CN105345821A - Rescuing and barrier clearing robot capable of realizing self control and manual remote control - Google Patents
Rescuing and barrier clearing robot capable of realizing self control and manual remote control Download PDFInfo
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- CN105345821A CN105345821A CN201510931784.4A CN201510931784A CN105345821A CN 105345821 A CN105345821 A CN 105345821A CN 201510931784 A CN201510931784 A CN 201510931784A CN 105345821 A CN105345821 A CN 105345821A
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- robot
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- remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention relates to a rescuing and barrier clearing robot capable of realizing self control and manual remote control. The robot comprises four parts, including a mechanical system, a communication system, a sensor system and a control system, wherein the mechanical system is used for realizing the basic motion, rescuing and barrier clearing functions of the robot; the communication system is used for realizing receiving and feedback of data and real-time transmission of a video; the sensor system is used for searching a to-be-rescued person and recording gas concentration and information of an ignition point; the control system acts as a control core of the robot and is used for harmonizing the operation of each system. The rescuing and barrier clearing robot which integrates a self control mode and a manual remote control mode, disclosed by the invention, can be used for realizing self-actuated rescuing at the self-control mode and also realizing remote barrier clearing and rescuing operation at the manual remote control mode, so that the rescue efficiency after disaster can be remarkably improved, and the loss of life and property can be reduced.
Description
Technical field
The present invention relates to a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control, belong to fire-fighting robot technical field.
Background technology
Rescue robot is as robot field important research direction, vital effect is played in Post disaster relief, have in developed countries such as America and Europes and apply comparatively widely, pilot experiment is carried out as science and technology research and development product in developing country, Post disaster relief efficiency can be significantly improved, thus reduce life and property loss.
There are some problems urgently to be resolved hurrily in prior art, such as: based on Artificial Control, Remote signal easily interrupts; Lack the mechanical arm of energy supply of removing obstacles; Because the reasons such as traffic congestion bring missing of rescue opportunity robot is from storing spot to scene of a fire process, these problems reduce the universal of rescue robot to a certain extent.
Based on above reason, a kind of rescue obstacle removing robot integrating machine automatic control and manual remote control pattern is needed to be devised, realize realize autonomous rescue under automatic control pattern while long-rangely removing obstacles and operating rescue under the pattern of manual remote control, solve Problems existing in present situation.
Summary of the invention
The object of the invention is to: for the defect of prior art, propose a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control, because mechanical arm is removed obstacles the increase of function, what effectively can solve barrier moves problem, and the reaction speed after calamity can be improved by the running status of RF communication digital transmission module control and meet fireman rescue demand, by wireless image transmission sound transmission module feed back on-site information, there is real-time exhibition.
The technical solution adopted in the present invention is: a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control, comprise mechanical system, communication system, sensing system and control system four parts, wherein mechanical system realizes the basic exercise of robot and rescue and to remove obstacles function; Communication system realizes the acceptance feedback of data and the real-time Transmission function of video; Sensing system realizes searching for personnel to be rescued, record gas concentration and the function of ignition point information, and control system coordinates the operation of each system as the control core of robot.
In the present invention: described mechanical system comprises basic machine assembly and functional mechanical unit, basic machine assembly comprises the frame for movement of building robot and the motion structure realizing mobile obstacle detouring, wherein transporting in merit structure selects creeper truck as chassis, is used for improving the stability of obstacle climbing ability and walking; Functional mechanical unit comprises the mechanical arm of the effect of removing obstacles and is positioned at the rescue chamber structure of bottom.
In the present invention: described communication system comprises RF communication digital transmission module and wireless image transmission sound transmission module, wherein RF communication digital transmission module realizes sensing system as medium and holds transmission of information to PC, and the aerial arousal function realizing RF communication digital transmission module from PC end signal can be accepted, carry out the switching of machine automatic control and manual remote control pattern; Wireless image transmission sound transmission module realizes the real-time Transmission that video and sound are held PC.
