CN108145688A - A kind of public safety mobile-robot system and public safety mobile robot - Google Patents
A kind of public safety mobile-robot system and public safety mobile robot Download PDFInfo
- Publication number
- CN108145688A CN108145688A CN201810012819.8A CN201810012819A CN108145688A CN 108145688 A CN108145688 A CN 108145688A CN 201810012819 A CN201810012819 A CN 201810012819A CN 108145688 A CN108145688 A CN 108145688A
- Authority
- CN
- China
- Prior art keywords
- mobile
- module
- control
- robot
- knapsack
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of public safety mobile-robot system, including mobile robot and remote control terminal；The remote control terminal includes hand-held device and mobile control knapsack；The hand-held device includes button rocking bar module, master control borad and display module；The mobile control knapsack includes the industrial personal computer, power module and the knapsack communication module that are encapsulated in backpack body；Knapsack communication module is used to communicate wirelessly with mobile robot；The mobile robot includes robot body and the main control module, ontology communication module, chassis drive module, mechanical arm drive module, holder drive module and the multiple cameras that are set on robot body.Mobile robot can also carry out the switching of wire/wireless communication modes with mobile control knapsack.The remote control terminal of the present invention is made of hand-held device and mobile control knapsack, is convenient for carrying and is used, and operator can increase the radius of clean-up of robot, solve the problems, such as mobile inspection to be manipulated in walking.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of public safety mobile-robot system, mobile controls
Knapsack, remote control terminal and public safety mobile robot.
Background technology
The violence attack of terrorism shows environment complicated and changeable, diversification of forms, high in technological content new situation, traditional hand
Section cannot fully meet the needs of struggle against terror.In this context, for different types of task and operating environment,
Using corresponding public safety mobile robot, especially anti-terror explosive removing robot, public security and People's Armed Police can be assisted to perform
Task can not only efficiently reduce casualties, but also new feature, the new model probably attacked cruelly can be made anti-in time
Should, improve Mission Success rate.
At present, mobile robot can be divided into two kinds according to operating method：The first is remote control humanoid robot,
Manual operation is carried out, that is, people is commandant under the conditions of visual, mobile robot is order action officer；Second is automatic type
Program is first incorporated into disk, then disk is inserted into machine human body by mobile robot, and allowing robot that can tell is
Dangerous goods, to exclude dangerous situation.Second since cost is higher, so seldom using, usually very critical when
It can use.For the first mobile robot, remote control terminal leads to due to being equipped with industrial personal computer, and longevity of service
It is often manipulated in control room or is controlled by large-scale mobile control device, there is sufficient electricity to hold to ensure
The prolonged patrol task of row, therefore often the flexibility of remote control and portability are poor.
It would therefore be highly desirable to develop a kind of public safety mobile-robot system that can realize mobile inspection more portablely.
Invention content
The present invention in view of the above shortcomings of the prior art, provides a kind of public safety mobile-robot system, mobile control
Knapsack, remote control terminal and public safety mobile robot.
In order to solve the above-mentioned technical problem, first aspect present invention provides a kind of public safety mobile robot system
System, including mobile robot and remote control terminal；The remote control terminal includes hand-held device and mobile control knapsack；
The hand-held device includes button rocking bar module, master control borad and display module；The master control borad shakes with the button
Bar module connects, and the control instruction for button rocking bar module to be received is sent to the industrial personal computer of mobile control knapsack；
The mobile control knapsack includes the industrial personal computer, power module and the knapsack communication module that are encapsulated in backpack body；It is described
Power module is connected to the master control borad of the hand-held device by power cord in mobile control knapsack, and the master control borad is described
Display module is powered；The industrial personal computer respectively by data line be connected to the hand-held device master control borad and display module into
Row data transmission；The knapsack communication module is used to communicate wirelessly with mobile robot；
The mobile robot includes robot body and the main control module being set on the robot body, sheet
Body communication module, chassis drive module, mechanical arm drive module, holder drive module and multiple cameras；The robot sheet
Body includes mobile chassis and mechanical arm and holder on the mobile chassis；The main control module is communicated with ontology
Module connection, the control instruction and upload that the industrial personal computer for receiving the mobile control knapsack is sent out are taken the photograph by the multiple
The video data acquired as head；The main control module is additionally operable to send a signal to the chassis driving according to the control instruction
Module, mechanical arm drive module and holder drive module, to control mobile chassis, mechanical arm and the operation of holder respectively.
