CN107521572A - Autonomous type life detection robot - Google Patents
Autonomous type life detection robot Download PDFInfo
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- CN107521572A CN107521572A CN201710708832.2A CN201710708832A CN107521572A CN 107521572 A CN107521572 A CN 107521572A CN 201710708832 A CN201710708832 A CN 201710708832A CN 107521572 A CN107521572 A CN 107521572A
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- mobile chassis
- mechanical arm
- crawler
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- 238000001514 detection method Methods 0.000 title claims abstract description 75
- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000003993 interaction Effects 0.000 claims description 16
- 241000282472 Canis lupus familiaris Species 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of autonomous type life detection robot, including mobile chassis, mechanical arm and detection device, mechanical arm is arranged in the resettlement groove of mobile chassis, control module is provided with mobile chassis, remote communication module, power set, battery module, each obstacle avoidance module of positioning navigation module, remote communication module, positioning navigation module, obstacle avoidance module, power set, battery module is connected with control module, detection device is arranged on mobile chassis or is connected with mechanical arm, the detection device being arranged on mobile chassis is placed at sensing point by the crawl and movement of mechanical arm, the detection device being connected with mechanical arm is placed at sensing point by the movement of mechanical arm.The small volume of the present invention, it can enter after calamity and carry out life detection in ruins, the work that instead of rescue personnel into ruins searching sign of life can move in narrow space, rescue efficiency is improved, has ensured the personal safety of rescue personnel.
Description
Technical field
The present invention relates to a kind of autonomous type life detection robot, belong to robot probe's technical field.
Background technology
Include the smell by rescue dogs, emergency sound for traditional rescue mode of earthquake or other disasters and search
The intuition of personnel is rescued to judge, this mode using animal or artificially searched and rescued needs rescue dogs or rescue personnel to enter building
Ruins carry out search-and-rescue work, and aftershock or secondary situations such as the caving in serious threat of building rescue dog and the life of personnel is pacified
Entirely, it is therefore necessary to which a kind of machinery equipment for searching for survivor under ruins after calamity for earthquake etc. is provided.
The content of the invention
It is an object of the present invention to provide a kind of autonomous type life detection robot, and it is used for earthquake, caved in, building
Ruins rescue under collapsing, can overcome the unfavorable factors such as complicated landform, substitute artificial detection operations completely, independently into ruins
Sign of life is searched in depths detection, so as to ensure the personal safety of rescue worker；The sniffing robot of the present invention can be by fixed
Position navigation module contexture by self operating path, efficiently detect the position where sign of life in ruins, be easy to rescue personnel and
When implementation rescue work.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of autonomous type life detection robot,
Including mobile chassis, mechanical arm and detection device, mechanical arm is arranged in the resettlement groove of mobile chassis, is provided with mobile chassis
Control module, remote communication module, power set, battery module, positioning navigation module, obstacle avoidance module and data processing module,
The positioning navigation module is connected with remote communication module, the remote communication module, obstacle avoidance module, power set, battery mould
Block, data processing module are connected with control module, and detection device is arranged on mobile chassis or is connected with mechanical arm, are set
It is placed in the detection device on mobile chassis by the crawl of mechanical arm and movement at sensing point, the detection dress being connected with mechanical arm
Put and be placed in by the movement of mechanical arm at sensing point.
In foregoing this autonomous type life detection robot, the mobile chassis includes the first carrying platform and is arranged on
The A crawler-type mobiles mechanism of first carrying platform both sides, A crawler-type mobiles mechanism include the first driving wheel, multiple first from
Driving wheel and around 1 a crawler belt being connected on the first driving wheel and the first driven pulley.
In foregoing this autonomous type life detection robot, the mobile chassis includes the second carrying platform and is arranged on
The B crawler-type mobiles mechanism of second carrying platform both sides, B crawler-type mobiles mechanism include the second driving wheel, the second driven pulley,
B1 crawler belts and b2 crawler belts, b1 crawler belts and b2 crawler belts are around being connected on the second driven pulley for being located at same level with the second driving wheel
On.
In foregoing this autonomous type life detection robot, the mobile chassis includes the 3rd carrying platform and is arranged on
The C crawler-type mobiles mechanism of 3rd carrying platform both sides, C crawler-type mobiles mechanism include the 3rd driving wheel, the 3rd driven pulley,
C1 crawler belts, c2 crawler belts and c3 crawler belts, c1 crawler belts and c3 crawler belts are around being connected on the 3rd driving wheel, c1 crawler belts and the equal solderless wrapped connection of c2 crawler belts
It is being located at the 3rd driving wheel on the 3rd driven pulley of same level.
In foregoing this autonomous type life detection robot, the detection device is received for the radar of radar life detector
Send out module.Described radar life detector includes radar transmit-receive module and data processing module two parts, radar transmit-receive module
It may detect centered on radar transmit-receive module and sign of life of the diameter in the range of 80m, when radar transmit-receive module detects
After sign of life, detection information is wirelessly transferred or wired export passes through information to data processing module, data processing module
In control module, remote communication module Wireless transceiver to remote controllers, pass through display screen rescue personnel's energy of remote controllers
It is enough intuitively to get particular location and depth information that the sign of life is buried.
In foregoing this autonomous type life detection robot, in addition at least 3 image-pickup devices, set on mechanical arm
1 image-pickup device is equipped with, the front-end and back-end of mobile chassis are provided with 1 image-pickup device.It is arranged at mechanical arm
On image-pickup device and mobile chassis on image-pickup device can use various sizes of infrared monitoring camera.
In foregoing this autonomous type life detection robot, the positioning navigation module include odometer, gyroscope and
GPS positioning system, odometer, gyroscope and GPS positioning system are connected with control module.Odometer is used to record relative position
Move, and the high-precision position of robot of the present invention and gesture stability are realized together with gyroscope, GPS positioning system, to control mould
Block carries out path planning and provides data message.
In foregoing this autonomous type life detection robot, the control module includes an at least Industry Control and calculated
Machine.The control software operated in industrial control computer is by obtaining obstacle avoidance module, data processing module, positioning navigation module
Deng modules and the data message of power set, to carry out path planning and decision-making, so as to control mobile chassis and mechanical arm
Motion.
It is described also to include a remote controllers, remote controllers in foregoing this autonomous type life detection robot
Including human-computer interaction module and display module, remote controllers wireless connection is in remote communication module.Rescue worker can pass through
Human-computer interaction module sends instruction to each executing agency of robot of the present invention (such as mechanical arm), can also obtain this by indicator lamp
The main running status of invention robot and error message；Display module is made up of an industrial display, can be shown more
The detailed operation status information of modules in video, life detection information and the present invention that individual image-pickup device is shot.
The remote controllers can use a kind of portable case type controller with display screen.
In foregoing this autonomous type life detection robot, the mechanical arm include leading portion joint, interlude joint and
Endpiece joint, leading portion joint are connected with interlude joint, and interlude joint is connected with endpiece joint, and endpiece joint is arranged on movement
On chassis, the first joint is provided with interlude joint and places mouth, second joint is provided with endpiece joint and places mouth, leading portion closes
Section is placed mouth folding by the first joint and is placed in interlude joint, and interlude joint places mouth folding by second joint and is placed on endpiece
In joint.
Above-mentioned resettlement groove is arranged on mobile chassis, and the mechanical arm of folding shrinking together can be rested in resettlement groove,
The arm face for the mechanical arm being contracted in resettlement groove flushes or the slightly below card of mobile chassis, in this way, when mechanical arm is contracted in
When in resettlement groove, sniffing robot volume of the present invention is smaller, more flexibly can be moved in ruins.
Compared with prior art, the present invention can certainly be advanced into after calamity and carry out life detection in ruins, pass through folding shrinking
Mechanical arm, own vol is reduced, so as to flexibly be moved in narrow space；The A crawler-type mobile machines that the present invention uses
Structure or B crawler-type mobiles mechanism or C crawler-type mobiles mechanism, it can ensure the obstacle climbing ability of sniffing robot of the present invention；Pass through
Detection device can be automatical and efficient the sign of life detected under ruins；The multiple functional modules being integrated on mobile chassis,
The remote control of sniffing robot of the present invention can be achieved, to prevent fortuitous event occurs in the present invention from can not be saved oneself；The present invention
Sniffing robot intelligence degree is high, can substitute the work that rescue personnel finds sign of life into ruins completely, not only improve
Rescue efficiency, and ensured the personal safety of rescue personnel.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present invention；
Fig. 2 is a kind of structural representation of mobile chassis using A crawler-type mobiles mechanism of the present invention；
Fig. 3 is a kind of structural representation of mobile chassis using B crawler-type mobiles mechanism of the present invention；
Fig. 4 is a kind of structural representation of mobile chassis using C crawler-type mobiles mechanism of the present invention；
Fig. 5 is a kind of structural representation of mechanical arm of the present invention；
Fig. 6 is the state displaying figure that Fig. 5 mechanical arms are contracted on mobile chassis；
Fig. 7 is a kind of structural representation of remote controllers of the present invention；
Fig. 8 is the structural representation of another mechanical arm of the present invention,
Fig. 9 is present system connection diagram.
Reference：1- mobile chassis, 2- mechanical arms, 3- control modules, 4- remote communication modules, 5- power set, 6-
Battery module, 7- image-pickup devices, 8- obstacle avoidance modules, 9- detection devices, 10- human-computer interaction modules, 11- resettlement grooves, 12-
One carrying platform, 13-A crawler-type mobiles mechanism, the driving wheels of 14- first, the driven pulleys of 15- first, 16-a crawler belts, 17- second take
Carrying platform, 18-B crawler-type mobiles mechanism, the driving wheels of 19- second, the driven pulleys of 20- second, 21-b1 crawler belts, 22-b2 crawler belts, 23-
3rd carrying platform, 24-GPS alignment systems, 25-C crawler-type mobiles mechanism, the driving wheels of 26- the 3rd, the driven pulleys of 27- the 3rd,
28-c1 crawler belts, 29-c2 crawler belts, 30-c3 crawler belts, 31- odometers, 32- gyroscopes, 33- remote controllers, 34- leading portions joint,
Mouth is placed in 35- interludes joint, 36- endpieces joint, 37- display modules, the joints of 38- first, and 39- second joints place mouth, 40-
Rotary joint, 41- telescopic joints, 42- inhale pawl, 43- dust layers, 44- data processing modules.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：A kind of autonomous type life detection robot, including mobile chassis 1, mechanical arm 2 and detection
Device 9, mechanical arm 2 are arranged on the resettlement groove 11 of mobile chassis 1, and control module 3, telecommunication are provided with mobile chassis 1
Module 4, power set 5, battery module 6, positioning navigation module, obstacle avoidance module 8 and data processing module 44, remote communication module
4th, positioning navigation module, obstacle avoidance module 8, power set 5, battery module 6, data processing module 44 are connected with control module 3,
Detection device 9 is arranged on mobile chassis 1, is arranged at crawl and shifting of the detection device 9 on mobile chassis 1 by mechanical arm 2
It is dynamic to be placed at sensing point.Described detection device 9 be radar life detector radar transmit-receive module, radar life detector
Including radar transmit-receive module and the two parts of data processing module 44, the radar transmit-receive module of described round shape is arranged on this hair
In the standing groove of bright sniffing robot mobile chassis 1, radar transmit-receive module may detect centered on radar transmit-receive module and straight
Sign of life of the footpath in the range of 80m, after radar transmit-receive module detects sign of life, rescue personnel can pass through remote control
The real-time monitored of device 33 to the sign of life particular location and depth information, in order to implement rescue work in time.
Further, mobile chassis 1 includes the first carrying platform 12 and is arranged on the A crawler belts of the both sides of the first carrying platform 12
Formula travel mechanism 13, A crawler-type mobiles mechanism 13 include the first driving wheel 14, multiple first driven pulleys 15 and around being connected on first
1 a crawler belt 16 on the driven pulley 15 of driving wheel 14 and first.Using the mobile chassis 1 of A crawler-type mobiles mechanism 13, obstacle detouring energy
Power is high, is not susceptible to turn on one's side.
Further, present invention additionally comprises at least 3 image-pickup devices 7,1 image capture is provided with mechanical arm 2
Device 7, the front-end and back-end of mobile chassis 1 are provided with 1 image-pickup device 7.Image-pickup device 7 on mechanical arm 2
For observing the surface conditions in front of collection sniffing robot of the present invention, the image-pickup device 7 of front-end and back-end is used for work
When observe the space environment of sniffing robot surrounding of the present invention.Image-pickup device 7 installed in diverse location is using infrared
CCTV camera, the size of image-pickup device 7 can be depending on actual conditions.
Further, positioning navigation module includes odometer 31, gyroscope 32 and GPS positioning system 24, odometer 31, top
Spiral shell instrument 32 and GPS positioning system 24 are connected with control module 3.
Further, control module 3 includes an industrial control computer.The control operated in industrial control computer
Software is by obtaining the data of other modules and device, to carry out path planning and decision-making, so as to control mobile chassis 1 and machinery
The motion of arm 2.
The sniffing robot of this example, in addition to the remote controllers 33 for being used for the remote control sniffing robot, should
Remote controllers 33 include human-computer interaction module 10 and display module 37, and the wireless connection of remote controllers 33 is in remote communication module
4, remote controllers 33 realize remote control mobile chassis 1 and are integrated in shifting by the wireless connection with remote communication module 4
Move the purpose of the One On The Chassis modules or device.The human-computer interaction module 10 of the remote controllers 33 includes multiple three axles works
Industry handle, button, knob, indicator lamp, user can be by human-computer interaction modules 10 to modules and device on mobile chassis 1
Instruction is sent, the work state information of sniffing robot of the present invention can also be obtained by indicator lamp.Display module 37 is by one
Industrial display forms, and can show video that multiple images capturing apparatus 7 shoots, life detection information and be integrated in movement
The detailed operation state of each module on chassis 1.
In this example, the radar transmit-receive module of radar detedtor is provided on mobile chassis 1, when the present invention detects machine
When people gos deep into ruins detecting sign of life, the step of capturing first is used by mechanical arm 2 by the radar transmit-receive on mobile chassis 1
Module is got hold of, then radar transmit-receive module is placed in the sensing point of pre-placing by the movement of mechanical arm 2, places work knot
Beam, sniffing robot of the present invention can exit ruins, to prevent the injury of secondary disaster, implement to visit instead of rescue personnel so as to realize
Survey the purpose of work.
Embodiments of the invention 2：A kind of autonomous type life detection robot, including mobile chassis 1, mechanical arm 2 and detection
Device 9, mechanical arm 2 are arranged on the resettlement groove 11 of mobile chassis 1, and control module 3, telecommunication are provided with mobile chassis 1
Module 4, power set 5, battery module 6, positioning navigation module, obstacle avoidance module 8 and data processing module 44, remote communication module
4th, positioning navigation module, obstacle avoidance module 8, power set 5, battery module 6, data processing module 44 are connected with control module 3,
Detection device 9 is connected with mechanical arm 2, and the detection device 9 being connected with mechanical arm 2 is placed in sensing point by the movement of mechanical arm 2
Place.Described detection device 9 is the radar transmit-receive module of radar life detector.Radar life detector includes radar transmit-receive mould
Block and the two parts of data processing module 44, described radar transmit-receive module are connected with mechanical arm 2, and radar transmit-receive module may detect
Centered on radar transmit-receive module and sign of life of the diameter in the range of 80m, when radar transmit-receive module detects sign of life
Afterwards, rescue personnel can be by the particular location of long-range transmitting-receiving station real-time monitored to the sign of life, in order to implement to rescue in time
Work.
Further, mobile chassis 1 includes the second carrying platform 17 and is arranged on the B crawler belts of the both sides of the second carrying platform 17
Formula travel mechanism 18, B crawler-type mobiles mechanism 18 include the second driving wheel 19, the second driven pulley 20, b1 crawler belts 21 and b2 and carried out
Band 22, b1 crawler belts 21 and b2 crawler belts 22 are located on the second driven pulley 20 of same level around being connected on the second driving wheel 19.
Mobile chassis with B crawler-type mobiles mechanism 18, its obstacle climbing ability is higher, and efficiency is faster.
Further, present invention additionally comprises at least 3 image-pickup devices 7,1 image capture is provided with mechanical arm 2
Device 7, the front-end and back-end of mobile chassis 1 are provided with 1 image-pickup device 7.Image-pickup device 7, which is used to shoot, to be collected
Complex environment in ruins, the video image that image-pickup device 7 is collected are sent to remote controllers by remote communication module 4
On 33 display module 37, in order to which rescue personnel observes and drafts rescue plan.Positioning navigation module includes odometer 31, top
Spiral shell instrument 32 and GPS positioning system 24, odometer 31, gyroscope 32 and GPS positioning system 24 are connected with control module 3.Control
Module 3 includes two industrial control computers.
The sniffing robot of this example also includes a remote controllers 33, and remote controllers 33 include human-computer interaction module 10
With display module 37, the wireless connection of remote controllers 33 is in remote communication module 4, the human-computer interaction module of the remote controllers 33
10 include multiple three axles industry handles, button, knob, indicator lamp, and user can give mobile chassis 1 by human-computer interaction module 10
Upper modules and each device send instruction, and the working condition letter of sniffing robot of the present invention can also be obtained by indicator lamp
Breath.Display module 37 is made up of an industrial display, can show that video, life that multiple images capturing apparatus 7 is shot are visited
Measurement information and the detailed operation state for being integrated in each module on mobile chassis 1.
Compared with the embodiment of the present invention 1, the radar transmit-receive module of radar detedtor is directly to adsorb in the embodiment of the present invention 2
Or be connected on the front end joint of mechanical arm 2, when sniffing robot of the present invention, which enters, detects sign of life in ruins, reduce
Mechanical arm 2 captures the step of radar transmit-receive module, but radar transmit-receive module directly is placed in into pre- put by the movement of mechanical arm 2
The sensing point put, therefore the detection efficient of the autonomous type life detection robot described in the embodiment of the present invention 2 is higher.
Embodiments of the invention 3：A kind of autonomous type life detection robot, including mobile chassis 1, mechanical arm 2 and detection
Device 9, mechanical arm 2 are arranged on the resettlement groove 11 of mobile chassis 1, and control module 3, telecommunication are provided with mobile chassis 1
Module 4, power set 5, battery module 6, positioning navigation module, the data processing module 44 of obstacle avoidance module 8, remote communication module 4,
Positioning navigation module, obstacle avoidance module 8, power set 5, battery module 6, data processing module 44 are connected with control module 3, are visited
Survey device 9 to be connected with mechanical arm 2, the detection device 9 being connected with mechanical arm 2 is placed at sensing point by the movement of mechanical arm 2.
Described detection device 9 is the radar transmit-receive module of radar life detector.Radar life detector includes radar transmit-receive module
With the two parts of data processing module 44, radar transmit-receive module and the absorption of suction pawl 42 of mechanical arm 2 connect, and radar transmit-receive module can be visited
Measure centered on radar transmit-receive module and sign of life of the diameter in the range of 80m, when radar transmit-receive module detects life
After sign, detection information is wirelessly transferred or wired export passes through information to data processing module 44, data processing module 44
In control module 3, the Wireless transceiver of remote communication module 4 to remote controllers 33, pass through the display screen of remote controllers 33, rescue
Personnel can intuitively get the particular location and depth information that the sign of life is buried, in order to implement to rescue work in time
Make.
Further, mobile chassis 1 includes the 3rd carrying platform 23 and is arranged on the C crawler belts of the both sides of the 3rd carrying platform 23
Formula travel mechanism 25, C crawler-type mobiles mechanism 25 include the 3rd driving wheel 26, the 3rd driven pulley 27, c1 crawler belts 28, c2 crawler belts
29 and c3 crawler belts 30, c1 crawler belts 28 and c3 crawler belts 30 around being connected on the 3rd driving wheel 26, c1 crawler belts 28 and c2 crawler belts 29 around
It is connected on and is located at the 3rd driving wheel 26 on the 3rd driven pulley 27 of same level.The shifting of the C crawler-type mobiles mechanism 25 of use
Dynamic chassis 1 has higher obstacle climbing ability, is advantageous to improve the overall detection efficient of sniffing robot of the present invention.
Further, present invention additionally comprises at least 3 image-pickup devices 7,1 image capture is provided with mechanical arm 2
Device 7, the front-end and back-end of mobile chassis 1 are provided with 1 image-pickup device 7.Positioning navigation module include odometer 31,
Gyroscope 32 and GPS positioning system 24, odometer 31, gyroscope 32 and GPS positioning system 24 are connected with control module 3.Tool
Body, control module 3 includes three industrial control computers.
Further, present invention additionally comprises a remote controllers 33, remote controllers 33 to include human-computer interaction module 10
With display module 37, the wireless connection of remote controllers 33 is in remote communication module 4.The human-computer interaction module of the remote controllers 33
10 include multiple three axles industry handles, button, knob, indicator lamp, and user can give mobile chassis 1 by human-computer interaction module 10
Upper modules and each device send instruction, and the working condition letter of sniffing robot of the present invention can also be obtained by indicator lamp
Breath.Display module 37 is made up of an industrial display, can show that video, life that multiple images capturing apparatus 7 is shot are visited
Measurement information and the detailed operation state for being integrated in each module on mobile chassis 1.
Specifically, mechanical arm 2 includes rotary joint 40, telescopic joint 41 and inhales pawl 42, rotary joint 40 is arranged at movement
On chassis 1, telescopic joint 41 is connected with rotary joint 40, and telescopic joint 41 is connected with inhaling pawl 42, is enclosed with telescopic joint 41
The dust layer 43 of foldable structure, dust layer 43 can use nylon cloth.Can flexibly it be placed by telescopic mechanical arm 2 with inhaling pawl
The detection device 9 of 42 connections.
Embodiments of the invention 4：A kind of autonomous type life detection robot, including mobile chassis 1, mechanical arm 2 and detection
Device 9, mechanical arm 2 are arranged on the resettlement groove 11 of mobile chassis 1, and control module 3, telecommunication are provided with mobile chassis 1
Module 4, power set 5, battery module 6, positioning navigation module, obstacle avoidance module 8 and data processing module 44, remote communication module
4th, positioning navigation module, obstacle avoidance module 8, power set 5, battery module 6, data processing module 44 are connected with control module 3,
Detection device 9 is arranged on mobile chassis 1, is arranged at crawl and shifting of the detection device 9 on mobile chassis 1 by mechanical arm 2
It is dynamic to be placed at sensing point.Detection device 9 is the radar transmit-receive module of radar life detector, and radar life detector includes thunder
Up to transceiver module and the two parts of data processing module 44, radar transmit-receive module and the absorption of suction pawl 42 of mechanical arm 2 are connected, and radar is received
Hair module may detect centered on radar transmit-receive module and sign of life of the diameter in the range of 80m, when radar transmit-receive module
After detecting sign of life, detection information is wirelessly transferred or wired exported to data processing module 44, data processing module 44
By information by control module 3, the Wireless transceiver of remote communication module 4 to remote controllers 33, passing through remote controllers 33
Display screen, rescue personnel can intuitively get the particular location and depth information that the sign of life is buried, in order to timely
Implement rescue work.
Further, mobile chassis 1 includes the first carrying platform 12 and is arranged on the A crawler belts of the both sides of the first carrying platform 12
Formula travel mechanism 13, A crawler-type mobiles mechanism 13 include the first driving wheel 14, multiple first driven pulleys 15 and around being connected on first
1 a crawler belt 16 on the driven pulley 15 of driving wheel 14 and first.
Present invention additionally comprises at least 3 image-pickup devices 7,1 image-pickup device 7 is provided with mechanical arm 2, it is mobile
The front-end and back-end on chassis 1 are provided with 1 image-pickup device 7.
Further, positioning navigation module includes odometer 31, gyroscope 32 and GPS positioning system 24, odometer 31, top
Spiral shell instrument 32 and GPS positioning system 24 are connected with control module 3.
Further, control module 3 includes an industrial control computer.
The sniffing robot of this example, in addition to the remote controllers 33 for being used for the remote control sniffing robot, should
Remote controllers 33 include human-computer interaction module 10 and display module 37, and the wireless connection of remote controllers 33 is in remote communication module
4, remote controllers 33 realize remote control mobile chassis 1 and are integrated in shifting by the wireless connection with remote communication module 4
Move the purpose of the One On The Chassis modules or each device.The human-computer interaction module 10 of the remote controllers 33 includes multiple three
Axle industry handle, button, knob, indicator lamp, user can by human-computer interaction module 10 to modules on mobile chassis 1 and
Each device sends instruction, and the work state information of sniffing robot of the present invention can also be obtained by indicator lamp.Display module 37
It is made up of an industrial display, video, life detection information that multiple images capturing apparatus 7 shoots and integrated can be shown
In the detailed operation state of each module on mobile chassis 1.
Specifically, mechanical arm 2 includes leading portion joint 34, interlude joint 35 and endpiece joint 36, leading portion joint 34 is with
Between section joint 35 connect, interlude joint 35 is connected with endpiece joint 36, and endpiece joint 36 is arranged on mobile chassis 1, middle
The first joint is provided with Duan Guanjie 35 and places mouth 38, second joint is provided with endpiece joint 36 and places mouth 39, leading portion joint
34 place the folding of mouth 38 by the first joint is placed in interlude joint 35, and the folding of mouth 39 is placed in interlude joint 35 by second joint
It is placed in endpiece joint 36.The resettlement groove 11 for placing mechanical arm 2, the machine of folding shrinking together are additionally provided with mobile chassis 1
Tool arm 2 can be rested in resettlement groove 11, and the arm face for the mechanical arm 2 being contracted in resettlement groove 11 flushes or slightly below mobile chassis
1 card.Endpiece joint 36 is provided with rotatable structure, to improve the locomotivity of mechanical arm 2.
Compared with Example 3, the collapsible of mechanical arm 2 in embodiment 4 is on mobile chassis 1 so that the present invention visits
It is smaller to survey the volume of robot, easily facilitates its movement in narrow and small ruins space.
The operation principle of the present invention：
During work, remote controllers 33 give control module 3 by wireless communication mode and remote communication module 4, by controlling
Module 3 controls battery module 6 and power set 5, drives the A crawler-type mobiles mechanism 13 or B crawler-type mobile machines of mobile chassis 1
Structure 18 or C crawler-type mobiles mechanism 25 move in ruins.During movement, obtained using multiple images capturing apparatus 7
The video information of ruins internal environment is taken, the video information that image-pickup device 7 obtains is wirelessly transferred by remote communication module 4
On display module 37 on to remote controllers 33, rescue personnel judges according to video information and drafts rescue plan.Detection dress
Put 9 and be placed in sensing point being captured by mechanical arm 2, by way of mobile and placement or by way of mobile and place, visit
Ruins can be exited by surveying after device 9 is placed in sensing point, to prevent secondary cave in ruins from being damaged to sniffing robot of the present invention.
After detection device 9 detects sign of life, rescue personnel can pass through the real-time monitored of remote controllers 33 to the sign of life
Particular location, in order to implement rescue work in time.
Claims (10)
1. a kind of autonomous type life detection robot, it is characterised in that including mobile chassis (1), mechanical arm (2) and detection device
(9), the mechanical arm (2) is arranged in the resettlement groove (11) of mobile chassis (1), and control is provided with the mobile chassis (1)
Module (3), remote communication module (4), power set (5), battery module (6), positioning navigation module, obstacle avoidance module (8) sum
According to processing module (44), the positioning navigation module is connected with remote communication module (4), the remote communication module (4), avoidance
Module (8), power set (5), battery module (6), data processing module (44) are connected with control module (3), described spy
Device (9) is surveyed to be arranged on mobile chassis (1) or be connected with mechanical arm (2), the detection device being arranged on mobile chassis (1)
(9) it is placed in by the crawl and movement of mechanical arm (2) at sensing point, the detection device (9) being connected with mechanical arm (2) passes through machine
The movement of tool arm (2) is placed at sensing point.
A kind of 2. autonomous type life detection robot according to claim 1, it is characterised in that the mobile chassis (1)
Including the first carrying platform (12) and it is arranged on the A crawler-type mobiles mechanism (13) of the first carrying platform (12) both sides, A crawler types
Travel mechanism (13) includes the first driving wheel (14), multiple first driven pulleys (15) and around being connected on the first driving wheel (14) and
1 a crawler belt (16) on one driven pulley (15).
A kind of 3. autonomous type life detection robot according to claim 1, it is characterised in that the mobile chassis (1)
Including the second carrying platform (17) and it is arranged on the B crawler-type mobiles mechanism (18) of the second carrying platform (17) both sides, B crawler types
Travel mechanism (18) includes the second driving wheel (19), the second driven pulley (20), b1 crawler belts (21) and b2 crawler belts (22), the b1
Crawler belt (21) and b2 crawler belts (22) are located on the second driven pulley (20) of same level around being connected on the second driving wheel (19).
A kind of 4. autonomous type life detection robot according to claim 1, it is characterised in that the mobile chassis (1)
Including the 3rd carrying platform (23) and the C crawler-type mobiles mechanism (25) of the 3rd carrying platform (23) both sides is arranged on, the C is carried out
Belt travel mechanism (25) includes the 3rd driving wheel (26), the 3rd driven pulley (27), c1 crawler belts (28), c2 crawler belts (29) and c3
Crawler belt (30), the c1 crawler belts (28) and c3 crawler belts (30) around being connected on the 3rd driving wheel (26), the c1 crawler belts (28) with
C2 crawler belts (29) are located on the 3rd driven pulley (27) of same level around being connected on the 3rd driving wheel (26).
A kind of 5. autonomous type life detection robot according to Claims 2 or 3 or 4, it is characterised in that the detection dress
Put the radar transmit-receive module that (9) are radar life detector.
6. a kind of autonomous type life detection robot according to right wants 5, it is characterised in that also include at least 3 images
Capturing apparatus (7), is provided with 1 image-pickup device on described mechanical arm (2), the front end of the mobile chassis (1) and after
End is provided with 1 image-pickup device.
A kind of 7. autonomous type life detection robot according to claim 6, it is characterised in that the positioning navigation module
Including odometer (31), gyroscope (32) and GPS positioning system (24), the odometer (31), gyroscope (32) and GPS location
System (24) is connected with control module (3).
A kind of 8. autonomous type life detection robot according to claim 7, it is characterised in that the control module (3)
Including an at least industrial control computer.
9. a kind of autonomous type life detection robot according to claim 1 or 8, it is characterised in that also remote including one
Range controller (33), the remote controllers (33) include human-computer interaction module (10) and display module (37), the long-range control
Device (33) wireless connection processed is in remote communication module (4).
A kind of 10. autonomous type life detection robot according to claim 1, it is characterised in that mechanical arm (2) bag
Include leading portion joint (34), interlude joint (35) and endpiece joint (36), the leading portion joint (34) and interlude joint (35)
Connection, interlude joint (35) are connected with endpiece joint (36), and the endpiece joint (36) is arranged on mobile chassis (1), institute
State and the first joint placement mouth (38) is provided with interlude joint (35), being provided with second joint on the endpiece joint (36) puts
Mouth (39) is put, the leading portion joint (34) is placed mouth (38) folding by the first joint and is placed in interlude joint (35), described
Mouth (39) folding is placed by second joint and is placed in endpiece joint (36) in interlude joint (35).
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| CN201710708832.2A CN107521572A (en) | 2017-08-17 | 2017-08-17 | Autonomous type life detection robot |
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| CN201710708832.2A CN107521572A (en) | 2017-08-17 | 2017-08-17 | Autonomous type life detection robot |
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| CN108381506A (en) * | 2018-02-01 | 2018-08-10 | 裴小根 | A kind of rescue robot with good damping |
| CN108381556A (en) * | 2018-02-01 | 2018-08-10 | 裴小根 | A kind of multifunctional rescue robot |
| CN108381557A (en) * | 2018-02-01 | 2018-08-10 | 裴小根 | One kind being readily transported formula rescue robot |
| CN109625113A (en) * | 2019-01-14 | 2019-04-16 | 中国长江电力股份有限公司 | A kind of multi-cavity sealing crawler-type wall climbing robot and application method based on rolling seal |
| CN109691935A (en) * | 2019-03-06 | 2019-04-30 | 南京工程学院 | Clean robot and its application method between a kind of Intelligent sanitary |
| CN110216694A (en) * | 2019-06-27 | 2019-09-10 | 山东科技大学 | Accidents Disasters collapsing live emergency management and rescue robot based on wireless communication |
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| CN113021323A (en) * | 2021-02-07 | 2021-06-25 | 嘉鲁达创业投资管理有限公司 | Snake-shaped robot and control method thereof |
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Application publication date: 20171229 |