CN106737732A - One kind climbs wall rescue robot control method - Google Patents

One kind climbs wall rescue robot control method Download PDF

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Publication number
CN106737732A
CN106737732A CN201611194882.5A CN201611194882A CN106737732A CN 106737732 A CN106737732 A CN 106737732A CN 201611194882 A CN201611194882 A CN 201611194882A CN 106737732 A CN106737732 A CN 106737732A
Authority
CN
China
Prior art keywords
module
rescue
robot control
rescue robot
mechanical arm
Prior art date
Application number
CN201611194882.5A
Other languages
Chinese (zh)
Inventor
高路恒
Original Assignee
江苏工程职业技术学院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 江苏工程职业技术学院 filed Critical 江苏工程职业技术学院
Priority to CN201611194882.5A priority Critical patent/CN106737732A/en
Publication of CN106737732A publication Critical patent/CN106737732A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

Wall rescue robot control method is climbed the invention discloses one kind, robot includes climbing robot, adjusting mechanical arm and rescue robot control device, are fixedly connected with one end of adjusting mechanical arm on climbing robot, the other end of adjusting mechanical arm is connected with rescue robot control device;Rescue robot control device includes controller, the input of controller is connected to temperature sensor, flame sensor, image processing module and avoidance module, described image processing module is also associated with image collection module, and the output end of the controller has been electrically connected alarm module, wireless communication module, motor drive module, fire-fighting fire extinguishing equipment and adjusting mechanical arm.When the present invention occurs suitable for fire, rescue difficulty is big, carry out launching the robot of search and rescue in the case of disaster affected people cannot be properly positioned, it is particularly well-suited to the high-rise, fire rescue of high-rise building, climbing wall rescue robot can quickly reach fire floor by climbing wall, launch to search and rescue by colour TV camera, thermal imaging system, communication system.

Description

One kind climbs wall rescue robot control method

Technical field

The invention belongs to technical field of automatic control, and in particular to one kind climbs wall rescue robot control method.

Background technology

Succeeded in developing so far from the 50's First robot, the development of robot technology substantially experienced 3 ranks Section:First paragraph is teaching playback, and it repeats the work of initial teaching;Second on behalf of the programmable type with perceptional function, tool There is vision, power to feel, tactile and close to the perceptional function such as feeling, robot was mainly large-scale production and was used in two generation this, such as assemble, The work such as forging and stamping, spray painting, welding and maintenance;The third generation is intelligent, and this robot is equipped with multiple sensors, the think of based on people Dimension mode is judged there is adaptability to operating environment, can be based on the change automated programming of environment, so that it is determined that action. Third generation robot is closely related with fifth-generation computer technology, and for exploitation and the application of robot, domestic and international robot is special Family is known as first developing the specialized robot worked under adverse circumstances.Building trade is the second danger for being only second to mining industry Dangerous industry, accident is more in work progress, labour intensity is big, productivity ratio is low, and introducing robot technology in building trade can be Construction activity expands to the uncomfortable place of people, and can improve operating efficiency, and the mankind are conformed to the principle of simplicity into substance again and heavy danger Traditional work in substitute out.

The content of the invention

Goal of the invention:The invention aims to solve deficiency of the prior art, there is provided one kind climbs wall rescue machine People's method, it is adaptable to when fire occurs, rescue difficulty is big, it is impossible to carry out launching search and rescue in the case of being properly positioned disaster affected people Robot, is particularly well-suited to the high-rise, fire rescue of high-rise building, and climbing wall rescue robot by climbing wall can quickly reach fire Calamity floor, launches to search and rescue by colour TV camera, thermal imaging system, communication system.

Technical scheme:One kind of the present invention climbs wall rescue robot control method, it is characterised in that:Including following step Suddenly:

(1)Rescue robot control device and climbing robot are fixedly connected first;

(2)Default climbing robot is moved according to pre-determined route or using the route of artificial wireless remote control;

(3)Start adjusting mechanical arm and rescue robot control device while climbing robot is moved, adjusting mechanical arm is carried out 360 ° carry out image acquisition and treatment without dead angle detection, rescue robot control device;

(4)When rescue robot control device carries out image acquisition, examined by temperature sensor and flame sensor first Survey, if there is fire around detection, starting image collection module carries out real-time video monitoring and thermal imaging;If temperature is passed Occur without fire around sensor and flame sensor detection, then continue to move ahead;

(5)Obtain the treatment after image:To occurring to carry out video interception and thermal imaging treatment at fire, and by the video after treatment Sectional drawing and graphic images are sent to control centre by wireless communication module;

(6)The image after treatment is finally carried out into address location and mark, and is stored in a storage module, while occurring to control Center, so as to subsequent treatment;

(7)Rescue robot during traveling, the barrier around real-time monitoring, then the barrier by detecting is real-time Evaded, while the drive module that is advanced through of robot drives.

Further, the wall rescue robot of climbing includes climbing robot, and adjusting mechanical arm and rescue robot are controlled Device, the climbing robot is connected with building walls by magnetic force, and the climbing robot mobilizing exercises is in building wall On wall, one end of adjusting mechanical arm is fixedly connected with the climbing robot, the other end of the adjusting mechanical arm is connected with Rescue robot control device;The rescue robot control device includes controller, and the input of the controller connects respectively Temperature sensor, flame sensor, image processing module and avoidance module are connected to, described image processing module is also associated with image Acquisition module, the output end of the controller has been electrically connected alarm module, wireless communication module, motor drive module, has disappeared Fire extinguishing equipment and adjusting mechanical arm, the motor drive module are also associated with climbing robot, and the controller is also associated with Memory module and power module.

Further, the building walls include wall vertically and horizontally.

Further, the adjusting mechanical arm is using 360 ° of omnirange regulations.

Further, the controller uses single-chip microcomputer or PLC.

Further, the avoidance module uses ultrasonic wave or infrared induction device, with inductive probe.

Further, the inductive probe is several, and is distributed in around climbing robot.

Further, described image acquisition module includes colour TV camera and thermal imaging system.

Further, described image processing module includes video intercepting module, image filtering module and people's identification module.

Beneficial effect:When the present invention occurs suitable for fire, rescue difficulty is big, it is impossible to be properly positioned the situation of disaster affected people Under launch the robot of search and rescue, be particularly well-suited to the high-rise, fire rescue of high-rise building, climb wall rescue robot and pass through Climbing wall can quickly reach fire floor, launch to search and rescue by colour TV camera, thermal imaging system, communication system.

Brief description of the drawings

Fig. 1 is the structural representation of one embodiment of the invention;

Fig. 2 is control principle structured flowchart of the invention.

Specific embodiment

One kind as depicted in figs. 1 and 2 climbs wall rescue robot, including climbing robot 1, adjusting mechanical arm 2 and rescue Robot controller 3, the climbing robot 1 is connected with building walls by magnetic force, the activity fortune of the climbing robot 1 Move on building walls, one end of adjusting mechanical arm 2, the adjusting mechanical arm 2 are fixedly connected with the climbing robot 1 The other end be connected with rescue robot control device 3;The rescue robot control device 3 includes controller, the control The input of device is connected to temperature sensor, flame sensor, image processing module and avoidance module, described image treatment Module is also associated with image collection module, the output end of the controller be electrically connected alarm module, wireless communication module, Motor drive module, fire-fighting fire extinguishing equipment and adjusting mechanical arm 2, the motor drive module are also associated with climbing robot 1, institute State controller and be also associated with memory module and power module.

As the further optimization of above-described embodiment:

Building walls include the wall 4 of vertical direction wall 5 and horizontal direction, and climbing robot 1 be free to vertical Freely activity on the wall 4 of direction wall 5 and horizontal direction, to ensure covering all around for detection.Regulation of the invention simultaneously Mechanical arm 2 is adjusted using 360 ° of omniranges, it is achieved thereby that the detection without dead angle.

The avoidance module uses ultrasonic wave or infrared induction device, with inductive probe.If the inductive probe is Dry, and be distributed in around climbing robot 1.

Described image acquisition module includes colour TV camera and thermal imaging system.Described image processing module includes video intercepting Module, image filtering module and people's identification module.Image collection module and image processing module are combined, and realize field condition Real-time monitoring, while when thermal imaging system can carry out real-time monitoring for the people in building.

It is further illustrated below for specific Cleaning Principle of the invention and process:

(1)Rescue robot control device and climbing robot are fixedly connected first;

(2)Default climbing robot is moved according to pre-determined route or using the route of artificial wireless remote control;

(3)Start adjusting mechanical arm and rescue robot control device while climbing robot is moved, adjusting mechanical arm is carried out 360 ° carry out image acquisition and treatment without dead angle detection, rescue robot control device;

(4)When rescue robot control device carries out image acquisition, examined by temperature sensor and flame sensor first Survey, if there is fire around detection, starting image collection module carries out real-time video monitoring and thermal imaging;If temperature is passed Occur without fire around sensor and flame sensor detection, then continue to move ahead;

(5)Obtain the treatment after image:To occurring to carry out video interception and thermal imaging treatment at fire, and by the video after treatment Sectional drawing and graphic images are sent to control centre by wireless communication module;

(6)The image after treatment is finally carried out into address location and mark, and is stored in a storage module, while occurring to control Center, so as to subsequent treatment;

(7)Rescue robot during traveling, the barrier around real-time monitoring, then the barrier by detecting is real-time Evaded, while the drive module that is advanced through of robot drives.

When the present invention occurs suitable for fire, rescue difficulty is big, it is impossible to opened up in the case of being properly positioned disaster affected people The robot of search and rescue is driven, the high-rise, fire rescue of high-rise building is particularly well-suited to, climbing wall rescue robot can be fast by climbing wall Speed reaches fire floor, launches to search and rescue by colour TV camera, thermal imaging system, communication system.

The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, though So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people Member, without departing from the scope of the present invention, when making a little change or modification using the technology contents of the disclosure above It is the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to technical spirit of the invention Any simple modification, equivalent variations and the modification made to above example, still fall within the range of technical solution of the present invention.

Claims (9)

1. one kind climbs wall rescue robot control method, it is characterised in that:Comprise the following steps:
(1)Rescue robot control device and climbing robot are fixedly connected first;
(2)Default climbing robot is moved according to pre-determined route or using the route of artificial wireless remote control;
(3)Start adjusting mechanical arm and rescue robot control device while climbing robot is moved, adjusting mechanical arm is carried out 360 ° carry out image acquisition and treatment without dead angle detection, rescue robot control device;
(4)When rescue robot control device carries out image acquisition, examined by temperature sensor and flame sensor first Survey, if there is fire around detection, starting image collection module carries out real-time video monitoring and thermal imaging;If temperature is passed Occur without fire around sensor and flame sensor detection, then continue to move ahead;
(5)Obtain the treatment after image:To occurring to carry out video interception and thermal imaging treatment at fire, and by the video after treatment Sectional drawing and graphic images are sent to control centre by wireless communication module;
(6)The image after treatment is finally carried out into address location and mark, and is stored in a storage module, while occurring to control Center, so as to subsequent treatment;
(7)Rescue robot during traveling, the barrier around real-time monitoring, then the barrier by detecting is real-time Evaded, while the drive module that is advanced through of robot drives.
2. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:It is described to climb wall rescuing machine Device people includes climbing robot(1), adjusting mechanical arm(2)With rescue robot control device(3), the climbing robot(1) It is connected by magnetic force with building walls, the climbing robot(1)Mobilizing exercises on building walls, the wall-climbing device People(1)On be fixedly connected with adjusting mechanical arm(2)One end, the adjusting mechanical arm(2)The other end be connected with rescue machine People's control device(3);The rescue robot control device(3)Including controller, the input of the controller is connected respectively There are temperature sensor, flame sensor, image processing module and avoidance module, described image processing module is also associated with image and obtains Modulus block, the output end of the controller has been electrically connected alarm module, wireless communication module, motor drive module, fire-fighting Fire distinguisher and adjusting mechanical arm(2), the motor drive module is also associated with climbing robot(1), the controller also connects It is connected to memory module and power module.
3. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:The building walls Including wall vertically and horizontally.
4. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:The adjusting mechanical arm (2)Adjusted using 360 ° of omniranges.
5. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:The controller is used Single-chip microcomputer or PLC.
6. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:The avoidance module is adopted With ultrasonic wave or infrared induction device, with inductive probe.
7. one kind according to claim 5 climbs wall rescue robot control method, it is characterised in that:The inductive probe is Several, and it is distributed in climbing robot(1)Around.
8. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:Described image obtains mould Block includes colour TV camera and thermal imaging system.
9. one kind according to claim 1 climbs wall rescue robot control method, it is characterised in that:Described image processes mould Block includes video intercepting module, image filtering module and people's identification module.
CN201611194882.5A 2016-12-22 2016-12-22 One kind climbs wall rescue robot control method CN106737732A (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107423412A (en) * 2017-07-28 2017-12-01 中南大学 A kind of method of the carrying robot Intelligent Recognition floor based on meteorological sensing time series pattern

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11277466A (en) * 1998-03-30 1999-10-12 Director General Of The Fire Defence Agency Elevatable robot
CN102390453A (en) * 2011-10-21 2012-03-28 南京理工大学 Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof
CN105785895A (en) * 2016-03-30 2016-07-20 国网山东省电力公司荣成市供电公司 Intelligent transformer station monitoring system
CN205476402U (en) * 2016-03-10 2016-08-17 江苏工程职业技术学院 Wall climbing robot scaffold system
CN106060480A (en) * 2016-07-13 2016-10-26 北京中凯润邦科技发展有限责任公司 Fusion monitoring system for early warning video information flow
KR20160136756A (en) * 2015-05-21 2016-11-30 박대경 Fire robots with high-rise buildings facades driving functions and fire-fighting water injection capabilities

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11277466A (en) * 1998-03-30 1999-10-12 Director General Of The Fire Defence Agency Elevatable robot
CN102390453A (en) * 2011-10-21 2012-03-28 南京理工大学 Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof
KR20160136756A (en) * 2015-05-21 2016-11-30 박대경 Fire robots with high-rise buildings facades driving functions and fire-fighting water injection capabilities
CN205476402U (en) * 2016-03-10 2016-08-17 江苏工程职业技术学院 Wall climbing robot scaffold system
CN105785895A (en) * 2016-03-30 2016-07-20 国网山东省电力公司荣成市供电公司 Intelligent transformer station monitoring system
CN106060480A (en) * 2016-07-13 2016-10-26 北京中凯润邦科技发展有限责任公司 Fusion monitoring system for early warning video information flow

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107423412A (en) * 2017-07-28 2017-12-01 中南大学 A kind of method of the carrying robot Intelligent Recognition floor based on meteorological sensing time series pattern
CN107423412B (en) * 2017-07-28 2018-03-27 中南大学 A kind of method of the carrying robot Intelligent Recognition floor based on meteorological sensing time series pattern

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