CN106272442A - Robots based on wireless telecommunications system for tracking - Google Patents
Robots based on wireless telecommunications system for tracking Download PDFInfo
- Publication number
- CN106272442A CN106272442A CN201610932580.7A CN201610932580A CN106272442A CN 106272442 A CN106272442 A CN 106272442A CN 201610932580 A CN201610932580 A CN 201610932580A CN 106272442 A CN106272442 A CN 106272442A
- Authority
- CN
- China
- Prior art keywords
- search
- robot
- rescue
- electric energy
- rescue robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of robots based on wireless telecommunications system for tracking, including: some search and rescue robots, for providing the electric energy supply robot of electric energy, and some search and rescue robots keeps rank and carries out from original place to the direction of suspected target, on travel direction, the some doubtful region of search of distribution is scanned for successively；When doubtful region of search does not finds target, then leaving over a search and rescue robot in this doubtful region of search, remaining search and rescue robot proceeds；When finding after target in next doubtful region of search, electric energy supply robot is from original place, and the path that carries out along search and rescue robot is taken and jointly gone to target location with leaving over search and rescue robot.
Description
Technical field
The present invention relates to a kind of robots based on wireless telecommunications system for tracking.
Background technology
The most a lot of occasions of searching and rescuing all use robot to complete search and rescue task, but are searched and rescued by single robot,
The problem that then there will be inefficiency.
Therefore, how to control multirobot and work in coordination with the technical barrier that search-and-rescue work is this area.
Summary of the invention
It is an object of the invention to provide a kind of robots based on wireless telecommunications system for tracking, which solve tradition search and rescue aircraft
The technical problem that device people's search efficiency is low.
In order to solve above-mentioned technical problem, the invention provides a kind of robots based on wireless telecommunications system for tracking, bag
Include:
Some search and rescue robots, for provide electric energy electric energy supply robot, and
Some search and rescue robots keep rank and carry out from original place to the direction of suspected target, successively to dividing on travel direction
The some doubtful region of search of cloth scans for；
When doubtful region of search does not finds target, then leave over a search and rescue robot in this doubtful region of search, remaining
Search and rescue robot proceeds；
When finding after target in next doubtful region of search, electric energy supply robot is from original place, along search and rescue robot
The path that carries out take and jointly go to target location with leaving over search and rescue robot.
Further, the front portion of described search and rescue robot is provided with mechanical hand, and its back is provided with bare terminal end, and search and rescue robot
Inside it is provided with charge control module；Power circuit contact, and two power circuit contacts it are provided with in wherein said mechanical hand, bare terminal end
All connect charge control module；Described charge control module is suitable to be realized in search and rescue robot by corresponding power circuit contact
Lithium battery is charged；And described search and rescue robot also includes video acquisition module, metal detection module, infra-red detection mould
Block, to realize video data acquiring, metal signal detection and life signal detection.
Further, described electric energy supply robot is suitable to convert the solar into electric energy and stores, and the most described electric energy is mended
Include to robot: charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, and be positioned at this electric energy benefit
To the power circuit contact in robot mechanical arm；Described electric energy feeds robot by manipulator clamping search and rescue robot back
Bare terminal end, to connect the power circuit of search and rescue robot, search and rescue robot is powered.
Further, each search and rescue robot is suitable to scan for activity in respective zone of action, when wherein one searches and rescues machine
After people finds out target, target location is sent to server, and notified each search and rescue robot and electric energy supply machine by server
People；And described electric energy supply robot take with leave over search and rescue robot jointly go to target location time, described electric energy supply machine
Device people provides electric energy to it after being positioned at search and rescue robot；Or after search and rescue robot composition carries out queue, for queue search and rescue aircraft
Device people provide electric energy, to go to objective.
Further, described search and rescue robot queue, the most each search and rescue robot joins end to end, and a rear search and rescue robot passes through machine
Tool hands clamps the bare terminal end of previous search and rescue robot；After i.e., the power circuit contact of the mechanical hand of a search and rescue robot is searched with previous
The power circuit contact of the bare terminal end rescuing robot is connected；The mechanical hand of described electric energy supply robot is clamped and is positioned at queue
The bare terminal end of a rear search and rescue robot, and then build the charge circuit of search and rescue robot queue.
