, also comprise signal processing module, analysis module 2, described caterpillar type robot 2 is also connected with wireless signal transceiver module, between such telecommunication control center and caterpillar type robot, carries out exchanges data by wireless communication networks 3.Control command is sent to caterpillar type robot 2 like this by wireless communication networks 2 telecommunication control center 1, caterpillar type robot 2 receives and controls relevant data to its corresponding running status, then the order sent according to remote control center performs different motions and operation, when not receiving the order of remote control center, according to the Data Detection that pre-designed route and sensor obtain, testing environment voluntarily, performs normal work to do.
Further, the heterogeneous wireless communication network that the wireless communication networks 3 in Fig. 1 is made up of multiple independently wireless communication networks, wherein, described heterogeneous wireless communication network comprises WIFI communication network, CDMA/LTE communication network, infrared etc.;
As shown in Figure 2, described telecommunication control center 1 comprises input/output module 101, control and decision-making module 102, compensates and prediction module 103, statistical analysis module 104, cordless communication network 3, control module 106, execution module 107 and feedback module 108; Wherein, described input/output module 101 supports that video shows and map denotation two kinds of patterns, and support voice and page input and output can generating character or figure show in interface; Described control and decision-making module 102 receive the information of input/output module 101, carry out task matching, path planning etc., and generate control command, send to described caterpillar mobile robot 2 by communication module and wireless communication networks 3; The information that described compensation and prediction module 103 obtain according to statistical learning, compensates control command etc.; Described statistical analysis module 104 monitors communication module and wireless communication networks 3, obtains the information such as network state, departure, the total data received is analyzed according to data type; Described caterpillar mobile robot 2 includes control module 106 and execution module 107 and feedback module 108, the feedback system that self maintained one is little, and by wireless communication networks 3, feedback result is fed back to telecommunication control center 1; Telecommunication control center 1, from described caterpillar mobile robot 2 receiving feedback information, sends to described statistical analysis module 104 and described input/output module 101.
As shown in Figure 3, described caterpillar mobile robot 1 comprises power module 206, control module 106, information acquisition sensor group 202, condition monitoring sensors group 205, motion module 203, communication module 204 and output module 201; Wherein, control module 106 connects described power module 206, signal acquisition module 202, monitoring module 205, motion module 203, communication module 204 and output module 201, is responsible for the state control of whole system, command analysis, order transmission; Described motion module 203, after the order that receiving and analyzing control module sends, adjusts the motion state, movement locus etc. of caterpillar type robot 1; In addition, also can rotate the camera of monitoring module 205, be elevated, Dispatching adjustment, ensure that monitoring module can Information Monitoring efficiently; Described output module 201, reads fixed position data, and carry out showing, early warning, audio frequency export.
Further, as shown in Figure 4, the control module 106 of described caterpillar type robot 1 comprises, Systematical control and decision-making module 301, condition monitoring and control module 302, information acquisition control module 303, communication control module 304, motion-control module 305; Wherein, described Systematical control and decision-making module 301 are brains of caterpillar mobile robot 2, are responsible for the behavior of whole caterpillar mobile robot 2; Described condition monitoring and control module 302, by controlling condition monitoring sensors group 305, to the monitoring state of self, prevent unexpected generation; Described information acquisition control module 303, by controlling information acquisition sensor group 302, carries out information acquisition; Transmitting-receiving, the communication resources of described communication control module 304 communication control module 304 distribute, controling parameters configures and safeguard; Described motion-control module 305 by driving circuit actuation movement module 308, thus the walking of control, turn around, speed governing, climbing etc., and received the feedback of motion module 303 by photoelectric encoder 307, for analysis & control provides information.
Workflow in caterpillar mobile robot system of the present invention under conventional patrol pattern is as shown in Figure 4: go on patrol by setting path, when finding that there is the not clear things such as barrier, carry out Data acquisition and issuance further.If the life entity of movement, need to report tracking; If the object of not movement, be confirmed whether vital signs further.If there is vital signs, report; If there is no vital signs, detour and continue patrol.
Although the foregoing describe the specific embodiment of the present invention; but those skilled in the art are to be understood that; these only illustrate; various changes or modifications can be made to present embodiment; and not deviating from principle of the present invention and essence, protection scope of the present invention is only defined by the appended claims.