In public safety mobile-robot system according to the present invention, it is preferable that the mechanical arm drive module
Including be used for the waist of control machinery arm, shoulder, elbow and wrist arm driving plate and for control machinery arm hand claw rotation and
The hand claw driving plate of opening and closing.
In public safety mobile-robot system according to the present invention, it is preferable that the multiple camera packet
It includes：
The cradle head camera being installed on the holder；
It is installed on the car body camera of robot body forepart；
The arm camera being installed on mechanical arm.
In public safety mobile-robot system according to the present invention, it is preferable that on the robot body also
Hoist engine is installed, cable and the mobile control knapsack progress wire communication are provided for passing through.
In public safety mobile-robot system according to the present invention, it is preferable that the mechanical arm is with slotting soon
Mode is fixed on the front end centre position of mobile chassis；After the holder is fixed on the right side of robot body in a manner of inserting soon
Side；The hoist engine is fixed on the left rear side of robot body in a manner of inserting soon.
In public safety mobile-robot system according to the present invention, it is preferable that the mobile control knapsack
Backpack body includes remote controler storehouse, master control storehouse and charger storehouse；The remote controler storehouse is set close to back, and in told remote controler storehouse
Portion is equipped with vibrationproof cushion for accommodating and fixing the hand-held device；The master control storehouse is for accommodating the industrial personal computer, knapsack leads to
Module and power module are interrogated, wherein the industrial personal computer and knapsack communication module are placed in Main Control Tank, the power module is placed in
In battery case, the battery case is placed in the master control orlop portion, and the Main Control Tank is stacked in above the battery case；It is described to fill
Electrical store is located at the outside of the backpack body, for accommodating battery charger.
In public safety mobile-robot system according to the present invention, it is preferable that the industrial personal computer is additionally operable to control
Position of the display module of hand-held device processed in a manner of 2 D animation residing for each movable joint of real-time display mobile robot
Appearance.
In public safety mobile-robot system according to the present invention, it is preferable that the industrial personal computer is additionally operable to examine
Whether each movable joint for surveying mobile robot interferes situation, is to alarm.
Second aspect of the present invention provides a kind of mobile control knapsack, including industrial personal computer, the power supply being encapsulated in backpack body
Module and knapsack communication module；Power module is connected to the master control of hand-held device by power cord in the mobile control knapsack
Plate；The industrial personal computer is connected to the master control borad of hand-held device by data line respectively and display module carries out data transmission；It is described
Knapsack communication module is used to communicate wirelessly with robot body.
Third aspect present invention provides a kind of remote control terminal, including hand-held device and mobile control knapsack；
The hand-held device includes button rocking bar module, master control borad and display module；The master control borad shakes with the button
Bar module connects, and the control instruction for button rocking bar module to be received is sent to industrial personal computer；
The mobile control knapsack includes the industrial personal computer, power module and the knapsack communication module that are encapsulated in backpack body；It is described
Power module is connected to the master control borad of the hand-held device by power cord in mobile control knapsack, and the master control borad is described
Display module is powered；The industrial personal computer respectively by data line be connected to the hand-held device master control borad and display module into
Row data transmission；The knapsack communication module is used to communicate wirelessly with mobile robot.
Fourth aspect present invention provides a kind of public safety mobile robot, including：Robot body and setting
It is driven in main control module, ontology communication module, chassis drive module, mechanical arm drive module, the holder on the robot body
Dynamic model block and multiple cameras；The robot body includes mobile chassis and the machinery on the mobile chassis
Arm and holder；The main control module is connect with ontology communication module, for receiving the industrial personal computer hair of the mobile control knapsack
The video data that the control instruction and upload gone out is acquired by the multiple camera；The main control module is additionally operable to according to institute
It states control instruction and sends a signal to the chassis drive module, mechanical arm drive module and holder drive module, to control respectively
The operation of mobile chassis, mechanical arm and holder.
Implement public safety mobile robot and its system, the mobile control knapsack and remote control terminal of the present invention, tool
There is following advantageous effect：The present invention provides a kind of public safety mobile-robot system that can realize mobile inspection,
Remote control terminal is made of hand-held device and mobile control knapsack, is convenient for carrying and is used, and operator can be to grasp in walking
Man-controlled mobile robot performs job task, considerably increases the radius of clean-up of robot, solves the problems, such as mobile inspection.
Description of the drawings
Fig. 1 is the module frame chart of public safety mobile-robot system in the system according to the present invention；
Fig. 2 is the structure chart of public safety mobile robot provided according to the preferred embodiment of the present invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained under the premise of creative work is not made belong to the model that the present invention protects
It encloses.