Further, the connection of the power circuit contact in described mechanical hand charge and discharge control module；Described charge and discharge control mould
The electric energy of accumulator is exported to the search and rescue robot in queue by the mechanical hand that block feeds robot by this electric energy.
The invention has the beneficial effects as follows, left search and rescue in robots based on the wireless telecommunications system for tracking of the present invention
Robot can continue in corresponding doubtful region of search to launch search and rescue action, searches and rescues success rate to improve, and when front finds
Searching and rescuing after target, electric energy supply robot works in coordination with left search and rescue robot and jointly rushes towards target location, by a large amount of machines
People, in target location collaborative work, improves search efficiency, strives for greatest extent effectively searching and rescuing the time, and adds electric energy benefit
After robot, extend the cruising time of search and rescue robot, reduce single search and rescue robot electric energy during carrying out
Consume.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the theory diagram of robots based on the wireless telecommunications system for tracking of the present invention；
Fig. 2 is theory diagram during robots based on the wireless telecommunications system for tracking charging of the present invention.
Wherein, doubtful region of search 1, search and rescue robot 2, electric energy feed robot 3.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
The basic structure of the illustration explanation present invention, therefore it only shows the composition relevant with the present invention.
As depicted in figs. 1 and 2, a kind of based on wireless telecommunications the robots system for tracking that the present invention provides includes: some
Search and rescue robot, for provide electric energy electric energy supply robot.Described search and rescue robot, electric energy supply robot is such as but not
It is limited to use WiFi, 4G mode to communicate wirelessly, or uses the most known wireless communication mode in prior art.
Wherein, setting a machine and artificially lead robot in search and rescue robot, remaining search and rescue robot follows this leader
Robot advances.
Some search and rescue robots keep rank and carry out from original place to the direction of suspected target, successively to dividing on travel direction
The some doubtful region of search of cloth scans for；When doubtful region of search does not finds target, then leave over a search and rescue robot and exist
In this doubtful region of search, remaining search and rescue robot proceeds；After finding target in next doubtful region of search, electric energy is mended
To robot from original place, the path that carries out along search and rescue robot is taken and is jointly gone to target location with leaving over search and rescue robot.
Left search and rescue robot can continue in corresponding doubtful region of search to launch search and rescue action, searches and rescues into improve
Power, and when front finds to search and rescue after target, electric energy supply robot works in coordination with left search and rescue robot and jointly rushes towards mesh
Cursor position, by a large amount of robots in target location collaborative work, improves search efficiency, strives for greatest extent effectively searching and rescuing
Time, and add electric energy supply robot after, extend the cruising time of search and rescue robot, reduce single search and rescue robot
Power consumption during carrying out.
The front portion of described search and rescue robot is provided with mechanical hand, and its back is provided with in being provided with bare terminal end, and search and rescue robot
Charge control module；It is provided with power circuit contact in wherein said mechanical hand, bare terminal end, and two power circuit contacts all connect
Charge control module；Described charge control module is suitable to be realized lithium battery in search and rescue robot by corresponding power circuit contact
It is charged；And described search and rescue robot also includes video acquisition module, metal detection module, infra-red detection module, with
Realize video data acquiring, metal signal detection and life signal detection.
Described video acquisition module includes photographic head, and this photographic head is suitable to the video data of collection is passed through processor module
And the wireless communication module being connected with this processor module sends to server, or automatically can be identified by image,
Image recognition is suitable to be realized by any one known technology.Metal detection module is such as but not limited to including metal detection line
Circle, the signal being connected with this metal detections coils conversion output circuit, detection data are sent extremely by this signal conversion output circuit
Processor module is to judge whether metal object to be detected.Described infra-red detection module is human body infrared such as but not limited to using
Sensor, is connected with described processor module, to detect life signal.
Described processor module is such as but not limited to using ATMEL AT91SAM9261.
Described search and rescue robot and electric energy feed robot and are each equipped with GPS module, this GPS module and processor module phase
Even to obtain each robot positional information on map；And described processor module also with WiFi module, and/or 4G module
It is connected.
Described electric energy supply robot is suitable to convert the solar into electric energy and stores, the most described electric energy supply robot
Including charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, and it is positioned at this electric energy supply robot
Power circuit contact in mechanical hand；Described electric energy feeds the robot clamping by manipulator clamping search and rescue robot back
End, to connect the power circuit of search and rescue robot, is powered search and rescue robot.