Claims (10)
1. realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: described system comprises a remote control center and several have garden and patrol and examine the caterpillar type robot with ground observation ability; Wherein, described telecommunication control center, sends control command to described caterpillar type robot; Decoding to the reporting information received according to communication protocol standard and control law and analyze, synthetic image and word show; Described caterpillar type robot, advances according to described order route as requested, and carries out Real-Time Monitoring to the environment of surrounding, and utilizes wireless channel to report remote control center the data of detection and result; According to the order of telecommunication control center or as required, described caterpillar type robot can carry out data retransmission, realizes multi-hop transmission, by the mutual communication of the mode of MANET, mutually cooperate; Wherein,
Image and data interaction is carried out by multiple wireless signal transceiver module between described remote control center and described caterpillar type robot and described caterpillar type robot.
2. according to claim 1ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: described crawler frame robot system comprises power module, control module, signal acquisition module, monitoring module, motion module, communication module and input/output module; Wherein, described control module connects described power module, control module, signal acquisition module, monitoring module, motion module, communication module and display module, is responsible for the state control of whole system, command analysis, order transmission; Described motion module, after receiving the order of control module transmission, adjusts the motion state, movement locus etc. of caterpillar type robot; In addition, also can rotate the camera of monitoring module, be elevated, Dispatching adjustment, ensure that monitoring module can Information Monitoring efficiently.
3. according to claim 2ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: described control module comprises Systematical control and decision-making module, condition monitoring and control module, information acquisition control module, communication control module, and motion-control module; Wherein, described Systematical control and decision-making module are the brains of caterpillar mobile robot, are responsible for whole caterpillar mobile robot behavior; Described condition monitoring and control module, by controlling condition monitoring sensors group, to the monitoring state of self, prevent unexpected generation; Described information acquisition control module control information pick-up transducers group carries out information acquisition; Transmitting-receiving, the communication resources of described communication control module communication control module distribute, controling parameters configures and safeguard; The walking of described moving control module for controlling robot, turn around, speed governing, climbing etc., and receive the feedback of motion module.
4. according to claim 1ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: described telecommunication control center comprises input/output module, control and decision-making module, compensates and prediction module, statistical analysis module, cordless communication network, control module, execution module and feedback module; Wherein, described control and decision-making module receive the information of input/output module, carry out task matching, path planning etc., and generate control command, send to described caterpillar mobile robot by communication module and wireless communication networks; The information that described compensation and prediction module obtain according to statistical learning, compensates control command etc.; Described statistical analysis module monitoring communication module and wireless communication networks, obtain the information such as network state, departure, the total data received analyzed according to data type; Telecommunication control center, from described caterpillar mobile robot receiving feedback information, sends to described statistical analysis module and described input/output module.
5. according to claim 4ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, described caterpillar mobile robot includes control module and execution module and feedback module, the feedback system that self maintained one is little, and by wireless communication networks, feedback result is fed back to telecommunication control center.
6. according to claim 5ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, described analysis and Control module selects conventional patrol pattern or operated from a distance control model automatically according to the pattern of setting and operating environment, and carries out work according to the pattern of setting.
7. according to claim 6ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: under routine patrol pattern, go on patrol by setting path, when finding that there is the not clear things such as barrier, carry out Data acquisition and issuance further; If the life entity of movement, need to report tracking; If the object of not movement, be confirmed whether vital signs further; If there is vital signs, report; If there is no vital signs, detour and continue patrol.
8. according to claim 7ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: have no progeny in the communication link between telecommunication control center and caterpillar mobile robot, the wireless frequency that described caterpillar mobile robot can set in active scan and interception system, set up the communication with other caterpillar mobile robots, building network.
9. according to claim 8ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: when comprising people in the image that caterpillar mobile robot is passed back, telecommunication control center utilizes robot to exchange with the people in image as intercom as required, the consulting carrying out being correlated with, to cross-examine, understand field condition.
10. according to claim 9ly realize garden by Long-distance Control and patrol and examine the track machines robot system with ground observation, it is characterized in that: the abnormal data received and emergency case report by caterpillar type robot, and carry out early warning as required.
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| CN112703458A (en) * | 2018-09-25 | 2021-04-23 | 罗伯特·博世有限公司 | Robot system and method for performing tasks |
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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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