Referring to Fig. 1, for the module frame of public safety mobile-robot system provided according to the preferred embodiment of the present invention
Figure.As shown in Figure 1, first aspect present invention, provides a kind of public safety mobile-robot system, including mobile robot
100 and remote control terminal.
Wherein, remote control terminal includes hand-held device 200 and mobile control knapsack 300.
Hand-held device 200 includes button rocking bar module 210, master control borad 220 and display module 230.Master control borad 220 is with pressing
Key rocking bar module 210 connects, and the control instruction for button rocking bar module 210 to be received is sent to mobile control knapsack 300
Industrial personal computer 310.Display module 230 includes liquid crystal display and liquid crystal display driving chip.Operator by button rocking bar to robot into
The various control operations of row, and pass through the various information of liquid crystal display real-time display mobile robot 100, including but not limited to move
The audio, video data of robot acquisition and the pose of mobile robot.
Mobile control knapsack 300 includes the industrial personal computer 310, power module 320 and the knapsack communication module that are encapsulated in backpack body
330.Power module 320 is connected to the master control borad 220 of hand-held device 200 by power cord in mobile control knapsack 300, then by
Master control borad 220 is powered for display module 230.Industrial personal computer 310 is connected to the master of hand-held device 200 by data line such as UART
Control plate 220.Industrial personal computer 310 is also connected to the display module 230 of hand-held device 200 by data line such as HDMI.Industrial personal computer
310 are communicated wirelessly by knapsack communication module 330 and mobile robot 100.
Mobile robot 100 includes robot body and the control device being set on the robot body.It please tie
Close the structure chart of public safety mobile robot referring to Fig.2, to be provided according to the preferred embodiment of the present invention.As shown in Fig. 2,
Robot body includes at least mobile chassis 1 and mechanical arm 2 and holder 3 on mobile chassis 1.Control device packet
It includes main control module 110 and is attached thereto：Ontology communication module 120, chassis drive module 130, mechanical arm drive module
140th, holder drive module 150 and multiple cameras.The multiple camera includes but not limited to：The cloud being installed on holder 1
Platform camera 41 is installed on the car body camera 42 of robot body forepart, the arm camera 43 being installed on mechanical arm 2.
Preferably, mobile robot 100 also has ontology power module 160.
Main control module 110 is connect with ontology communication module 120 and multiple cameras, for receiving mobile control knapsack 300
The control instruction that sends out of industrial personal computer 310, and the video data acquired by the multiple camera is uploaded to industrial personal computer
310。
Main control module 110 is additionally operable to send a signal to chassis drive module 130, mechanical arm according to the control instruction of reception
Drive module 140 and holder drive module 150, to control the operation of mobile chassis 1, mechanical arm 2 and holder 3 respectively.Master control mould
Block 110 is also connect with ontology power module 160, and control power module 160 is powered for each submodule.
It can be seen that the remote control terminal of the present invention is made of hand-held device 200 and mobile control knapsack 300, it is convenient
It carries and uses, operator can considerably increase the work half of robot with the Manipulation of the machine people execution job task in walking
Diameter solves the problems, such as mobile inspection.
It describes in detail below to the mobile robot 100 of the present invention.
Mobile chassis 1 can carry each function module as stable mobile platform.Mobile chassis 1 is driven by chassis
The driving walking of module 130, has good power performance, can climb 30 ° of slopes, stair, waterproof, fire resisting, high temperature resistant etc., can
Obstacle is passed through, for investigation, eliminating exploding and danger, fire-fighting function has carried out power reserve.Preferably, mobile chassis 1 uses crawler type
Chassis solves the problems, such as the stabilized walking under a variety of environment such as sand ground, forest land, mountainous region, stair, highway.
Mechanical arm 2 drives operation by mechanical arm drive module 140.Preferably, mobile bottom can be fixed in a manner of inserting soon
The front end centre position of disk.Mechanical arm 2 includes arm and hand claw, arm waist, shoulder, elbow and wrist joint.Correspondingly, mechanical arm drives
The arm driving plate and the hand for control machinery arm that dynamic model block 140 includes the waist for control machinery arm, shoulder, elbow and wrist
Pawl rotates and the hand claw driving plate of opening and closing.In the particular embodiment, mechanical arm 2 has the arm exhibition of 1.6m, and full Zhan Shike is grabbed
Take 8 kilograms of dangers, the replaceable pincers in hand claw end such as hook, bore, cut, harrowing at five kinds of tools.Arm camera is housed on mechanical arm 2
43.Preferably, mechanical arm 2 is equipped with high pressure water firearms 6 simultaneously, has explosion power, high pressure water firearms 6 can soon be inserted with modularization
Form on the mechanical arm 2, and the position of high pressure water firearms 2 also can be replaced into another arm camera 43.It is mobile
The mechanical arm 2 on chassis 1 is set for modularization, can install other modules according to the different fast quick-detach of the task of execution.
