CN107861410A - A kind of long distance wireless movement sniffing robot detection system and its detection method - Google Patents

A kind of long distance wireless movement sniffing robot detection system and its detection method Download PDF

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Publication number
CN107861410A
CN107861410A CN201710853823.2A CN201710853823A CN107861410A CN 107861410 A CN107861410 A CN 107861410A CN 201710853823 A CN201710853823 A CN 201710853823A CN 107861410 A CN107861410 A CN 107861410A
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CN
China
Prior art keywords
controller
mobile
detection
sniffing robot
information exchange
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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.)
Pending
Application number
CN201710853823.2A
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Chinese (zh)
Inventor
陈炜
韩开放
马利
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Tianjin University of Technology
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Tianjin University of Technology
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Publication date
Application filed by Tianjin University of Technology filed Critical Tianjin University of Technology
Priority to CN201710853823.2A priority Critical patent/CN107861410A/en
Publication of CN107861410A publication Critical patent/CN107861410A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423Input/output
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/25Pc structure of the system
    • G05B2219/25314Modular structure, modules

Abstract

A kind of long distance wireless movement sniffing robot detection system and its detection method.System includes information exchange center and mobile sniffing robot;Information exchange center is the mobile device for the support WiFi that operating personnel use;Mobile sniffing robot includes core controller, WiFi module, sensor assembly, camera, lower floor's controller, mechanical arm, camera head and the power module using motor as the mobile vehicle of power and in mobile vehicle.Effect of the present invention:Rescue personnel can move sniffing robot mode to obtain rescue site information without entering rescue site by remote control;It can be carried out investigations instead of rescue personnel into dangerous rescue site, and perform rescue work to a certain extent;There is stabilization using WiFi network communication, scope is larger, the advantages of limitation by wired communications cable.Have the advantages that easy to control, working range is wide, communication is stable, real-time is good, suitable for the field such as earthquake relief work and battlefield cleaning.

Description

A kind of long distance wireless movement sniffing robot detection system and its detection method
Technical field
The invention belongs to mobile detection technology field, more particularly to a kind of long distance wireless movement sniffing robot detection system System and its detection method.
Background technology
Post disaster relief refers to that earthquake, mine disaster, blast etc. be sudden and short-time characteristic disaster, search afterwards and rescue operation It is faced with the complexity and danger of environment.The opportunity of Post disaster relief is very important, but environment live after calamity is full of Uncertain hazards, and are limited by terrain environment after calamity, rescue personnel often the very first time can not enter rescue Scene, how as early as possible rescue site information, to ensure that rescue personnel's personal safety just seems most important, but still lacks this at present The system of sample.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of long distance wireless movement sniffing robot detection system System and its detection method.
In order to achieve the above object, long distance wireless movement sniffing robot detection system provided by the invention includes:Information Interaction center and mobile sniffing robot;Wherein information exchange center is the mobile device for the support WiFi that operating personnel use; Mobile sniffing robot is arranged on rescue region, including using motor as the mobile vehicle of power and installed in mobile vehicle On core controller, WiFi module, sensor assembly, camera, lower floor's controller, mechanical arm, camera head and power supply Module;Wherein:Core controller is connected with WiFi module, sensor assembly, camera and lower floor's controller respectively, lower floor's control Controller of the device processed respectively with mobile vehicle, mechanical arm and camera head is connected;On power module and mobile sniffing robot Each consuming parts connection;WiFi module is connected with information exchange centrally through WiFi network, and camera is arranged on shooting On head head.
Described mobile vehicle is caterpillar, and motor uses miniature 150 direct current generator;Core controller is with Layer controller uses STC89C52 single chip;Sensor assembly includes distance measuring sensor, Temperature Humidity Sensor and GPS module; Camera uses sieve skill C270 cameras of 5,000,000 pixels;WiFi module uses EP-N8508GS;Power module is by two pieces of batteries Composition, the battery that one of voltage is high, capacity is big are the motor power supply in mobile vehicle, and another piece of voltage is smaller, holds Less battery is measured to supply for core controller, WiFi module, sensor assembly, lower floor's controller, mechanical arm and camera head Electricity;Steering wheel and two manipulators are carried on mechanical arm, and there are some frees degree.
The detection method of long distance wireless movement sniffing robot detection system provided by the invention includes what is carried out in order The following steps:
1) when needing to use this detection system when Post disaster relief, rescued first by operating personnel using information exchange center Help region and establish WiFi wireless environments, then operating personnel's logon information interaction center;
2) mobile sniffing robot is by WiFi network access information interaction center, and operating personnel are at information exchange center Camera and sensor assembly control instruction are inputted in control interface, is led to after being then converted into control language by information exchange center Cross WiFi module and send core controller to, rescue the image in region using camera collection under the control of core controller, And control the motor on camera head to rotate by lower floor's controller, and then drive camera to rotate up and down, to expand Field range, then send image to core controller;Passed simultaneously using the distance measuring sensor in sensor assembly, humiture Sensor and GPS module detect distance, ambient temperature and humidity and the mobile explorer between mobile vehicle and surrounding rescue target respectively The positional information of device people, is then transferred to core controller;Core controller again passes above-mentioned image and information through WiFi module Information exchange center is given, information exchange center is shown in its control interface after treatment;
3) operating personnel grasp rescue site in real time according to the image and information that are shown in the control interface of information exchange center Situation, and judge rapidly, mobile vehicle and mechanical arm control then inputted in the control interface at information exchange center Instruction, is converted into after control language by information exchange center sends core controller to by WiFi module afterwards, then through lower floor Controller sends mobile vehicle and mechanical arm to;
4) mobile vehicle produces corresponding action according to above-mentioned control instruction, including advances, retreats, turns left, turns right or stop Only, until reaching in the opereating specification of mechanical arm, then mechanical arm produces corresponding action according to above-mentioned control instruction, including upper Move, move down, move to left, move to right, finally target object or trapped personnel are captured using two manipulators and are moved to safe place.
Long distance wireless movement sniffing robot detection system provided by the invention and its detection method have following beneficial to effect Fruit:
1st, rescue personnel can move sniffing robot mode to be rescued without entering rescue site by remote control Help field data;
2nd, rescue personnel can be replaced to enter dangerous rescue site to carry out investigations, and performs rescue work to a certain extent Make;And there is stabilization using WiFi network communication, scope is larger, the advantages of limitation by wired communications cable.
3rd, have the advantages that easy to control, working range is wide, communication is stable, real-time is good, suitable for earthquake relief work and war The fields such as field cleaning.
Brief description of the drawings
Fig. 1 is that long distance wireless provided by the invention moves sniffing robot detection system structure chart.
Fig. 2 is the detection method flow chart that long distance wireless provided by the invention moves sniffing robot detection system.
Embodiment
Sniffing robot detection system is moved to long distance wireless provided by the invention with specific embodiment below in conjunction with the accompanying drawings And its detection method is described in detail.
As shown in figure 1, long distance wireless movement sniffing robot detection system provided by the invention includes:
Information exchange center 1 and mobile sniffing robot 2;Wherein information exchange center 1 is the branch that operating personnel 3 use Hold WiFi mobile device;Mobile sniffing robot 2 is arranged on rescue region, including the mobile vehicle using motor as power 26 and the core controller 21 in mobile vehicle 26, WiFi modules 22, sensor assembly 23, camera 24, lower floor Controller 25, mechanical arm 27, camera head 28 and power module 29;Wherein:Core controller 21 respectively with WiFi module 22nd, sensor assembly 23, camera 24 and lower floor's controller 25 connect, lower floor's controller 25 respectively with mobile vehicle 26, machinery Arm 27 connects with the controller of camera head 28;Power module 29 connects with each consuming parts on mobile sniffing robot 2 Connect;WiFi module 22 is connected with information exchange center 1 by WiFi network, and camera 24 is arranged on camera head 28 On.
Described mobile vehicle 26 is caterpillar, and motor uses miniature 150 direct current generator.Core controller 21 STC89C52 single chip is used with lower floor controller 25.Sensor assembly 23 include distance measuring sensor, Temperature Humidity Sensor and GPS module.Camera 24 uses sieve skill C270 cameras of 5,000,000 pixels.WiFi module 22 uses EP-N8508GS.Power supply mould Block 29 is made up of two pieces of batteries, and the battery that one of voltage is high, capacity is big is the motor power supply in mobile vehicle 26, separately One piece of voltage is smaller, and the less battery of capacity is core controller 21, WiFi module 22, sensor assembly 23, lower floor's controller 25th, mechanical arm 27 and camera head 28 are powered.Steering wheel and two manipulators are carried on mechanical arm 27, and there are some freedom Degree.
As shown in Fig. 2 the detection method bag of sniffing robot detection system is moved using long distance wireless provided by the invention Include the following steps carried out in order:
1) when needing to use this detection system when Post disaster relief, existed first by operating personnel 3 using information exchange center 1 WiFi wireless environments are established in rescue region, then the logon information interaction center 1 of operating personnel 3;
2) mobile sniffing robot 2 is by WiFi network access information interaction center 1, and operating personnel 3 are in information exchange Camera and sensor assembly control instruction are inputted in the control interface of the heart 1, control language is then converted into by information exchange center 1 Core controller 21 is sent to by WiFi module 22 after speech, rescued under the control of core controller 21 using the collection of camera 24 The image in region is helped, and controls the motor on camera head 28 to rotate by lower floor's controller 25, and then drives camera 24 Rotate up and down, to expand field range, then send image to core controller 21;Utilize sensor assembly 23 simultaneously In distance measuring sensor, Temperature Humidity Sensor and GPS module detect respectively mobile vehicle 26 and surrounding rescue target between distance, The positional information of ambient temperature and humidity and mobile sniffing robot 2, is then transferred to core controller 21;Core controller 21 Send above-mentioned image and information to information exchange center 1 through WiFi module 22 again, information exchange center 1 is after treatment at it Shown in control interface;
3) it is existing to grasp rescue according to the image and information shown in the control interface of information exchange center 1 in real time by operating personnel 3 The situation of field, and judge rapidly, mobile vehicle and mechanical arm control are then inputted in the control interface at information exchange center 1 System instruction, is converted into after control language by information exchange center 1 sends core controller 21 to by WiFi module 22 afterwards, Again mobile vehicle 26 and mechanical arm 27 are sent to through lower floor's controller 25;
4) mobile vehicle 26 produces corresponding action according to above-mentioned control instruction, including advance, retreat, turning left, turning right or Stop, until reaching in the opereating specification of mechanical arm 27, then mechanical arm 27 produces corresponding action according to above-mentioned control instruction, Including moving up, moving down, moving to left, moving to right, finally target object or trapped personnel are captured using two manipulators and are moved to peace Full place.
Above-mentioned related experiment applies to describe the present invention, but above-mentioned experiment is only the example of the present invention, it is necessary to points out , the real experiment disclosed is not limiting as the scope of the present invention, on the contrary, not departing from changing of being made in the present invention and scope Dynamic and wetting, belongs to protection scope of the present invention.

Claims (3)

1. a kind of long distance wireless moves sniffing robot detection system, it is characterised in that:Described long distance wireless movement explorer Device people's detection system includes:
Information exchange center (1) and mobile sniffing robot (2);Wherein information exchange center (1) is what operating personnel (3) used Support WiFi mobile device;Mobile sniffing robot (2) is arranged on rescue region, including the movement using motor as power Vehicle (26) and core controller (21) in mobile vehicle (26), WiFi module (22), sensor assembly (23), Camera (24), lower floor's controller (25), mechanical arm (27), camera head (28) and power module (29);Wherein:Core control Device (21) processed is connected with WiFi module (22), sensor assembly (23), camera (24) and lower floor's controller (25) respectively, lower floor Controller of the controller (25) respectively with mobile vehicle (26), mechanical arm (27) and camera head (28) is connected;Power module (29) it is connected with each consuming parts on mobile sniffing robot (2);WiFi module (22) passes through with information exchange center (1) WiFi network is connected, and camera (24) is arranged on camera head (28).
2. long distance wireless according to claim 1 moves sniffing robot detection system, it is characterised in that:Described movement Vehicle (26) is caterpillar, and motor uses miniature 150 direct current generator;Core controller (21) and lower floor's controller (25) STC89C52 single chip is used;Sensor assembly (23) includes distance measuring sensor, Temperature Humidity Sensor and GPS module; Camera (24) uses sieve skill C270 cameras of 5,000,000 pixels;WiFi module (22) uses EP-N8508GS;Power module (29) it is made up of two pieces of batteries, the battery that one of voltage is high, capacity is big is the motor power supply in mobile vehicle (26), Another piece of voltage is smaller, the less battery of capacity be core controller (21), WiFi module (22), sensor assembly (23), under Layer controller (25), mechanical arm (27) and camera head (28) power supply;Steering wheel and two manipulators are carried on mechanical arm (27), And there are some frees degree.
3. a kind of detection method that sniffing robot detection system is moved using long distance wireless described in claim 1, its feature are existed In:Described detection method includes the following steps carried out in order:
1) when needing to use this detection system when Post disaster relief, existed first by operating personnel (3) using information exchange center (1) WiFi wireless environments are established in rescue region, then operating personnel (3) logon information interaction center (1);
2) mobile sniffing robot (2) is by WiFi network access information interaction center (1), and operating personnel (3) are in information exchange Camera and sensor assembly control instruction are inputted in the control interface at center (1), is then converted into by information exchange center (1) Core controller (21) is sent to by WiFi module (22) after control language, using taking the photograph under the control of core controller (21) The motor on camera head (28) is controlled to revolve as the image in head (24) collection rescue region, and by lower floor's controller (25) Turn, and then drive camera (24) to rotate up and down, to expand field range, then send image to core controller (21);Locomotive is detected respectively using distance measuring sensor, Temperature Humidity Sensor and the GPS module in sensor assembly (23) simultaneously The positional information of distance, ambient temperature and humidity and mobile sniffing robot (2) between (26) and surrounding rescue target, Ran Houchuan Give core controller (21);Core controller (21) sends above-mentioned image and information to information through WiFi module (22) again and handed over Mutual center (1), information exchange center (1) is shown in its control interface after treatment;
3) it is existing to grasp rescue according to the image and information shown in information exchange center (1) control interface in real time by operating personnel (3) The situation of field, and judge rapidly, mobile vehicle and mechanical arm are then inputted in the control interface of information exchange center (1) Control instruction, it is converted into afterwards by information exchange center (1) after control language and core control is sent to by WiFi module (22) Device 21, then send mobile vehicle (26) and mechanical arm (27) to through lower floor's controller (25);
4) mobile vehicle (26) produces corresponding action according to above-mentioned control instruction, including advances, retreats, turns left, turns right or stop Only, until reaching in the opereating specification of mechanical arm (27), then mechanical arm (27) produces corresponding dynamic according to above-mentioned control instruction Make, including move up, move down, move to left, move to right, finally target object or trapped personnel are captured and be moved to using two manipulators Safe place.
CN201710853823.2A 2017-09-20 2017-09-20 A kind of long distance wireless movement sniffing robot detection system and its detection method Pending CN107861410A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710853823.2A CN107861410A (en) 2017-09-20 2017-09-20 A kind of long distance wireless movement sniffing robot detection system and its detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710853823.2A CN107861410A (en) 2017-09-20 2017-09-20 A kind of long distance wireless movement sniffing robot detection system and its detection method

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CN107861410A true CN107861410A (en) 2018-03-30

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101293349A (en) * 2008-06-05 2008-10-29 广州大学 Robot based on Wi-Fi
CN103273489A (en) * 2013-05-10 2013-09-04 上海大学 Robot control system and method based on principal and subordinate teleoperation mechanical arm
CN103914016A (en) * 2014-04-10 2014-07-09 中南林业科技大学 Intelligent detection system based on WIFI
CN103955213A (en) * 2014-04-10 2014-07-30 中南林业科技大学 Multifunctional intelligent probe vehicle based on WIFI
CN205968985U (en) * 2016-08-10 2017-02-22 苏州大学 Portable investigation robot based on intelligent Mobile Terminal control

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101293349A (en) * 2008-06-05 2008-10-29 广州大学 Robot based on Wi-Fi
CN103273489A (en) * 2013-05-10 2013-09-04 上海大学 Robot control system and method based on principal and subordinate teleoperation mechanical arm
CN103914016A (en) * 2014-04-10 2014-07-09 中南林业科技大学 Intelligent detection system based on WIFI
CN103955213A (en) * 2014-04-10 2014-07-30 中南林业科技大学 Multifunctional intelligent probe vehicle based on WIFI
CN205968985U (en) * 2016-08-10 2017-02-22 苏州大学 Portable investigation robot based on intelligent Mobile Terminal control

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Application publication date: 20180330