CN107322595A - A kind of double-crawler type emergency rescue robot and control method - Google Patents
A kind of double-crawler type emergency rescue robot and control method Download PDFInfo
- Publication number
- CN107322595A CN107322595A CN201710502712.7A CN201710502712A CN107322595A CN 107322595 A CN107322595 A CN 107322595A CN 201710502712 A CN201710502712 A CN 201710502712A CN 107322595 A CN107322595 A CN 107322595A
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- Prior art keywords
- double
- emergency rescue
- type emergency
- crawler type
- rescue robot
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- 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.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000007789 gas Substances 0.000 claims description 16
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 9
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 4
- 239000002737 fuel gas Substances 0.000 claims description 4
- 239000003345 natural gas Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- -1 aluminium Gold Chemical compound 0.000 claims 1
- 230000000116 mitigating effect Effects 0.000 claims 1
- 238000010008 shearing Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention discloses a kind of double-crawler type emergency rescue robot, including：The pedrail mechanism of left and right two, 4 DC speed-reducings, the chassis being connected between two pedrail mechanisms in left and right；The chassis and the junction of two crawler belts in the left and right are provided with downwardly projecting part；The DC speed-reducing is bolted and the downwardly projecting part；The chassis lower surface is provided with multiple sensors, microcontroller, image transmission system；The chassis upper surface is provided with double mechanical arms mechanism；The invention also discloses a kind of double-crawler type emergency rescue robot and control method.Double-crawler type emergency rescue robot provided in an embodiment of the present invention has both arms, two hands coordination operation function, and both hands operation, which can improve load, can also complete more actions, and the present invention is more intelligent, prevents both arms to interfere with each other.The long-range execute-in-place of the present invention will more ensure the safety and mechanical flexibility ratio of rescue personnel.
Description
Technical field
The present invention relates to intelligent rescue aid technical field, specifically, more particularly to a kind of double-crawler type rescue
Robot and control method.
Background technology
At present, in various natural calamities and major accident scene, machine can be with electronic force driving machine tool arm, wheel type machine fortune
Scanning frequency degree, which can faster add, quickly reaches disaster field.Shearing, broken, cutting, expansion, crawl can be realized in the ruins that cave in
Deng operation, it is possible to carry out life detection etc..Implement Quick rescue, people's lives and properties are rescued in maximum efficiency.
Present rescue and relief work caterpillar type robot has that intelligence degree is low, adaptive ability is poor, application field limitation,
The defects such as exploitation and composition cost is high, inefficiency (application of Single Mechanical arm, no multisensor syste etc.).
The content of the invention
In order to solve problem of the prior art, the embodiments of the invention provide a kind of double-crawler type emergency rescue robot with
And control method.The technical scheme is as follows：
On the one hand there is provided a kind of double-crawler type emergency rescue robot, it is characterised in that including：The crawler belt of left and right two
Mechanism, 4 DC speed-reducings, the chassis being connected between two pedrail mechanisms in left and right；
The chassis and the junction of two crawler belts in the left and right are provided with downwardly projecting part；The DC speed-reducing
It is bolted and the downwardly projecting part；
The chassis lower surface is provided with multiple sensors, microcontroller, image transmission system；The chassis upper surface is provided with
Double mechanical arms mechanism.
Alternatively, the material on the chassis is aluminium alloy, shape class cuboid, and is provided with lid, the upper lid can from
Main dismounting.
Alternatively, the pedrail mechanism includes crawler belt, grouser and Athey wheel；2 Athey wheels of homonymy are carried out with described
The grouser is provided with band engagement link, the crawler belt supporting surface；The two pedrail mechanism symmetrical configurations in the left and right.
Alternatively, each pedrail mechanism is mounted on a crawler belt；Each crawler belt is fitted with being used to mitigate car body shake
7 dampers of effect that is dynamic and facilitating crawler belt installing/dismounting.
Alternatively, the multiple sensor is arranged on bottom plate by different directions, diverse location；
Multiple sensors are respectively that 2 MQ-2 smog gas sensors modules are used for detecting methane, liquefied gas fuel gas,
2 MQ-5 liquefaction natural gas town gas sensor assemblies, 2 MQ-7 carbon monoxide transducer modules；
6 sensor point two ends are in the layout of the tray bottom in cruciformity, symmetrical.