In the present invention: described control system selects the STM32 single-chip microcomputer with higher calculation processing power.
After adopting technique scheme, beneficial effect of the present invention is: the rescue obstacle removing robot integrating machine automatic control and manual remote control pattern, realize realize autonomous rescue under automatic control pattern while long-rangely removing obstacles and operating rescue under the pattern of manual remote control, Post disaster relief efficiency can be improved significantly, thus reduce life and property loss.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention.
In figure: 1-mechanical system, 2-communication system, 3-sensing system, 4-control system, the basic machine assembly of 5-, 6-functional mechanical unit, 7-frame for movement, 8-motion structure, 9-mechanical arm, 10-rescues storehouse, 11-RF communication digital transmission module, 12-wireless image transmission sound transmission module, and 13-PC holds.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As seen from Figure 1, a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control, comprise mechanical system 1, communication system 2, sensing system 3 and control system 4 four parts, wherein mechanical system 1 realizes the basic exercise of robot and rescue and to remove obstacles function; Communication system 2 realizes the acceptance feedback of data and the real-time Transmission function of video; Sensing system 3 realizes searching for personnel to be rescued, record gas concentration and the function of ignition point information, and control system 4 coordinates the operation of each system as the control core of robot.Mechanical system 1 comprises basic machine assembly 5 and functional mechanical unit 6 two parts, and basic machine assembly 5 comprises the frame for movement 7 of building robot and the motion structure 8 realizing mobile obstacle detouring; Functional mechanical unit 6 comprises the mechanical arm 9 of the effect of removing obstacles and is positioned at the rescue chamber structure 10 of bottom.Communication system 2 comprises RF communication digital transmission module 11 and wireless image transmission sound transmission module 12, wherein RF communication digital transmission module 11 realizes sensing system as medium and holds 13 transmission of informations to PC, and can accept to hold 13 signals to realize the aerial arousal function of RF communication digital transmission module 11 from PC, carry out the switching of machine automatic control and manual remote control pattern; Wireless image transmission sound transmission module 12 realizes video and sound holds the real-time Transmission of 13 to PC.Robot in this patent selects creeper truck as chassis, to improve the stability of obstacle climbing ability and walking.Control system 4 selects the STM32 single-chip microcomputer with higher calculation processing power; RF communication digital transmission module 11 uses SX1278 digital transmission module, improves the stability at non-spacious region signal.
Under daily state, the artificial sleep state of machine, the controller of robot is holding state.When the flame sensor in fire-fighting system or Smoke Sensor judge that place is as concrete on fire, fire-fighting system gives the controller of rescue obstacle removing robot by Wifi module transfer signal, and the Enable Pin that controller changes robot makes rescue obstacle removing robot be in wake-up states and enters machine automatic control pattern.Rescue obstacle removing robot is searched for along wall, ultrasonic distance-measuring sensor is used to keep the distance with wall, when human body induction module detects after rescuing personnel, open rescue storehouse 10, voice message personnel to be rescued enter rescue storehouse 10, after it enters, close hatch door and move to presetting safety place, and returning the position continuation execution search and rescue instruction of searching and rescuing last time.After fireman reaches the spot, sending signal by PC end 13 makes PC hold 13 to form slave relation with rescue obstacle removing robot, realize sensing system 3 perception data by RF communication digital transmission module 11 and feed back to PC end 13, and PC holds the walking of 13 pairs of robots, rescues the control of storehouse 10 and mechanical arm 9, implements Remote; And it is on-the-spot by wireless image transmission sound transmission module 12 Real-time Feedback.PC end 13 terminates, to the control of rescue obstacle removing robot, to make it proceed to machine automatic control state by cancelling RF communication.After whole rescue task to be done, robot returns storing spot and realizes wireless charging, thus completes a complete rescue operations.
Above the specific embodiment of the present invention is described, but the present invention is not limited to above description.For a person skilled in the art, any equal amendment to the technical program and substitute be all within the scope of the invention.Therefore, equalization conversion done without departing from the spirit and scope of the invention and amendment, all should contain within the scope of the invention.
Claims (4)
1. one kind can realize the rescue obstacle removing robot of machine automatic control and manual remote control, it is characterized in that: comprise mechanical system, communication system, sensing system and control system four parts, wherein mechanical system realizes the basic exercise of robot and rescue and to remove obstacles function; Communication system realizes the acceptance feedback of data and the real-time Transmission function of video; Sensing system realizes searching for personnel to be rescued, record gas concentration and the function of ignition point information, and control system coordinates the operation of each system as the control core of robot.
2. a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control according to claim 1, it is characterized in that: described mechanical system comprises basic machine assembly and functional mechanical unit, basic machine assembly comprises the frame for movement of building robot and the motion structure realizing mobile obstacle detouring, wherein transporting in merit structure selects creeper truck as chassis, is used for improving the stability of obstacle climbing ability and walking; Functional mechanical unit comprises the mechanical arm of the effect of removing obstacles and is positioned at the rescue chamber structure of bottom.
3. a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control according to claim 1, it is characterized in that: described communication system comprises RF communication digital transmission module and wireless image transmission sound transmission module, wherein RF communication digital transmission module realizes sensing system as medium and holds transmission of information to PC, and the aerial arousal function realizing RF communication digital transmission module from PC end signal can be accepted, carry out the switching of machine automatic control and manual remote control pattern; Wireless image transmission sound transmission module realizes the real-time Transmission that video and sound are held PC.
4. a kind of rescue obstacle removing robot realizing machine automatic control and manual remote control according to claim 1, is characterized in that: described control system selects the STM32 single-chip microcomputer with higher calculation processing power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510931784.4A CN105345821A (en) | 2015-12-15 | 2015-12-15 | Rescuing and barrier clearing robot capable of realizing self control and manual remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510931784.4A CN105345821A (en) | 2015-12-15 | 2015-12-15 | Rescuing and barrier clearing robot capable of realizing self control and manual remote control |
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| CN105345821A true CN105345821A (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510931784.4A Pending CN105345821A (en) | 2015-12-15 | 2015-12-15 | Rescuing and barrier clearing robot capable of realizing self control and manual remote control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856186A (en) * | 2016-04-11 | 2016-08-17 | 上海电力学院 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
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| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| KR100866392B1 (en) * | 2007-05-15 | 2008-11-03 | 주식회사 로보로보 | Gumdo robot and control method thereof |
| CN103659817A (en) * | 2013-11-11 | 2014-03-26 | 河池学院 | Robot rescue system and method for achieving robot rescue system |
| CN203887854U (en) * | 2014-01-13 | 2014-10-22 | 曾泽琳 | House guarding robot |
| CN204546513U (en) * | 2015-04-23 | 2015-08-12 | 西安科技大学 | The mining search and rescue robot of a kind of crawler-type multifunctional |
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2015
- 2015-12-15 CN CN201510931784.4A patent/CN105345821A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003039818A2 (en) * | 2001-11-07 | 2003-05-15 | Sony Corporation | Robot system and robot apparatus control method |
| KR100866392B1 (en) * | 2007-05-15 | 2008-11-03 | 주식회사 로보로보 | Gumdo robot and control method thereof |
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN103659817A (en) * | 2013-11-11 | 2014-03-26 | 河池学院 | Robot rescue system and method for achieving robot rescue system |
| CN203887854U (en) * | 2014-01-13 | 2014-10-22 | 曾泽琳 | House guarding robot |
| CN204546513U (en) * | 2015-04-23 | 2015-08-12 | 西安科技大学 | The mining search and rescue robot of a kind of crawler-type multifunctional |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856186A (en) * | 2016-04-11 | 2016-08-17 | 上海电力学院 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
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Application publication date: 20160224 |