Equipped with cradle head camera 41 on holder 3.Preferably, holder 3 is fixed on robot body in a manner of inserting soon
Right lateral side.The included rotation of holder 3 and two degree of freedom of pitching.Holder 3 is by holder drive module 150.In a particular embodiment,
Cradle head camera 41 is realized using high definition integration camera, supports 20 Zoom Lens.Camera is equipped with cold light lamp, warm light lamp, red
Outer lamp can realize comprehensive, round-the-clock, remote high definition investigation.
Preferably, hoist engine 5 is also equipped on robot body, cable and mobile control knapsack 300 are provided for passing through
Carry out wire communication.Preferably, hoist engine 5 is fixed on the left rear side of robot body in a manner of inserting soon.Hoist engine 5 can be with
Field operation armored fiber optic is carried, realizes the wire communication function of robot.Therefore, remote control terminal and mobile robot 100 it
Between can be communicated by wire/wireless pattern, when communicating wirelessly, the mobile control knapsack of remote control terminal
Knapsack communication module 330 in 300 carries out point-to- point communication with the ontology communication module 120 that mobile robot carries, and realizes sound
Vision signal, the wireless transmission for controlling signal, maximum transmission distance is up to 500 meters.When being switched to wire communication, only need by
The cable plugged and fixed for the hoist engine 5 that mobile robot 100 carries is on the industrial personal computer 310 of mobile control knapsack 330, system
Wire communication is automatically switched to, audio-video signal, control signal, other signals by wired optical cable transmission, are realized and moved at this time
The communication of mobile robot 100 and remote control terminal.The wireless telecommunications of the public safety mobile-robot system of the present invention are reachable
500 meters, wire communication 1.5km, support 4 road videos and control instruction simultaneous transmission, resolution ratio maximum is up to 720p, delay
Less than 0.2s, figure passes steady and audible.Therefore, in mobile robot 100 when encountering signal interference, operator can cut the present invention
Wire communication pattern is changed to, the communication between remote controler and robot is realized by optical cable, antijamming capability greatly enhances.
The public safety mobile-robot system of the present invention has good human-computer interaction function.Mobile robot 100 is led
It is used to implement the functions such as movement, investigation, tasks carrying, the sound that then real-time display mobile robot 100 acquires of hand-held device 200
The environmental informations such as video, and pass through rocking bar button and motion control and speed control are carried out to mobile robot 100.Preferably, it moves
The industrial personal computer 310 of dynamic control knapsack 300 can control the display module 230 of hand-held device 200 real in a manner of 2 D animation
When show pose residing for each movable joint of mobile robot 100.For example, in mobile robot 100 by encoder and
Position sensor acquires the angle in each joint, and feeds back to industrial personal computer 310, then pass through with image conversion language (2 D animation)
Display module 230 is shown.It is highly preferred that industrial personal computer 310 is additionally operable to each movable joint of detection mobile robot 100
Whether situation is interfered, be, alarmed, the person of being conveniently operated understands mobile robot state in which in real time.Hand-held dress
It puts 200 support, 4 road video to show simultaneously, clarity supports single channel amplification up to 480P, and up to 720P, person easy to operation is from each
A angle object observing region.In addition, operator by hand-held device 200 and mobile robot can with the people of target area into
Row interactive voice plays broadcast and slogan etc..
Common knapsack may be used in mobile control knapsack 300, can also use the inclusion texture of special designing.It is preferred that
Ground, the backpack body of mobile control knapsack have remote controler storehouse, master control storehouse and charger storehouse, and wherein remote controler storehouse and master control storehouse is big
Storehouse, charger storehouse are small storehouse.
(1) remote controler storehouse is set close to back, and told remote controler storehouse is internally provided with vibrationproof cushion for accommodating and fixing
Hand-held device 200.Vibrationproof cushion can ensure user's 200 shock-absorbing of hand-held device during traveling, and position is relatively fixed will not
Generate and acutely shake, at the same time ensure 200 outer surface of hand-held device and knapsack side will not relative friction, protect hand-held dress
200 appearance finishing coat is put not scratched.