Described charge control module, charge and discharge control module such as include but not limited to use LT1513, FS1610, and
Control chip TPS2419.
Each search and rescue robot is suitable to scan for activity in respective zone of action, when wherein a search and rescue robot finds out mesh
(enter realization find out target by video acquisition module, metal detection module, infra-red detection module) after mark, target location is sent out
Deliver to server, and notified that each search and rescue robot and electric energy feed robot by server；And described electric energy supply robot
Take with leave over search and rescue robot go to target location time, described electric energy supply robot is positioned at after search and rescue robot and provides it
Electric energy；Or after search and rescue robot composition carries out queue, provide electric energy for queue search and rescue robot, to go to objective.
Described search and rescue robot queue, the most each search and rescue robot joins end to end, and a rear search and rescue robot is pressed from both sides by mechanical hand
Hold the bare terminal end of previous search and rescue robot；The power circuit contact of the mechanical hand of a search and rescue robot and previous search and rescue machine after i.e.
The power circuit contact of the bare terminal end of people is connected；The mechanical hand of described electric energy supply robot is clamped and is positioned at queue last is searched
Rescue the bare terminal end of robot, and then build the charge circuit of search and rescue robot queue.
Power circuit contact connection charge and discharge control module in described mechanical hand；Described charge and discharge control module is by being somebody's turn to do
Electric energy feeds the mechanical hand of robot and exports the electric energy of accumulator to the search and rescue robot in queue.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely can carry out various change and amendment in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description, it is necessary to determine its technical scope according to right.
Claims (6)
1. robots based on a wireless telecommunications system for tracking, it is characterised in that including:
Some search and rescue robots, for provide electric energy electric energy supply robot, and
Some search and rescue robots keep rank and carry out from original place to the direction of suspected target, successively to distribution on travel direction
Some doubtful regions of search scan for；
When doubtful region of search does not finds target, then leaving over a search and rescue robot in this doubtful region of search, remaining is searched and rescued
Robot proceeds；
When finding after target in next doubtful region of search, electric energy supply robot from original place, entering along search and rescue robot
Walking along the street footpath is taken and is jointly gone to target location with leaving over search and rescue robot.
Robots based on wireless telecommunications the most according to claim 1 system for tracking, it is characterised in that
The front portion of described search and rescue robot is provided with mechanical hand, and its back is provided with charging in being provided with bare terminal end, and search and rescue robot
Control module；Wherein
It is provided with power circuit contact in described mechanical hand, bare terminal end, and two power circuit contacts all connect charge control module；
Described charge control module is suitable to realize being charged lithium battery in search and rescue robot by corresponding power circuit contact；
And
Described search and rescue robot also includes video acquisition module, metal detection module, infra-red detection module, to realize video counts
According to collection, metal signal detection and life signal detection.
Robots based on wireless telecommunications the most according to claim 2 system for tracking, it is characterised in that
Described electric energy supply robot is suitable to convert the solar into electric energy and stores, i.e.
Described electric energy feeds robot and includes: charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, with
And
It is positioned at the power circuit contact of this electric energy supply robot mechanical arm；
Described electric energy feeds the robot bare terminal end by manipulator clamping search and rescue robot back, to connect search and rescue robot
Power circuit, is powered search and rescue robot.
Robots based on wireless telecommunications the most according to claim 3 system for tracking, it is characterised in that
Each search and rescue robot is suitable to scan for activity in doubtful region of search, after wherein a search and rescue robot finds out target,
Target location is sent to server, server notify that each search and rescue robot and electric energy feed robot；And
Described electric energy supply robot take with leave over search and rescue robot jointly go to target location time, described electric energy supply robot
Electric energy is provided to it after being positioned at search and rescue robot；Or
After search and rescue robot composition carries out queue, provide electric energy for queue search and rescue robot.
Robots based on wireless telecommunications the most according to claim 4 system for tracking, it is characterised in that
Described search and rescue robot queue, the most each search and rescue robot joins end to end, and a rear search and rescue robot is by before manipulator clamping
The bare terminal end of one search and rescue robot；I.e.
The power circuit contact of the mechanical hand of a rear search and rescue robot is tactile with the power circuit of the bare terminal end of previous search and rescue robot
Point is connected；
Described electric energy feeds the mechanical hand of robot and clamps the bare terminal end being positioned at last search and rescue robot of queue, and then structure is searched
Rescue the charge circuit of robot queue.