Alternatively, the double mechanical arms mechanism includes 2 6DOF manipulators, 2 gripper accessories and mechanical arm bottom
Seat；The mechanical arm base is fixed on front, each one of left and right on chassis；The mechanical arm mechanism connects micro-control by signal wire
Device processed；Front end robot arm mechanism installs the accessory realized and cut, crush, cutting, expanding, capturing various motion.
On the other hand there is provided a kind of double-crawler type emergency rescue robot control method, including：
After STM32 chip carrying UCOS systems, using UCOS systems each power and energy into a single line
Journey, multithreading work；
Into task scheduling system, UCOS system calls are given by the CPU rights to use of STM32 chips, and create multiple
Business；The respective thread of each Charge-de-Mission；Data between each thread set up exchange.
Alternatively, then the STM32 chips are opened by the brightness outside light sensor detection by control relay
Open major light.
Alternatively, the STM32 chips connect each mechanical arm by signal wire.
Alternatively, the STM32 chips receive the data of serial ports one, then again by the data by serial ports two by data
Send to ARDUINO control machinery arms.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
Double-crawler type emergency rescue robot provided in an embodiment of the present invention has both arms, two hands coordination operation function, just
Than two hands of thing that such as one hand of the mankind can be done are few, and both hands operation, which can improve load, can also complete more actions, the present invention
It is more intelligent, prevent both arms to interfere with each other.
The present invention enters after dark surrounds, can open major light auxiliary camera.Camera can remote transmission to control end；
Control end can remote control double mechanical arms.The long-range execute-in-place of the present invention will more ensure the safety and machinery of rescue personnel
Flexibility ratio；Manipulator of the present invention realizes the various motion such as shearing, broken, cutting, expansion, crawl after replacing.The present invention is also
With life detection function.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of double-crawler type emergency rescue robot structural representation that the embodiment of the present invention one is provided；
Fig. 2 is the pedrail mechanism schematic diagram that the embodiment of the present invention one is provided；
Fig. 3 is multiple sensor schematics that the embodiment of the present invention one is provided；
Fig. 4 is the double mechanical arms mechanism map that the embodiment of the present invention one is provided；
Fig. 5 is a kind of flow chart for double-crawler type emergency rescue robot control method that the embodiment of the present invention two is provided.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The invention provides a kind of double-crawler type emergency rescue robot, referring to Fig. 1, including：The pedrail mechanism of left and right two
1st, 4 DC speed-reducings, the chassis 2 being connected between two pedrail mechanisms in left and right；
The chassis 2 and the junction of two crawler belts 1 in the left and right are provided with downwardly projecting part；The direct current slows down electric
Machine is bolted and the downwardly projecting part；
The lower surface of chassis 2 is provided with multiple sensors 3, microcontroller, image transmission system；Install the chassis upper surface
There is double mechanical arms mechanism 4.
Specifically, in the present embodiment, using 24V DC speed-reducings.
Alternatively, the material on the chassis 2 is aluminium alloy, shape class cuboid, and is provided with lid, the upper lid can from
Main dismounting.
Alternatively, referring to Fig. 2, the pedrail mechanism 1 includes crawler belt 11, grouser 12 and Athey wheel 13；Described in homonymy 2
Athey wheel 13 is engaged with the crawler belt 11 and linked, and the grouser 12 is provided with the supporting surface of crawler belt 11, is difficult to skid, traction
Adhesion property is good, is conducive to playing larger tractive force, the pedrail mechanism symmetrical configuration of left and right two；Two tracked machines in the left and right
Structure symmetrical configuration.
Alternatively, each pedrail mechanism is mounted on a crawler belt；Each crawler belt is fitted with being used to mitigate car body shake
7 dampers of effect that is dynamic and facilitating crawler belt installing/dismounting.
Alternatively, the multiple sensor 3 is arranged on bottom plate by different directions, diverse location；
Multiple sensors are respectively that 2 MQ-2 smog gas sensors modules are used for detecting methane, liquefied gas fuel gas,
2 MQ-5 liquefaction natural gas town gas sensor assemblies, 2 MQ-7 carbon monoxide transducer modules；
Referring to Fig. 3,6 sensors, 3 points of two ends are in the layout of the tray bottom in cruciformity, symmetrical.