(2) master control storehouse is for accommodating industrial personal computer 310, knapsack communication module 330 and power module, and 320.Wherein industrial personal computer
310 and knapsack communication module 330 be placed in Main Control Tank, power module 320 is placed in including battery in battery case.Battery case puts master
Orlop portion is controlled, Main Control Tank (subsidiary antenna structure) is stacked in above battery case.
(3) charger position in storehouse is in the outside of backpack body, for accommodating battery charger.Battery charger small volume and make
It is relatively low with frequency, it can be separately positioned in the small storehouse of knapsack.
The public safety mobile-robot system of the present invention has following Core Feature：
1st, mobile investigation operation function：After the expansion of public safety mobile-robot system, operator carries on the back the mobile control back of the body
Packet 300, hand-held remote controller, that is, hand-held device 200, mobile robot power on booting, select wire/wireless operating mode, operation
Person can need that original place is selected to garrison according to task, and Manipulation of the machine people, which performs, scouts explosive task, and movement can be also controlled in traveling
The explosive task of robot execution investigation, this pattern operated in movement, on the basis of operator's burden is mitigated, significantly
Increase the radius of clean-up of mobile robot.
2nd, communication function：The function of each module of mobile robot 100 and the normal operation of action, remote controler it is normal
Control and display are completed all by communication function.The communication function of robot system it is wired and it is wireless realize, at the scene
Cable operator is applied in the case of there are frequency interferences, the length of cable can reach the peace of general site disposal needs for 1.5km
Full distance；It is more spacious and without frequency interferences in the case of, using wireless connection, visual range is less than 500m, existing
Field operates with middle comparison and is not restrained by cable flexibly.
3rd, video image function：Public safety mobile-robot system shares 4 road video images, and hand-held device 200 can be with
According to the needs of Different field situation, to change video mode, while the quality of controllable video image, clarity, scaling
Deng；The integrated camera of wherein holder 3 plays a key effect, and the observation ambient enviroment that it can be comprehensive makes mobile robot
The space of safety operation there are one 100, zoom and illumination functions can navigate to the crawl target of robot；Mechanical arm hand claw
2 road cameras can be set, position and the state of hand claw can be clearly observed in the case where hand claw is used to work, make
It operates more convenient, reliable；The car body camera installed on mobile chassis during robot ambulation, can be observed clearly
Position, the state of hand claw can accurately be judged to ground and road ahead situation and when ground captures object, makes machine
Device people walks and ground crawl has bigger guarantee.Wherein, the position of hand claw is judged as needed by human eye, in limit position
It puts and judges the size of grasp by judging size of current.In addition for convenience of investigating, night lamp, cold light lamp, warm light are equipped with
Lamp, infrared lamp etc. facilitate robot to carry out round-the-clock investigation operation.
4th, night illumination function：Mainly comprising holder illumination and chassis illumination, holder shines for the illumination of mobile robot 100
It is bright to realize that close shot illuminates by LED light and infrared lamp, there are LED illuminations, infrared illumination, LED+ infrared illuminations respectively
These three patterns to robot under night and gloomy environment, ensure that the normal work of robot.Chassis illumination passes through
High beam, infrared lamp realize that high beam can illuminate the scenery other than 5 meters, infrared lamp can help roof camera head to catch
Catch the scene at night.For external environments such as different landform, weathers, switched by distance-light, infrared light isotype, make behaviour
Make enhanced convenience, break away from the unification of performance.
5th, control function is travelled：The traveling of mobile robot relies primarily on OCU and carrys out remote control command, and hand-held device 200 uses
Getting up relatively convenient and simple, each rocking bar has corresponded each motive position and the turning joint of robot,
Four direction corresponds to the advance of robot, retrogressing, flicker, flicker respectively.When driving handle moves forwards or backwards
Handle is rapidly pushed to the left side or the right can realize the big turning of robot and while going ahead has to the left or to the right
Turn.And the speed of robot can also according to circumstances adjust it is fast, slow.
6th, arm joint control function：The mechanical arm of mobile robot is the most important executing agency for capturing object.Machine
The arm of tool arm is combined using modular construction, and each module has different rotation angles, enable the multi-faceted movement of hand claw with
Crawl.More convenience flexibly can be brought to operator using good arm function in operation, when saving more to disposition
Between.But during arm use, each stretching, extension will have flip-arm to coordinate, and control center of gravity and avoid pitching.Hand
Each motion range of shoulder joint is designed with protecting, and is the collision in order to preferably prevent arm to car body and holder.
7th, telemetry function：Mobile robot 100 is when carrying out remote control operation, real-time display machine on hand-held device 200
The virtual dynamic of device people, operator can determine each joint institute such as mobile chassis 1, mechanical arm 2, holder 3 by hand-held device 200
Orientation, the angle at place, the person of being conveniently operated understand the latest tendency of mobile robot 100, adjust mobile robot in time in time
100 postures, the appearance for the problems such as robot is avoided to topple, collide.Mobile robot 100 has overturn-preventing function in itself, when
Residing for robot pose exist topple danger when, mobile robot 100 stops current action immediately, stays where one is, pending further orders.
8th, modularization extends：Mechanical arm 2, holder 3 are used as function module, are mounted on mobile chassis 1, investigated with realization,
The functions such as danger excludes, arms strike, mechanical arm 2, holder 3 realize communication by the control interface of standard.By will be mechanical
Arm 2, holder 3 etc. are expanded into other function modules such as X ray machines, life-detection instrument, and the function of mobile robot 1, which is also extended to, to disappear
Anti-, rescue etc., by the control interface of standard, public safety mobile-robot system is extendable to a variety of.
The present invention further correspondingly provides a kind of public safety mobile robot, i.e., foregoing mobile robot 100.
In addition, additionally provide foregoing mobile control knapsack 300, hand-held device 200 and remote control terminal.
The public safety mobile robot of the present invention can be used as explosive-removal robot, for disposing or destroying explosion
Suspicious item avoids unnecessary casualties.It is explosive that it can be used for Various Complex landform to carry out.It is mainly used for replacing explosive people
Member carries, shifts suspicious explosive product and other harmful dangerous material；It is destroyed and fried using Explosive Ordnance Demolition device instead of explosive personnel
Bullet；Instead of on-the-spot security inspection, personnel examine on the spot, real-time Transmission image scene；Shotgun can be equipped with to attack offender
It hits；Detection equipment can be equipped with and check hazardous area and dangerous goods.
It should be appreciated that public safety mobile-robot system of the invention is based on public safety provided by the invention
Mobile robot, therefore public safety shifting is also applied for the elaboration of the specific embodiment of public safety mobile-robot system
Mobile robot.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
Pipe is with reference to the foregoing embodiments described in detail the present invention, it will be understood by those of ordinary skill in the art that：It is still
It can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is equally replaced
It changes；And these modifications or replacement, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (10)
1. a kind of public safety mobile-robot system, including mobile robot and remote control terminal；It is it is characterized in that, described
Remote control terminal includes hand-held device and mobile control knapsack；
The hand-held device includes button rocking bar module, master control borad and display module；The master control borad and the button rocking bar mould
Block connects, and the control instruction for button rocking bar module to be received is sent to the industrial personal computer of mobile control knapsack；
The mobile control knapsack includes the industrial personal computer, power module and the knapsack communication module that are encapsulated in backpack body；The movement
Power module is connected to the master control borad of the hand-held device by power cord in control knapsack, and the master control borad is the display mould
Block is powered；The industrial personal computer is connected to the master control borad of the hand-held device by data line respectively and display module carries out data biography
It is defeated；The knapsack communication module is used to communicate wirelessly with mobile robot；
The mobile robot includes robot body and the main control module being set on the robot body, ontology communication
Module, chassis drive module, mechanical arm drive module, holder drive module and multiple cameras；The robot body includes
Mobile chassis and mechanical arm and holder on the mobile chassis；The main control module connects with ontology communication module
It connects, the control instruction that the industrial personal computer for receiving the mobile control knapsack is sent out and uploading is acquired by the multiple camera
Video data；The main control module is additionally operable to send a signal to the chassis drive module, machinery according to the control instruction
Arm drive module and holder drive module, to control mobile chassis, mechanical arm and the operation of holder respectively.
2. public safety mobile-robot system according to claim 1, which is characterized in that the mechanical arm drive module
Waist, shoulder, elbow and the arm driving plate of wrist and the hand claw for control machinery arm including being used for control machinery arm are rotated and are opened
The hand claw driving plate of conjunction.
3. public safety mobile-robot system according to claim 1, which is characterized in that the multiple camera packet
It includes：
The cradle head camera being installed on the holder；
It is installed on the car body camera of robot body forepart；
The arm camera being installed on mechanical arm.
4. public safety mobile-robot system according to claim 1, which is characterized in that on the robot body also
Hoist engine is installed, cable and the mobile control knapsack progress wire communication are provided for passing through.