Robots based on wireless telecommunications the most according to claim 5 system for tracking, it is characterised in that in described mechanical hand
Power circuit contact connection charge and discharge control module；
The electric energy of accumulator is exported in queue by the mechanical hand that described charge and discharge control module feeds robot by this electric energy
Search and rescue robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932580.7A CN106272442B (en) | 2016-10-31 | 2016-10-31 | Robot system for tracking based on wireless telecommunications |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932580.7A CN106272442B (en) | 2016-10-31 | 2016-10-31 | Robot system for tracking based on wireless telecommunications |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272442A true CN106272442A (en) | 2017-01-04 |
| CN106272442B CN106272442B (en) | 2018-07-31 |
Family
ID=57719603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610932580.7A Active CN106272442B (en) | 2016-10-31 | 2016-10-31 | Robot system for tracking based on wireless telecommunications |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272442B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05101036A (en) * | 1991-05-17 | 1993-04-23 | Shinko Electric Co Ltd | Optimum route searching method for mobile robot |
| JPH09319433A (en) * | 1996-03-25 | 1997-12-12 | Denso Corp | Optimum route searching method |
| CN104503454A (en) * | 2014-12-23 | 2015-04-08 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN204287967U (en) * | 2014-12-23 | 2015-04-22 | 浙江理工大学 | Based on the search and rescue robot system of multi-agent theory |
| CN205405261U (en) * | 2016-03-01 | 2016-07-27 | 广东省揭阳市高级技工学校 | Robot is searched for andd rescue to intelligence |
-
2016
- 2016-10-31 CN CN201610932580.7A patent/CN106272442B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05101036A (en) * | 1991-05-17 | 1993-04-23 | Shinko Electric Co Ltd | Optimum route searching method for mobile robot |
| JPH09319433A (en) * | 1996-03-25 | 1997-12-12 | Denso Corp | Optimum route searching method |
| CN104503454A (en) * | 2014-12-23 | 2015-04-08 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN204287967U (en) * | 2014-12-23 | 2015-04-22 | 浙江理工大学 | Based on the search and rescue robot system of multi-agent theory |
| CN205405261U (en) * | 2016-03-01 | 2016-07-27 | 广东省揭阳市高级技工学校 | Robot is searched for andd rescue to intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272442B (en) | 2018-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106526695B (en) | Air-ground integration and cooperation search and rescue system | |
| CN104635730B (en) | A kind of robot autonomous charging method | |
| CN208914092U (en) | A kind of intelligent garbage sorting machine people | |
| CN206420863U (en) | A kind of long-range water quality detection unmanned boat | |
| CN103944202B (en) | A kind of outdoor moving robot photovoltaic automatic recharging method | |
| WO2016102977A3 (en) | Tracking device and power module | |
| CN106329665B (en) | Multiple robots collaboration working method | |
| CN104808667A (en) | Automatic navigation and obstacle-avoidance intelligent vehicle control system | |
| CN113141871A (en) | Daylily picking robot system based on Beidou navigation | |
| CN106647735B (en) | Air-ground integration and cooperation rescue method based on group, robot | |
| CN105790372A (en) | Automatic charging system for fully-automatic patrol cleaning robot | |
| CN206544183U (en) | A kind of crusing robot system communicated based on wide area Internet | |
| CN113810655A (en) | Method for realizing lake area intelligent lifesaving system | |
| CN106354139B (en) | Robot cluster rescue method | |
| CN106272442A (en) | Robots based on wireless telecommunications system for tracking | |
| CN211095815U (en) | Multifunctional intelligent blind guiding system for glasses | |
| CN106527433B (en) | Multirobot search and rescue system | |
| CN114026764A (en) | Power supply system and power supply device | |
| CN110398574B (en) | Water surface movable water quality monitoring node device based on raspberry pie | |
| CN107336242A (en) | A kind of unattended crusing robot | |
| CN110246298A (en) | A kind of crawler type forest patrol robot | |
| CN207281296U (en) | A kind of radioactive source remote control is searched and sampling robots | |
| CN202522226U (en) | Duplicate supply type laser ranging telescope | |
| Feng et al. | Research of collaborative search and rescue system for photovoltaic mobile robot based on edge computing framework | |
| CN108627172A (en) | A kind of indoor mobile robot traverse path planing method based on fingerprint map |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |