CN106891345A - A kind of search and rescue system with search and rescue robot and communication robot - Google Patents
A kind of search and rescue system with search and rescue robot and communication robot Download PDFInfo
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- CN106891345A CN106891345A CN201710152397.XA CN201710152397A CN106891345A CN 106891345 A CN106891345 A CN 106891345A CN 201710152397 A CN201710152397 A CN 201710152397A CN 106891345 A CN106891345 A CN 106891345A
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- 238000004891 communication Methods 0.000 title claims abstract description 60
- 230000006854 communication Effects 0.000 title claims abstract description 60
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- 230000005540 biological transmission Effects 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The present invention relates to a kind of search and rescue system with search and rescue robot and communication robot, wherein system includes multiple search and rescue robots, and the search and rescue robot includes signal lamp, the first wireless transport module, the first power supply, first microprocessor and the first Power Component；Multiple communication robots, the communication robot includes camera, the second wireless transport module, second source, the second microprocessor, the second Power Component and is wirelessly transferred terminal；Host computer, the host computer is wirelessly transferred terminal and/or first wireless transport module is communicated with described.Using this kind of system, communication robot is parked in corner and serves as the smooth transmission that signal terminal maintains signal, so as to increased the wireless transmission distance of search and rescue robot, considerably increases search efficiency；Search-and-rescue work under mine can be efficiently applied to, it is also possible to be applied to other scenes or the search-and-rescue work of other demands, it is adaptable to large-scale promotion application.
Description
Technical field
The present invention relates to communication technical field, more particularly to SAR Communications technical field, specifically refer to a kind of with search and rescue
The search and rescue system of robot and communication robot.
Background technology
Coal is the main body energy of China, accounts for the 3/4 of China's production of energy total amount.Meanwhile, China is also Coal Mine Disasters thing
Therefore the country of most serious.After mine gas explosion occurs, disaster area temperature is raised, dust concentration increase, explosive gas and height
The pernicious gases such as the CO of concentration are filled with tunnel, and Minepit environment is unstable, with happen occasionally subsequent explosion or repeatedly blast can
Energy.So substituting rescue worker using search and rescue robot performs dangerous search and rescue task, it is highly desirable to.
But under mine to have turning, underground communica tion is exactly a great problem, and search and rescue robot such as directly uses radio communication more,
The wireless communication signals rate of decay is very fast around the corner, wireless transmission distance is shortened；Fiber optic communication is such as used, then increases machine
The load of device people, and robot is easily snarled during robot advances.
The content of the invention
It is existing its object is to overcome the invention provides a kind of search and rescue system with search and rescue robot and communication robot
There is the defect in technology, serve as the smooth transmission that signal terminal maintains signal using communication robot, so as to increase search and rescue aircraft
The wireless transmission distance of device people, greatly increases search efficiency.
To achieve these goals, the present invention has following composition：
This has the search and rescue system of search and rescue robot and communication robot, and it is mainly characterized by, and the system includes：
Multiple search and rescue robots, the search and rescue robot includes that search and rescue robot car body, signal lamp, first are wirelessly transferred mould
Block, the first power supply, first microprocessor and the first Power Component, first power supply are respectively the signal lamp, described first
Wireless transport module, the first microprocessor and first Power Component are powered, and first Power Component drives
The search and rescue robot car body, the first microprocessor respectively with the signal lamp, first wireless transport module and institute
The first Power Component is stated to be connected；
Multiple communication robots, the communication robot includes that communication robot car body, camera, second are wirelessly transferred mould
Block, second source, the second microprocessor, the second Power Component and terminal is wirelessly transferred, the second source is respectively described
Camera, the second wireless transport module, the second microprocessor, the second Power Component and it is wirelessly transferred terminal and is powered, institute
State the second Power Component and drive the communication robot car body, second microprocessor respectively with the camera, the second nothing
Line transport module, the second Power Component are connected with terminal is wirelessly transferred, second wireless transport module and described first
Wireless transport module is communicated；
Host computer, the host computer is wirelessly transferred terminal and/or first wireless transport module is led to described
Letter.
Alternatively, first wireless transport module is Zigbee wireless transport modules.
Alternatively, the first microprocessor is the microprocessor of model MK60DN512VLL10, first micro- place
RXD, TXD pin of 65,68 pins of device respectively with first wireless transport module is managed to be connected.
Alternatively, first Power Component includes motor M11, motor M12, motor M13, motor M14, the first driving plate
With the second driving plate, the motor M11 and motor M12 drives two front-wheels of the search and rescue robot, the motor M13 and electricity
Machine M14 drives two trailing wheels of the search and rescue robot, and first driving plate is connected to the motor M11 and motor M12, institute
State the second driving plate and be connected to the motor M13 and motor M14；
56~79 pins of the first microprocessor are sequentially connected to the input port of first driving plate and described
The input port of the second driving plate；22,21,24,23 pins of the first microprocessor are sequentially connected first driving plate
Two Enable Pins and second driving plate two Enable Pins.
Alternatively, the signal lamp is infrared signal lamp, and the infrared signal lamp is fixed on the top of the search and rescue robot
Portion, the infrared signal lamp is connected by a relay with the microprocessor, and the triggering mouthful of the relay is micro- with described
12 pins of processor are connected.
Alternatively, second wireless transport module is Zigbee wireless transport modules, and the terminal that is wirelessly transferred is
Zigbee is wirelessly transferred terminal.
Alternatively, second microprocessor is the microprocessor of model MK60DN512VLL10, second micro- place
RXD, TXD pin of 65,68 pins of device respectively with second wireless transport module is managed to be connected.
Alternatively, second Power Component includes motor M21, motor M22, motor M23, motor M24, the 3rd driving plate
With the 4th driving plate, the motor M21 and motor M22 drives two front-wheels of the communication robot, the motor M23 and electricity
Machine M24 drives two trailing wheels of the communication robot, and the 3rd driving plate is connected to the motor M21 and motor M22, institute
State the 4th driving plate and be connected to the motor M23 and motor M24；
56~79 pins of second microprocessor are sequentially connected to the input port of the 3rd driving plate and described
The input port of the 4th driving plate；22,21,24,23 pins of second microprocessor are sequentially connected the 3rd driving plate
Two Enable Pins and the 4th driving plate two Enable Pins.
Alternatively, the camera is infrared camera, and the camera is fixed on the top of the communication robot.
Alternatively, the infrared camera is the hawkeye camera of 0V7725 models, the data signal line of the camera
TLC0~TLC7 respectively with second microprocessor the 73rd, 76,75,1,2,3,4,5 pins be connected, the camera
Clock cable PCLK is connected with the 72nd pin of second microprocessor, the field interrupt signal line of the camera
Chang is connected with the 71st pin of second microprocessor, the row interrupt signal line Hang of the camera and described
6th pin of two microprocessors is connected, the control wire size line SCL and SDA of the camera successively with second microprocessor
Device the 69th, 70 pins are connected.
The search and rescue system with search and rescue robot and communication robot in the invention is employed, is set in search and rescue system
Multiple communication robots and multiple search and rescue robots, both cooperate；Communication robot leads to when being searched on straight way
The infrared signal lamp crossed at the top of acquisition search and rescue robot, follows search and rescue robot to advance together；When search and rescue robot is by turning,
When searching for next section of tunnel, communication robot is parked in corner and serves as the smooth transmission that signal terminal maintains signal, so that
The wireless transmission distance of search and rescue robot is increased, search efficiency is considerably increased；Ore deposit down-hole searching work can be efficiently applied to
Make, it is also possible to be applied to other scenes or the search-and-rescue work of other demands, it is adaptable to large-scale promotion application.
Brief description of the drawings
Fig. 1 is the structural representation of search and rescue robot of the invention；
Fig. 2 is the structural representation of communication robot of the invention；
Fig. 3 is the internal components structural representation of search and rescue robot of the invention；
Fig. 4 is the internal components structural representation of communication robot of the invention.
Specific embodiment
In order to more clearly describe technology contents of the invention, carried out with reference to specific embodiment further
Description.
It is described the invention provides a kind of structural representation of the search and rescue system with search and rescue robot and communication robot
System includes：
Multiple search and rescue robots, as shown in figures 1 and 3, the search and rescue robot includes search and rescue robot car body 2, signal
Lamp 3, the first wireless transport module 4, the first power supply 12, the Power Component 1 of first microprocessor 10 and first, first power supply 12
Respectively described signal lamp 3, first wireless transport module 4, the first microprocessor 10 and first Power Component 1
Be powered, first Power Component 1 drives the search and rescue robot car body 2, the first microprocessor 10 respectively with institute
Signal lamp 3, first wireless transport module 4 is stated to be connected with first Power Component 1；
Multiple communication robots, as shown in Figure 2 and Figure 4, the communication robot includes communication robot car body 6, shooting
First 7, second wireless transport module 9, second source 18, the second microprocessor 16, the second Power Component 5 and it is wirelessly transferred terminal
8, the second source 18 is respectively the camera 7, the second wireless transport module 9, the second microprocessor 16, the second power packages
Part 5 and it is wirelessly transferred terminal 8 and is powered, second Power Component drives the communication robot car body, described second
Microprocessor 16 respectively with the camera 7, the second wireless transport module 9, the second Power Component 5 and be wirelessly transferred terminal 8
It is connected, second wireless transport module 9 is communicated with first wireless transport module 4；
First power supply 12 and second source 18, preferably use lithium battery, export the voltage of 12V and 3.3V.
Host computer, the host computer is carried out with the terminal 8 and/or first wireless transport module 4 of being wirelessly transferred
Communication.
Described is wirelessly transferred terminal 8, when host computer can not receive the data for directly being sent by search and rescue robot, nothing
Line transmission terminal 8 maintains signal transfer functions therebetween.
In a preferred embodiment, first wireless transport module 4 is Zigbee wireless transport modules.
Zigbee wireless transport modules, it is preferred to use the zigbee modules of CC2530F256 models.
In a preferred embodiment, the first microprocessor 10 is micro- place of model MK60DN512VLL10
Reason device, 65,68 pins of the first microprocessor 10 respectively with RXD, TXD pin phase of first wireless transport module 4
Connection.
In a preferred embodiment, first Power Component 1 include motor M11, motor M12, motor M13,
Motor M14, the first driving plate 14 and the second driving plate 15, the motor M11 and motor M12 drive the two of the search and rescue robot
Individual front-wheel, the motor M13 and motor M14 drive two trailing wheels of the search and rescue robot, and first driving plate 14 is connected
To the motor M11 and motor M12, second driving plate 15 is connected to the motor M13 and motor M14；First driving plate
14 and second driving plate 15, using the driving plate of L298N models.
56~79 pins of the first microprocessor 10 are sequentially connected to the input port of first driving plate 14
Input port IN1, IN2, IN3, IN4 of IN1, IN2, IN3, IN4 and second driving plate 15；The first microprocessor 10
22,21,24,23 pins be sequentially connected two Enable Pins ENA, ENB and second driving plate of first driving plate 14
15 two Enable Pins ENA, ENB.
In a preferred embodiment, the signal lamp 3 is infrared signal lamp, and the infrared signal lamp is fixed on institute
The top of search and rescue robot is stated, the infrared signal lamp is connected by a relay 11 with the microprocessor, the relay
The triggering mouth of device 11 is connected with 12 pins of the microprocessor.Relay 11, using SRD-12VDC-SL-C 10A250V
Model, the light on and off for controlling infrared signal lamp.
In a preferred embodiment, second wireless transport module 9 is Zigbee wireless transport modules, described
Terminal 8 is wirelessly transferred for Zigbee is wirelessly transferred terminal.
In a preferred embodiment, second microprocessor 16 is micro- place of model MK60DN512VLL10
Reason device, 65,68 pins of second microprocessor 16 respectively with RXD, TXD pin phase of second wireless transport module 9
Connection.
In a preferred embodiment, second Power Component 5 include motor M21, motor M22, motor M23,
Motor M24, the 3rd driving plate 20 and the 4th driving plate 21, the motor M21 and motor M22 drive the two of the communication robot
Individual front-wheel, the motor M23 and motor M24 drive two trailing wheels of the communication robot, and the 3rd driving plate 20 is connected
To the motor M21 and motor M22, the 4th driving plate 21 is connected to the motor M23 and motor M24；3rd driving plate
20 and the 4th driving plate 21, it is preferred to use the driving plate of L298N models.
56~79 pins of second microprocessor 16 are sequentially connected to the input port of the 3rd driving plate 20
Input port IN1, IN2, IN3, IN4 of IN1, IN2, IN3, IN4 and the 4th driving plate 21；Second microprocessor 16
22,21,24,23 pins be sequentially connected two Enable Pins ENA, ENB and the 4th driving plate of the 3rd driving plate 20
21 two Enable Pins ENA, ENB.
In a preferred embodiment, the camera 7 is infrared camera, and the camera 7 is fixed on described
The top of communication robot, for obtaining infrared signal image.
In a preferred embodiment, the infrared camera is the hawkeye camera of 0V7725 models, described to take the photograph
As first 7 data signal line TLC0~TLC7 respectively with second microprocessor 16 the 73rd, 76,75,1,2,3,4,5 pins
It is connected, the clock cable PCLK of the camera 7 is connected with the 72nd pin of second microprocessor 16, described to take the photograph
As first 7 field interrupt signal line Chang is connected with the 71st pin of second microprocessor 16, the row of the camera 7
Interrupt signal line Hang is connected with the 6th pin of second microprocessor 16, the control wire size line SCL of the camera 7
With SDA successively with second microprocessor 16 the 69th, 70 pins are connected.
In the technical scheme of the search and rescue system with search and rescue robot and communication robot of the invention, wherein included
Each function device and modular device can correspond to actual particular hardware circuit structure, therefore these modules and unit are only
Using hardware circuit it is achieved that need not aid in being automatically obtained corresponding function with specific control software.
The search and rescue system with search and rescue robot and communication robot in the invention is employed, is set in search and rescue system
Multiple communication robots and multiple search and rescue robots, both cooperate；Communication robot leads to when being searched on straight way
The infrared signal lamp crossed at the top of acquisition search and rescue robot, follows search and rescue robot to advance together；When search and rescue robot is by turning,
When searching for next section of tunnel, communication robot is parked in corner and serves as the smooth transmission that signal terminal maintains signal, so that
The wireless transmission distance of search and rescue robot is increased, search efficiency is considerably increased；Ore deposit down-hole searching work can be efficiently applied to
Make, it is also possible to be applied to other scenes or the search-and-rescue work of other demands, it is adaptable to large-scale promotion application.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings are considered as illustrative
And it is nonrestrictive.
Claims (10)
1. a kind of search and rescue system with search and rescue robot and communication robot, it is characterised in that the system includes：
Multiple search and rescue robots, the search and rescue robot include search and rescue robot car body, signal lamp, the first wireless transport module,
First power supply, first microprocessor and the first Power Component, first power supply are respectively the signal lamp, described first wireless
Transport module, the first microprocessor and first Power Component are powered, and first Power Component drives described
Search and rescue robot car body, the first microprocessor respectively with the signal lamp, first wireless transport module and described
One Power Component is connected；
Multiple communication robots, the communication robot include communication robot car body, camera, the second wireless transport module,
Second source, the second microprocessor, the second Power Component and terminal is wirelessly transferred, the second source is respectively the shooting
Head, the second wireless transport module, the second microprocessor, the second Power Component and it is wirelessly transferred terminal and is powered, described
Two Power Components drive the communication robot car body, second microprocessor wirelessly to be passed with the camera, second respectively
Defeated module, the second Power Component are connected with terminal is wirelessly transferred, and second wireless transport module is wireless with described first
Transport module is communicated；
Host computer, the host computer is wirelessly transferred terminal and/or first wireless transport module is communicated with described.
2. the search and rescue system with search and rescue robot and communication robot according to claim 1, it is characterised in that described
First wireless transport module is Zigbee wireless transport modules.
3. the search and rescue system with search and rescue robot and communication robot according to claim 2, it is characterised in that described
First microprocessor is the microprocessor of model MK60DN512VLL10,65, the 68 pins difference of the first microprocessor
RXD, TXD pin with first wireless transport module is connected.
4. the search and rescue system with search and rescue robot and communication robot according to claim 3, it is characterised in that described
First Power Component includes motor M11, motor M12, motor M13, motor M14, the first driving plate and the second driving plate, the electricity
Machine M11 and motor M12 drives two front-wheels of the search and rescue robot, the motor M13 and motor M14 to drive the search and rescue aircraft
Two trailing wheels of device people, first driving plate is connected to the motor M11 and motor M12, and second driving plate is connected to
The motor M13 and motor M14；
56~79 pins of the first microprocessor are sequentially connected to the input port and described second of first driving plate
The input port of driving plate；22,21,24,23 pins of the first microprocessor are sequentially connected the two of first driving plate
Two Enable Pins of individual Enable Pin and second driving plate.