5. public safety mobile-robot system according to claim 4, which is characterized in that the mechanical arm is with slotting soon
Mode is fixed on the front end centre position of mobile chassis；After the holder is fixed on the right side of robot body in a manner of inserting soon
Side；The hoist engine is fixed on the left rear side of robot body in a manner of inserting soon.
6. public safety mobile-robot system according to any one of claims 1 to 5, which is characterized in that the shifting
The backpack body of dynamic control knapsack includes remote controler storehouse, master control storehouse and charger storehouse；
The remote controler storehouse is set close to back, and told remote controler storehouse is internally provided with vibrationproof cushion for accommodating and described in fixing
Hand-held device；
The master control storehouse is for accommodating the industrial personal computer, knapsack communication module and power module, wherein the industrial personal computer and knapsack
Communication module is placed in Main Control Tank, and the power module is placed in battery case, and the battery case is placed in the master control orlop portion, institute
Main Control Tank is stated to be stacked in above the battery case；
The charger position in storehouse is in the outside of the backpack body, for accommodating battery charger.
7. public safety mobile-robot system according to any one of claims 1 to 5, which is characterized in that the work
Control machine is additionally operable to each movement of display module real-time display mobile robot in a manner of 2 D animation of control hand-held device
Pose residing for joint；And the industrial personal computer be additionally operable to detection mobile robot each movable joint whether interfere feelings
Condition is to alarm.
8. a kind of mobile control knapsack, which is characterized in that including industrial personal computer, power module and the knapsack communication being encapsulated in backpack body
Module；Power module is connected to the master control borad of hand-held device by power cord in the mobile control knapsack；The industrial personal computer point
The master control borad of hand-held device is not connected to by data line and display module carries out data transmission；The knapsack communication module is used for
It is communicated wirelessly with robot body.
9. a kind of remote control terminal, which is characterized in that including hand-held device and mobile control knapsack；
The hand-held device includes button rocking bar module, master control borad and display module；The master control borad and the button rocking bar mould
Block connects, and the control instruction for button rocking bar module to be received is sent to the industrial personal computer of mobile control knapsack；
The mobile control knapsack includes the industrial personal computer, power module and the knapsack communication module that are encapsulated in backpack body；The movement
Power module is connected to the master control borad of the hand-held device by power cord in control knapsack, and the master control borad is the display mould
Block is powered；The industrial personal computer is connected to the master control borad of the hand-held device by data line respectively and display module carries out data biography
It is defeated；The knapsack communication module is used to communicate wirelessly with mobile robot.
10. a kind of public safety mobile robot, which is characterized in that including：Robot body and it is set to the robot
Main control module, ontology communication module, chassis drive module, mechanical arm drive module, holder drive module on ontology and multiple
Camera；The robot body includes mobile chassis and mechanical arm and holder on the mobile chassis；It is described
Main control module is connect with ontology communication module, and the control instruction that the industrial personal computer for receiving mobile control knapsack is sent out simultaneously uploads logical
Cross the video data of the multiple camera acquisition；The main control module is additionally operable to send a signal to institute according to the control instruction
Chassis drive module, mechanical arm drive module and holder drive module are stated, to control mobile chassis, mechanical arm and holder respectively
Operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810012819.8A CN108145688B (en) | 2018-01-06 | 2018-01-06 | Public safety mobile robot system and public safety mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810012819.8A CN108145688B (en) | 2018-01-06 | 2018-01-06 | Public safety mobile robot system and public safety mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108145688A true CN108145688A (en) | 2018-06-12 |
| CN108145688B CN108145688B (en) | 2020-02-14 |
Family
ID=62461021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810012819.8A Active CN108145688B (en) | 2018-01-06 | 2018-01-06 | Public safety mobile robot system and public safety mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108145688B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683528A (en) * | 2018-12-28 | 2019-04-26 | 哈尔滨工业大学 | A kind of searching radioactive source robot Portable electric-control system |