Specifically, multiple sensors are respectively that 2 MQ-2 smog gas sensors modules are used for detecting that methane, liquefied gas can
Combustion gas body, 2 MQ-5 liquefaction natural gas town gas sensor assemblies, 2 MQ-7 carbon monoxide transducer modules work as sensing
When there is fuel gas in device local environment, the electrical conductivity of sensor increases with the increase of combustable gas concentration in air, makes
The change of electrical conductivity can be converted to the output signal corresponding with the gas concentration with simple circuit；6 sensors point
Two ends are in the layout of tray bottom in cruciformity, symmetrical, and series is different per operative sensor, and this layout is to increase
Big detection space, improves the accuracy of detection.
Alternatively, referring to Fig. 4, the double mechanical arms mechanism 4 includes 2 6DOF manipulators 41,2 gripper accessories
42 and mechanical arm base 43；The mechanical arm base 43 is fixed on front, each one of left and right on chassis 2；The mechanical arm machine
Structure connects microcontroller by signal wire；Front end robot arm mechanism installs realization and cuts, crushes, cutting, expanding, capturing a variety of move
The accessory of work.
Specifically, preprogrammed instruction control machinery hand, pawl can be sent by terminal interface in the present embodiment to act, machinery
Pawl is arranged on manipulator front end, and gripper has different accessories, can be achieved to shear, crush, cutting, expanding respectively, capture it is a variety of
Function, gripper accessory easy installation and removal, the mechanism improves the efficiency of rescue, realizes the complex class people in bionics
Holding function, can replace the mankind implementing rescue of exploring to the hazardous environment that people's secondary injury is big or people can not touch, reduce
Casualties.
In the present embodiment, hardware system is many sensing systems of peripheral hardware output connection using STM32 microcontrollers as core
System, motor driving, image transmission system etc., multiple Smoke Sensors under chassis gather operating environment gas concentration situation of speedily carrying out rescue work and passed through
Host computer is wirelessly transferred back, if the pre-set value that gas concentration exceedes people will produce alarm, so that people are to hazardous environment
Take measures on customs clearance；Robot front end is equipped with two illuminating lamps and camera, and conveniently opening lamp in dark surrounds still can be danger
Dangerous environment information is wirelessly transferred back terminal by the form of video；Double mechanical arms mechanism on chassis is located at robot front end
Part, symmetrical (seeing figure in detail), does not interfere with each other, and greatly improves the efficiency of operation.
Embodiment two
The invention provides a kind of double-crawler type emergency rescue robot control method, referring to Fig. 5, including：
S100：After STM32 chip carrying UCOS systems, using UCOS systems each power and energy into single one
Individual thread, multithreading work；
S200：Into task scheduling system, UCOS system calls are given by the CPU rights to use of STM32 chips, and create many
Individual task；The respective thread of each Charge-de-Mission；Data between each thread set up exchange.
Alternatively, then the STM32 chips are opened by the brightness outside light sensor detection by control relay
Open major light.
Alternatively, the STM32 chips connect each mechanical arm by signal wire.
Alternatively, the STM32 chips receive the data of serial ports one, then again by the data by serial ports two by data
Send to ARDUINO control machinery arms.
Further, when human testing, the human response constantly around detection；
STM32 detects surrounding environment by sensor；
STM32 sends the information of surrounding environment by serial ports one to control end, judges whether to enter rescue for people；
STM32 controls driver motor, allows machine to move；
Infrared obstacle avoidance module and prevent hanging module, the in automatic mode automatic obstacle avoiding when robot runs into obstacle；Work as inspection
Then robot stop motion when measuring hanging, prevents robot from falling damage.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
Double-crawler type emergency rescue robot provided in an embodiment of the present invention has both arms, two hands coordination operation function, just
Than two hands of thing that such as one hand of the mankind can be done are few, and both hands operation, which can improve load, can also complete more actions, the present invention
It is more intelligent, prevent both arms to interfere with each other.
The present invention enters after dark surrounds, can open major light auxiliary camera.Camera can remote transmission to control end；
Control end can remote control double mechanical arms.The long-range execute-in-place of the present invention will more ensure the safety and machinery of rescue personnel
Flexibility ratio；Manipulator of the present invention realizes the various motion such as shearing, broken, cutting, expansion, crawl after replacing.The present invention is also
With life detection function.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of double-crawler type emergency rescue robot, it is characterised in that including：The pedrail mechanism of left and right two, 4 direct currents slow down
Motor, the chassis being connected between two pedrail mechanisms in left and right；
The chassis and the junction of two crawler belts in the left and right are provided with downwardly projecting part；The DC speed-reducing passes through
Bolt is fixed and the downwardly projecting part；
The chassis lower surface is provided with multiple sensors, microcontroller, image transmission system；The chassis upper surface is provided with two-shipper
Tool arm mechanism.
2. double-crawler type emergency rescue robot as claimed in claim 1, it is characterised in that the material on the chassis closes for aluminium
Gold, shape class cuboid, and lid is provided with, the upper lid can be dismantled independently.
3. double-crawler type emergency rescue robot as claimed in claim 2, it is characterised in that the pedrail mechanism includes carrying out
Band, grouser and Athey wheel；2 Athey wheels of homonymy are engaged with the crawler belt to be linked, and is provided with the crawler belt supporting surface
The grouser；The two pedrail mechanism symmetrical configurations in the left and right.
4. double-crawler type emergency rescue robot as claimed in claim 3, it is characterised in that each pedrail mechanism is mounted on
One crawler belt；Each crawler belt is fitted with for mitigating car body vibrations and facilitating 7 of effect of crawler belt installing/dismounting to subtract
Shake device.
5. double-crawler type emergency rescue robot as claimed in claim 4, it is characterised in that the multiple sensor is by difference
Direction, diverse location are arranged on bottom plate；
Multiple sensors are respectively that 2 MQ-2 smog gas sensors modules are used for detecting methane, liquefied gas fuel gas, 2
MQ-5 liquefaction natural gas town gas sensor assemblies, 2 MQ-7 carbon monoxide transducer modules；
6 sensor point two ends are in the layout of the tray bottom in cruciformity, symmetrical.
6. double-crawler type emergency rescue robot as claimed in claim 5, it is characterised in that the double mechanical arms mechanism includes
2 6DOF manipulators, 2 gripper accessories and mechanical arm base；The mechanical arm base is fixed on front on chassis,
Each one of left and right；The mechanical arm mechanism connects microcontroller by signal wire；Front end robot arm mechanism installs realization and cuts, breaks
Broken, cutting, expansion, the accessory of crawl various motion.
7. a kind of double-crawler type emergency rescue robot control method, it is characterised in that including：
It is many using UCOS systems each power and energy into a single thread after STM32 chip carrying UCOS systems
Thread work；
Into task scheduling system, UCOS system calls are given by the CPU rights to use of STM32 chips, and create multiple tasks；Respectively
The individual respective thread of Charge-de-Mission；Data between each thread set up exchange.
8. double-crawler type emergency rescue robot control method as claimed in claim 7, it is characterised in that the STM32 cores
Then piece opens major light by the brightness outside light sensor detection by control relay.
9. double-crawler type emergency rescue robot control method as claimed in claim 8, it is characterised in that the STM32 cores
Piece connects each mechanical arm by signal wire.
10. double-crawler type emergency rescue robot control method as claimed in claim 9, it is characterised in that the STM32 cores
Piece receives the data of serial ports one, and the data then are sent data into ARDUINO control machinery arms by serial ports two again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710502712.7A CN107322595A (en) | 2017-06-27 | 2017-06-27 | A kind of double-crawler type emergency rescue robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710502712.7A CN107322595A (en) | 2017-06-27 | 2017-06-27 | A kind of double-crawler type emergency rescue robot and control method |
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| Publication Number | Publication Date |
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| CN107322595A true CN107322595A (en) | 2017-11-07 |
Family
ID=60198168
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710502712.7A Pending CN107322595A (en) | 2017-06-27 | 2017-06-27 | A kind of double-crawler type emergency rescue robot and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434796A (en) * | 2018-10-31 | 2019-03-08 | 安徽工程大学 | A kind of crawler type forcible entry firefighting robot |
| CN110978000A (en) * | 2019-11-25 | 2020-04-10 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN112276901A (en) * | 2020-10-30 | 2021-01-29 | 北京市安全生产科学技术研究院 | Large-load emergency rescue robot for complex environment |
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Application publication date: 20171107 |