5. the search and rescue system with search and rescue robot and communication robot according to claim 4, it is characterised in that described
Signal lamp is infrared signal lamp, and the infrared signal lamp is fixed on the top of the search and rescue robot, and the infrared signal lamp leads to
Cross a relay to be connected with the microprocessor, the triggering mouth of the relay is connected with 12 pins of the microprocessor
Connect.
6. the search and rescue system with search and rescue robot and communication robot according to claim 1, it is characterised in that described
Second wireless transport module is Zigbee wireless transport modules, and the terminal that is wirelessly transferred is for Zigbee is wirelessly transferred transfer
Stand.
7. the search and rescue system with search and rescue robot and communication robot according to claim 6, it is characterised in that described
Second microprocessor is the microprocessor of model MK60DN512VLL10,65, the 68 pins difference of second microprocessor
RXD, TXD pin with second wireless transport module is connected.
8. the search and rescue system with search and rescue robot and communication robot according to claim 7, it is characterised in that described
Second Power Component includes motor M21, motor M22, motor M23, motor M24, the 3rd driving plate and the 4th driving plate, the electricity
Machine M21 and motor M22 drives two front-wheels of the communication robot, the motor M23 and motor M24 to drive the communication equipment
Two trailing wheels of device people, the 3rd driving plate is connected to the motor M21 and motor M22, and the 4th driving plate is connected to
The motor M23 and motor M24；
56~79 pins of second microprocessor are sequentially connected to the input port and the described 4th of the 3rd driving plate
The input port of driving plate；22,21,24,23 pins of second microprocessor are sequentially connected the two of the 3rd driving plate
Two Enable Pins of individual Enable Pin and the 4th driving plate.
9. the search and rescue system with search and rescue robot and communication robot according to claim 8, it is characterised in that described
Camera is infrared camera, and the camera is fixed on the top of the communication robot.
10. the search and rescue system with search and rescue robot and communication robot according to claim 9, it is characterised in that institute
State the hawkeye camera that infrared camera is 0V7725 models, the data signal line TLC0~TLC7 of the camera respectively with institute
State the second microprocessor the 73rd, 76,75,1,2,3,4,5 pins be connected, the clock cable PCLK of the camera and institute
The 72nd pin for stating the second microprocessor is connected, field interrupt signal line Chang and second microprocessor of the camera
71st pin of device is connected, the row interrupt signal line Hang of the camera and the 6th pin phase of second microprocessor
Connection, the control wire size line SCL and SDA of the camera successively with second microprocessor the 69th, 70 pins are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152397.XA CN106891345A (en) | 2017-03-15 | 2017-03-15 | A kind of search and rescue system with search and rescue robot and communication robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710152397.XA CN106891345A (en) | 2017-03-15 | 2017-03-15 | A kind of search and rescue system with search and rescue robot and communication robot |
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|---|---|---|---|---|
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| CN104527831A (en) * | 2014-12-25 | 2015-04-22 | 华北科技学院 | Underground six-foot spider type search-and-rescue robot for coal mine |
| 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 |
| CN205068165U (en) * | 2015-10-22 | 2016-03-02 | 浙江理工大学 | Multi -functional mine search and rescue robot based on zigBee technique |
| CN105573198A (en) * | 2015-12-15 | 2016-05-11 | 浙江理工大学 | UCOSII-based mine search and rescue system and search and rescue method |
| CN206605499U (en) * | 2017-03-15 | 2017-11-03 | 浙江理工大学 | A kind of search and rescue system with search and rescue robot and communication robot |
-
2017
- 2017-03-15 CN CN201710152397.XA patent/CN106891345A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| 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 |
| CN104527831A (en) * | 2014-12-25 | 2015-04-22 | 华北科技学院 | Underground six-foot spider type search-and-rescue robot for coal mine |
| CN205068165U (en) * | 2015-10-22 | 2016-03-02 | 浙江理工大学 | Multi -functional mine search and rescue robot based on zigBee technique |
| CN105573198A (en) * | 2015-12-15 | 2016-05-11 | 浙江理工大学 | UCOSII-based mine search and rescue system and search and rescue method |
| CN206605499U (en) * | 2017-03-15 | 2017-11-03 | 浙江理工大学 | A kind of search and rescue system with search and rescue robot and communication robot |
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Application publication date: 20170627 |