| CN110154050A (en) * | 2019-05-27 | 2019-08-23 | 上海中为智能机器人有限公司 | A kind of multi-functional explosive-removal robot |
| CN110390810A (en) * | 2019-07-25 | 2019-10-29 | 中国科学院合肥物质科学研究院 | A kind of remote controler and its remote control method of high motor-driven unmanned ground vehicle |
| CN112711254A (en) * | 2020-12-14 | 2021-04-27 | 深圳市优必选科技股份有限公司 | Inspection robot control method and device, storage medium and intelligent equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN103568001A (en) * | 2012-07-27 | 2014-02-12 | 工程服务公司 | Modular mobile robot |
| CN104690731A (en) * | 2015-02-06 | 2015-06-10 | 中国人民解放军63908部队 | Control system for explosive-removing robot |
| CN206380870U (en) * | 2016-12-27 | 2017-08-08 | 如影随形(北京)科技有限公司 | Intelligent object knapsack |
-
2018
- 2018-01-06 CN CN201810012819.8A patent/CN108145688B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN103568001A (en) * | 2012-07-27 | 2014-02-12 | 工程服务公司 | Modular mobile robot |
| CN104690731A (en) * | 2015-02-06 | 2015-06-10 | 中国人民解放军63908部队 | Control system for explosive-removing robot |
| CN206380870U (en) * | 2016-12-27 | 2017-08-08 | 如影随形(北京)科技有限公司 | Intelligent object knapsack |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683528A (en) * | 2018-12-28 | 2019-04-26 | 哈尔滨工业大学 | A kind of searching radioactive source robot Portable electric-control system |
| CN110154050A (en) * | 2019-05-27 | 2019-08-23 | 上海中为智能机器人有限公司 | A kind of multi-functional explosive-removal robot |
| CN110390810A (en) * | 2019-07-25 | 2019-10-29 | 中国科学院合肥物质科学研究院 | A kind of remote controler and its remote control method of high motor-driven unmanned ground vehicle |
| CN112711254A (en) * | 2020-12-14 | 2021-04-27 | 深圳市优必选科技股份有限公司 | Inspection robot control method and device, storage medium and intelligent equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145688B (en) | 2020-02-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108145688A (en) | A kind of public safety mobile-robot system and public safety mobile robot | |
| US10488510B2 (en) | Predictive probable cause system and unmanned vehicles using the same | |
| US8352072B2 (en) | System for extending the observation, surveillance, and navigational capabilities of a robot | |
| CN107097228B (en) | Autonomous traveling robot system | |
| US20100179691A1 (en) | Robotic Platform | |
| CA3062101A1 (en) | Systems and methods for remotely controlling a robotic device | |
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| CN111716365B (en) | Immersive remote interaction system and method based on natural walking | |
| JP6950192B2 (en) | Information processing equipment, information processing systems and programs | |
| CN112150635A (en) | AR individual soldier and robot mixed-editing combat system and method based on digital twin | |
| Carey et al. | Novel EOD robot design with dexterous gripper and intuitive teleoperation | |
| Yoshinada et al. | Dual-arm construction robot with remote-control function | |
| CN115285100A (en) | Intelligent security patrol robot system supporting multi-mode driving control | |
| CN206953020U (en) | A kind of portable Cha Da robots | |
| CN210551257U (en) | Crawler-type explosive-handling robot | |
| JP2001062766A (en) | User interface system for remote control of bipedal walking robot | |
| CN210181551U (en) | Remote explosion-removing system based on motion sensing technology | |
| CN109693249B (en) | Scorpion-like security robot for office building or house | |
| KR102409880B1 (en) | Collaborative systems and methods for field and remote site using HMD | |
| CN115076561A (en) | Tele-immersion type binocular holder follow-up system and method applied to engineering machinery | |
| TWM370479U (en) | Multi-function robot | |
| CN209599237U (en) | Office building or household imitate scorpion safety protection robot | |
| CN110807971B (en) | Submersible mechanical arm control virtual reality training system based on optical-inertial fusion positioning | |
| Yang et al. | The development status and trends of unmanned ground vehicle control system | |
| KR20220165948A (en) | Method and system for remote collaboration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 100176 Beijing, Daxing District, Beijing economic and Technological Development Zone, No. two, No. 8, No. 8 building, No. 8, No. 8, No. Applicant after: Harbin Beijing robotics group Cube Technology Ltd Address before: 100176 room 508, building A, 11 building, 8 hospital, two cooling street, Beijing economic and Technological Development Zone, Daxing District, Beijing. Applicant before: Beijing army cube Robot Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Han Zhenfeng Inventor after: Tang Xiaohan Inventor after: Dong Chong Inventor after: Wu Hao Inventor after: Wu Wei Inventor after: Li Mingyang Inventor after: Li Suwang Inventor before: Han Zhenfeng Inventor before: Tang Xiaohan Inventor before: Dong Chong Inventor before: Wu Hao Inventor before: Wu Wei Inventor before: Li Mingyang Inventor before: Li Suwang |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |