CN108145688B - Public safety mobile robot system and public safety mobile robot - Google Patents
Public safety mobile robot system and public safety mobile robot Download PDFInfo
- Publication number
- CN108145688B CN108145688B CN201810012819.8A CN201810012819A CN108145688B CN 108145688 B CN108145688 B CN 108145688B CN 201810012819 A CN201810012819 A CN 201810012819A CN 108145688 B CN108145688 B CN 108145688B
- Authority
- CN
- China
- Prior art keywords
- module
- backpack
- main control
- mobile
- bin
- 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.)
- Active
Links
Images
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
Abstract
The invention relates to a public safety mobile robot system, which comprises a mobile robot and a remote control terminal, wherein the mobile robot is connected with the remote control terminal through a wireless network; the remote control terminal comprises a handheld device and a mobile control backpack; the handheld device comprises a key rocker module, a main control board and a display module; the mobile control backpack comprises an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; the backpack communication module is used for carrying out wireless communication with the mobile robot; the mobile robot comprises a robot body, a main control module, a body communication module, a chassis driving module, a mechanical arm driving module, a holder driving module and a plurality of cameras, wherein the main control module, the body communication module, the chassis driving module, the mechanical arm driving module, the holder driving module and the plurality of cameras are arranged on the robot body. The mobile robot can also perform wired/wireless communication mode switching with the mobile control backpack. The remote control terminal provided by the invention is composed of the handheld device and the mobile control backpack, is convenient to carry and use, and an operator can control the remote control terminal while walking, so that the working radius of the robot is increased, and the problem of mobile inspection is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a public safety mobile robot system, a mobile control backpack, a remote control terminal and a public safety mobile robot.
Background
Violent terrorist attacks present new situations of complicated and changeable environment, diversified forms and high technological content, and the traditional means can not completely meet the requirements of anti-terrorism and fighting. Under the background, aiming at different types of tasks and working environments, the corresponding public safety mobile robot, particularly the anti-terrorism and explosive-handling robot is adopted, the public security mobile robot can assist public security and armed police troops to execute tasks, casualties can be effectively reduced, the novel characteristics and the novel form of the terrorism attack can be responded in time, and the success rate of the tasks is improved.
At present, mobile robots can be classified into two types according to an operation method: the first is a remote control type robot, which is operated manually under visual conditions, namely a command, and the mobile robot is a command executive officer; the second is an automatic mobile robot, which first programs the magnetic disc, then inserts the magnetic disc into the robot body, and let the robot distinguish what is dangerous goods to eliminate the dangerous case. The second type is less expensive and is generally used only in critical situations. For the first mobile robot, the remote control terminal is provided with an industrial personal computer, has long working time, is usually controlled in a control room, or is controlled by large mobile control equipment to ensure that sufficient electric quantity is available to execute a long-time patrol task, and therefore, the flexibility and the portability of remote control are often poor.
Therefore, it is highly desirable to develop a public safety mobile robot system capable of more conveniently implementing mobile inspection.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a public safety mobile robot system, a mobile control backpack, a remote control terminal and a public safety mobile robot.
In order to solve the above technical problem, a first aspect of the present invention provides a public safety mobile robot system, including a mobile robot and a remote control terminal; the remote control terminal comprises a handheld device and a mobile control backpack;
the handheld device comprises a key rocker module, a main control board and a display module; the main control board is connected with the key rocker module and used for sending a control instruction received by the key rocker module to an industrial personal computer of the mobile control backpack;
the mobile control backpack comprises an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; a power supply module in the mobile control backpack is connected to a main control board of the handheld device through a power line, and the main control board supplies power to the display module; the industrial personal computer is connected to the main control board and the display module of the handheld device through data lines respectively for data transmission; the backpack communication module is used for carrying out wireless communication with the mobile robot;
the mobile robot comprises a robot body, and a main control module, a body communication module, a chassis driving module, a mechanical arm driving module, a holder driving module and a plurality of cameras which are arranged on the robot body; the robot body comprises a moving chassis, and a mechanical arm and a cloud deck which are arranged on the moving chassis; the main control module is connected with the body communication module and used for receiving a control instruction sent by an industrial personal computer of the mobile control backpack and uploading video data collected by the plurality of cameras; and the main control module is also used for sending signals to the chassis driving module, the mechanical arm driving module and the holder driving module according to the control command so as to respectively control the operation of the movable chassis, the mechanical arm and the holder.
In the public safety mobile robot system according to the present invention, preferably, the robot arm driving module includes arm driving boards for controlling a waist, a shoulder, an elbow, and a wrist of the robot arm, and a paw driving board for controlling rotation and opening and closing of a paw of the robot arm.
In the public safety mobile robot system according to the present invention, preferably, the plurality of cameras include:
the holder camera is arranged on the holder;
a vehicle body camera mounted on the front part of the robot body;
an arm camera mounted on the mechanical arm.
In the public safety mobile robot system according to the present invention, preferably, a winch is further installed on the robot body for performing wired communication with the mobile control backpack by providing a cable.
In the public safety mobile robot system according to the present invention, preferably, the robot arm is fixed at a front end middle position of the mobile chassis in a quick-insertion manner; the cradle head is fixed on the right rear side of the robot body in a quick insertion mode; the winch is fixed on the left rear side of the robot body in a quick insertion mode.
In the public safety mobile robot system according to the present invention, preferably, the body of the mobile control backpack includes a remote controller compartment, a main control compartment, and a charger compartment; the remote controller bin is arranged close to the back, and a vibration-proof soft cushion is arranged inside the remote controller bin and used for accommodating and fixing the handheld device; the main control bin is used for accommodating the industrial personal computer, the backpack communication module and the power module, wherein the industrial personal computer and the backpack communication module are arranged in the main control bin, the power module is arranged in a battery box, the battery box is arranged at the bottom of the main control bin, and the main control bin is stacked above the battery box; the charger bin is positioned on the outer side of the bag body and used for accommodating a battery charger.
In the public safety mobile robot system according to the invention, preferably, the industrial personal computer is further used for controlling a display module of the handheld device to display the pose of each motion joint of the mobile robot in real time in a two-dimensional animation mode.
In the public safety mobile robot system according to the present invention, preferably, the industrial personal computer is further configured to detect whether each moving joint of the mobile robot interferes, and if so, perform an alarm.
The invention provides a mobile control backpack in a second aspect, which comprises an industrial personal computer, a power module and a backpack communication module, wherein the industrial personal computer, the power module and the backpack communication module are packaged in a backpack body; the power supply module in the mobile control backpack is connected to a main control panel of the handheld device through a power line; the industrial personal computer is respectively connected to a main control board and a display module of the handheld device through data lines to carry out data transmission; the backpack communication module is used for carrying out wireless communication with the robot body.
In a third aspect of the present invention, a remote control terminal is provided, which comprises a handheld device and a mobile control backpack;
the handheld device comprises a key rocker module, a main control board and a display module; the main control board is connected with the key rocker module and used for sending a control instruction received by the key rocker module to the industrial personal computer;
the mobile control backpack comprises an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; a power supply module in the mobile control backpack is connected to a main control board of the handheld device through a power line, and the main control board supplies power to the display module; the industrial personal computer is connected to the main control board and the display module of the handheld device through data lines respectively for data transmission; the backpack communication module is used for carrying out wireless communication with the mobile robot.
In a fourth aspect of the present invention, there is provided a public safety mobile robot comprising: the robot comprises a robot body, and a main control module, a body communication module, a chassis driving module, a mechanical arm driving module, a holder driving module and a plurality of cameras which are arranged on the robot body; the robot body comprises a movable chassis, and a mechanical arm and a holder which are arranged on the movable chassis; the main control module is connected with the body communication module and used for receiving a control instruction sent by the industrial control machine of the mobile control backpack and uploading video data collected by the cameras; the main control module is further used for sending signals to the chassis driving module, the mechanical arm driving module and the cloud platform driving module according to the control instruction so as to control the operation of the movable chassis, the mechanical arm and the cloud platform respectively.
The public safety mobile robot and the system thereof, the mobile control backpack and the remote control terminal have the following beneficial effects: the invention provides a public safety mobile robot system capable of realizing mobile inspection, wherein a remote control terminal of the public safety mobile robot system consists of a handheld device and a mobile control backpack, the public safety mobile robot system is convenient to carry and use, an operator can operate and control a robot to execute an operation task while walking, the working radius of the robot is greatly increased, and the problem of mobile inspection is solved.
Drawings
FIG. 1 is a block diagram of a public safety mobile robot system in a system according to the present invention;
fig. 2 is a structural diagram of a public safety mobile robot provided in accordance with a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a block diagram of a public safety mobile robot system according to a preferred embodiment of the present invention is shown. As shown in fig. 1, in a first aspect of the present invention, a public safety mobile robot system is provided, which includes a mobile robot 100 and a remote control terminal.
Wherein, the remote control terminal comprises a handheld device 200 and a mobile control backpack 300.
The handheld device 200 includes a key rocker module 210, a main control board 220, and a display module 230. The main control board 220 is connected to the key rocker module 210, and is configured to send a control instruction received by the key rocker module 210 to the industrial personal computer 310 of the mobile control backpack 300. The display module 230 includes a liquid crystal panel and a liquid crystal panel driving chip. An operator performs various control operations on the robot through the key rocker, and displays various information of the mobile robot 100 in real time through the liquid crystal screen, including but not limited to audio and video data acquired by the mobile robot and the pose of the mobile robot.
The mobile control backpack 300 includes an industrial personal computer 310, a power module 320, and a backpack communication module 330 packaged in a backpack body. The power module 320 of the mobile control backpack 300 is connected to the main control board 220 of the handheld device 200 via a power cord, and the main control board 220 supplies power to the display module 230. The industrial personal computer 310 is connected to the main control board 220 of the handset 200 through a data line such as UART. The industrial personal computer 310 is also connected to the display module 230 of the handheld device 200 through a data line, such as HDMI. The industrial personal computer 310 performs wireless communication with the mobile robot 100 through the backpack communication module 330.
The mobile robot 100 includes a robot body and a control device provided on the robot body. Fig. 2 is a block diagram of a public safety mobile robot according to a preferred embodiment of the present invention. As shown in fig. 2, the robot body includes at least a moving chassis 1, and a robot arm 2 and a pan/tilt head 3 mounted on the moving chassis 1. The control device comprises a main control module 110 and connected with it: the body communication module 120, the chassis driving module 130, the mechanical arm driving module 140, the pan-tilt driving module 150 and the plurality of cameras. The plurality of cameras include, but are not limited to: a pan/tilt head camera 41 mounted on the pan/tilt head 1, a vehicle body camera 42 mounted on the front part of the robot body, and an arm camera 43 mounted on the robot arm 2. Preferably, the mobile robot 100 further has a body power module 160.
The main control module 110 is connected with the body communication module 120 and the plurality of cameras, and is configured to receive a control instruction sent by the industrial personal computer 310 of the mobile control backpack 300, and upload video data acquired by the plurality of cameras to the industrial personal computer 310.
The main control module 110 is further configured to send signals to the chassis driving module 130, the robot driving module 140, and the pan/tilt/zoom driving module 150 according to the received control command, so as to control the operations of the mobile chassis 1, the robot 2, and the pan/tilt/zoom 3, respectively. The main control module 110 is further connected to a body power module 160, and the control power module 160 supplies power to each sub-module.
Therefore, the remote control terminal consists of the handheld device 200 and the mobile control backpack 300, is convenient to carry and use, and an operator can operate and control the robot to execute operation tasks while walking, so that the working radius of the robot is greatly increased, and the problem of mobile inspection is solved.
The mobile robot 100 of the present invention will be described in detail below.
The mobile chassis 1 is a stable mobile platform and can carry various functional modules. The movable chassis 1 is driven by the chassis driving module 130 to walk, has good power performance, can climb a slope of 30 degrees and stairs, can resist water, fire, high temperature and the like, can cross obstacles, and provides power storage for investigation, explosion elimination, danger elimination and fire fighting functions. Preferably, the mobile chassis 1 adopts a crawler-type chassis, and the problem of stable walking in various environments such as sand, forest land, mountain land, stairs and roads is solved.
The robot arm 2 is driven by the robot arm driving module 140. Preferably, the movable chassis can be fixed at the middle position of the front end of the movable chassis in a quick insertion mode. The mechanical arm 2 comprises an arm and a paw, and a waist, a shoulder, an elbow and a wrist joint of the arm. Accordingly, the robot arm driving module 140 includes arm driving plates for controlling the waist, shoulder, elbow and wrist of the robot arm, and a paw driving plate for controlling the rotation and opening and closing of the paw of the robot arm. In a specific embodiment, the mechanical arm 2 has an arm spread of 1.6m, can grab 8 kilograms of dangerous objects when being fully spread, and five tools such as pliers, hooks, cones, scissors and rakes can be replaced at the tail end of the paw. The arm 2 is provided with an arm camera 43. Preferably, the robot arm 2 is equipped with a high pressure water gun 6, which has blasting capability, the high pressure water gun 6 can be installed on the robot arm 2 in a modular quick-insertion manner, and the position of the high pressure water gun 2 can be changed to another arm camera 43. The mechanical arm 2 of the movable chassis 1 is in a modularized arrangement, and can be quickly disassembled and other modules can be installed according to different execution tasks.
The pan/tilt head 3 is provided with a pan/tilt head camera 41. Preferably, the pan/tilt head 3 is fixed on the right rear side of the robot body in a quick-insertion manner. The tripod head 3 has two degrees of freedom of rotation and pitching. The pan/tilt head 3 is driven by a pan/tilt head driving module 150. In a specific embodiment, the pan-tilt camera 41 is implemented by a high-definition integrated camera, and supports 20 times optical zooming. The camera is provided with a cold light lamp, a warm light lamp and an infrared lamp, and can realize omnibearing, all-weather and remote high-definition investigation.
Preferably, a hoist 5 is further installed on the robot body for wired communication with the movement control backpack 300 by providing a cable. Preferably, the hoist 5 is fixed to the left rear side of the robot body in a quick-insertion manner. The winch 5 can carry field armored optical fibers, and the wired communication function of the robot is achieved. Therefore, the remote control terminal and the mobile robot 100 can communicate with each other in a wired/wireless mode, and when wireless communication is performed, the backpack communication module 330 in the mobile control backpack 300 of the remote control terminal and the body communication module 120 carried by the mobile robot perform point-to-point communication, so that wireless transmission of audio/video signals and control signals is realized, and the maximum transmission distance can reach 500 meters. When the communication is switched to the wired communication, the system is automatically switched to the wired communication only by inserting and fixing the cable of the winch 5 carried by the mobile robot 100 on the industrial personal computer 310 of the mobile control backpack 330, and at the moment, the audio and video signals, the control signals and other signals are transmitted through the wired optical cable, so that the communication between the mobile robot 100 and the remote control terminal is realized. The public safety mobile robot system has the advantages that the wireless communication can reach 500 meters, the wired communication is 1.5km, 4 paths of videos and control instructions are simultaneously transmitted, the maximum resolution can reach 720p, the delay is less than 0.2s, and the image transmission is clear and stable. Therefore, when the mobile robot 100 encounters signal interference, the operator can switch to the wired communication mode, communication between the remote controller and the robot is realized through the optical cable, and the anti-interference capability is greatly enhanced.
The public safety mobile robot system has a good man-machine interaction function. The mobile robot 100 is mainly used for realizing functions of movement, detection, task execution and the like, and the handheld device 200 displays environmental information such as audio and video acquired by the mobile robot 100 in real time and controls the movement and the speed of the mobile robot 100 through rocker keys. Preferably, the industrial personal computer 310 of the mobile control backpack 300 may control the display module 230 of the handheld device 200 to display the pose of each kinematic joint of the mobile robot 100 in real time in a two-dimensional animation manner. For example, the mobile robot 100 collects angles of each joint through an encoder and a position sensor, feeds the angles back to the industrial personal computer 310, and displays the angles through the display module 230 in an imaging language (two-dimensional animation). More preferably, the industrial personal computer 310 is further configured to detect whether each motion joint of the mobile robot 100 interferes, and if so, perform an alarm, so that an operator can know the state of the mobile robot in real time conveniently. The handheld device 200 supports simultaneous display of 4 channels of videos, the definition can reach 480P, single-channel amplification can be supported, the definition can reach 720P, and an operator can observe a target area conveniently from various angles. In addition, the operator can interact with the person in the target area through the handheld device 200 and the mobile robot by voice, broadcast and publicity, and the like.
The mobile control backpack 300 may be a common backpack or a specially designed backpack structure. Preferably, the bag body of the mobile control backpack is provided with a remote controller bin, a main control bin and a charger bin, wherein the remote controller bin and the main control bin are large bins, and the charger bin is a small bin.
(1) The remote controller bin is arranged close to the back, and a vibration-proof cushion is arranged inside the remote controller bin and used for containing and fixing the handheld device 200. The anti-vibration cushion can ensure that a user can avoid shock to the handheld device 200 in the advancing process, the position is relatively fixed, violent shaking cannot be generated, meanwhile, the outer surface of the handheld device 200 and the side face of the backpack cannot be rubbed relatively, and paint on the outer surface of the handheld device 200 is protected from being scraped.
(2) The main control cabin is used for accommodating an industrial personal computer 310, a backpack communication module 330 and power supply modules 320. The industrial personal computer 310 and the backpack communication module 330 are arranged in the main control box, and the power supply module 320 comprises a battery arranged in a battery box. The battery box is arranged at the bottom of the main control bin, and the main control box (with an antenna structure) is stacked above the battery box.
(3) The charger bin is positioned on the outer side of the bag body and used for accommodating the battery charger. The battery charger has small volume and low use frequency, and can be independently placed in a small cabin of the backpack.
The public safety mobile robot system has the following core functions:
1. the mobile investigation operation function: after the public safety mobile robot system is unfolded, an operator carries the mobile control backpack 300, a handheld remote controller, namely the handheld device 200, the mobile robot is powered on and started, a wired/wireless working mode is selected, the operator can select to stay on the spot according to task needs, the operator can operate the mobile robot to execute a reconnaissance and explosion elimination task, and the mobile robot can also be controlled to execute the reconnaissance and explosion elimination task in the process of traveling.
2. Communication function: the normal operation of the functions and actions of the modules of the mobile robot 100 and the normal control and display of the remote controller are performed by the communication function. The communication function of the robot system is realized by wire and wireless, wired operation is applied under the condition of frequency interference on site, and the length of a cable is 1.5km, so that the safety distance required by general site treatment can be reached; under the condition of being relatively spacious and not needing frequency interference, the wireless connection is used, the visible distance is less than 500m, and the cable is relatively flexible and not restricted by the cable in the field operation and use.
3. Video image function: the public safety mobile robot system has 4 paths of video images, the handheld device 200 can change the video mode according to the requirements of different field conditions, and simultaneously can control the quality, definition, scaling and the like of the video images; the integrated camera of the holder 3 plays a key role, and can observe the surrounding environment in an all-around manner, so that the mobile robot 100 has a safe operation space, and the zooming and lighting functions can be positioned to a grabbing target of the robot; the mechanical arm paw can be provided with 2 paths of cameras, and the position and the state of the paw can be clearly observed under the condition that the paw is used for working, so that the operation is more convenient and reliable; the vehicle body camera installed on the mobile chassis can clearly observe the ground and the road conditions in front in the robot walking process, and can accurately judge the position and the state of the paw when the robot grabs an object on the ground, so that the robot walking and the ground grabbing are guaranteed more. The position of the paw is judged according to the requirement by human eyes, and the magnitude of the gripping force is judged by judging the magnitude of the current at the limit position. In addition, for the convenience of investigation, a night vision lamp, a cold light lamp, a warm light lamp, an infrared lamp and the like are arranged, so that the robot can conveniently perform all-weather investigation operation.
4. Night illumination function: the illumination of the mobile robot 100 mainly comprises pan-tilt illumination and chassis illumination, the pan-tilt illumination realizes close-range illumination through an LED lamp and an infrared lamp, and three modes of LED illumination, infrared illumination and LED + infrared illumination are provided respectively, so that the normal work of the robot is ensured at night and in a dark environment. The chassis illumination is realized through high beam, infrared lamp, and the high beam can illuminate the scenery beyond 5 meters, and the infrared lamp can help the chassis camera to catch the scene at night. Aiming at different external environments such as terrains, climates and the like, the operation is more convenient and the performance is not single through mode switching such as far and near light, infrared light and the like.
5. A running control function: the mobile robot mainly depends on an OCU for remote control commands during running, the handheld device 200 is relatively convenient and simple to use, each rocker corresponds to each moving part and movable joint of the robot one by one, and the four directions respectively correspond to the advancing, retreating, left turning in place and right turning in place of the robot. When the handle is pushed to move forwards or backwards, the handle is quickly pushed to the left or the right, so that the robot can turn greatly, and the robot turns left or right when walking forwards. And the speed of the robot can be adjusted to be fast or slow according to the situation.
6. Arm joint control function: the mechanical arm of a mobile robot is the most important actuator for grasping an object. The arm of arm adopts modular structure combination, and every module all has different rotation angle, makes the hand claw can diversified motion and snatch. The flexible use of arm functions in operation brings more convenience to the operator and saves more time for treatment. However, in the use process of the arm, the overturning arm is matched with the arm to extend every time, so that the center of gravity is well controlled to avoid bending over. Each motion range of the arm joint is protected, so that the collision of the arm to the vehicle body and the cradle head is prevented better.
7. The remote measuring function is as follows: when the mobile robot 100 is remotely controlled, the virtual dynamic state of the robot is displayed on the handheld device 200 in real time, and an operator can determine the positions and angles of the joints of the mobile chassis 1, the mechanical arm 2, the pan-tilt 3 and the like through the handheld device 200, so that the operator can conveniently know the latest dynamic state of the mobile robot 100 in time, adjust the posture of the mobile robot 100 in time, and avoid the problems of overturning, collision and the like of the robot. The mobile robot 100 has an anti-overturning function, and when the pose of the robot is in danger of overturning, the mobile robot 100 immediately stops the current action and stands by in situ.
8. Modular expansion: the mechanical arm 2 and the cradle head 3 are used as functional modules and carried on the movable chassis 1 to realize functions of investigation, danger elimination, armed beating and the like, and the mechanical arm 2 and the cradle head 3 realize communication through a standard control interface. The mechanical arm 2, the cradle head 3 and the like are expanded into other functional modules such as an X-ray machine, a life detector and the like, the functions of the mobile robot 1 are also expanded into fire fighting, rescue and the like, and the public safety mobile robot system can be expanded into various types through a standard control interface.
The invention also correspondingly provides a public safety mobile robot, namely the mobile robot 100. In addition, a mobile control backpack 300, a handheld device 200 and a remote control terminal as described above are also provided.
The public safety mobile robot can be used as an explosion-removing robot and is used for disposing or destroying suspected explosion so as to avoid unnecessary casualties. It can be used for removing explosion in various complex shapes. The device is mainly used for replacing explosive disposal personnel to carry and transfer explosive suspicious articles and other harmful dangerous articles; explosive destroying devices are used for destroying bombs instead of explosive disposal personnel; the on-site security inspection personnel is replaced to carry out real-time exploration and transmit on-site images in real time; a shotgun can be equipped to attack criminals; detection equipment can be equipped to check dangerous places and dangerous goods.
It should be understood that the public safety mobile robot system of the present invention is based on the public safety mobile robot provided by the present invention, and thus the description of the specific embodiment of the public safety mobile robot system is also applicable to the public safety mobile robot.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (7)
1. A public safety mobile robot system comprises a mobile robot and a remote control terminal; the remote control terminal is characterized by comprising a handheld device and a mobile control backpack;
the handheld device comprises a key rocker module, a main control board and a display module; the main control board is connected with the key rocker module and used for sending a control instruction received by the key rocker module to an industrial personal computer of the mobile control backpack;
the mobile control backpack comprises an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; a power supply module in the mobile control backpack is connected to a main control board of the handheld device through a power line, and the main control board supplies power to the display module; the industrial personal computer is connected to the main control board and the display module of the handheld device through data lines respectively for data transmission; the backpack communication module is used for carrying out wireless communication with the mobile robot;
the mobile robot comprises a robot body, and a main control module, a body communication module, a chassis driving module, a mechanical arm driving module, a holder driving module and a plurality of cameras which are arranged on the robot body; the robot body comprises a moving chassis, and a mechanical arm and a holder which are arranged on the moving chassis; the main control module is connected with the body communication module and used for receiving a control instruction sent by an industrial personal computer of the mobile control backpack and uploading video data collected by the plurality of cameras; the main control module is also used for sending signals to the chassis driving module, the mechanical arm driving module and the holder driving module according to the control instruction so as to respectively control the operation of the movable chassis, the mechanical arm and the holder;
the bag body of the mobile control backpack comprises a remote controller bin, a main control bin and a charger bin;
the remote controller bin is arranged close to the back, and a vibration-proof cushion is arranged inside the remote controller bin and used for accommodating and fixing the handheld device;
the main control bin is used for accommodating the industrial personal computer, the backpack communication module and the power supply module, wherein the industrial personal computer and the backpack communication module are arranged in the main control bin, the power supply module is arranged in the battery box, the battery box is arranged at the bottom of the main control bin, and the main control bin is stacked above the battery box;
the charger bin is positioned on the outer side of the bag body and is used for accommodating a battery charger;
the industrial personal computer is also used for controlling a display module of the handheld device to display the pose of each motion joint of the mobile robot in real time in a two-dimensional animation mode; and the industrial personal computer is also used for detecting whether each motion joint of the mobile robot generates interference condition, and if so, alarming.
2. The public safety mobile robot system according to claim 1, wherein the robot arm driving module comprises arm driving boards for controlling a waist, a shoulder, an elbow and a wrist of the robot arm, and a claw driving board for controlling a claw of the robot arm to rotate and open and close.
3. The public safety mobile robot system of claim 1, wherein the plurality of cameras comprises:
the holder camera is arranged on the holder;
a vehicle body camera mounted on the front part of the robot body;
an arm camera mounted on the mechanical arm.
4. The public safety mobile robot system according to claim 1, wherein a winch is further installed on the robot body for wired communication with the mobile control backpack by providing a cable.
5. The public safety mobile robot system according to claim 4, wherein the robot arm is fixed at a front end middle position of the mobile chassis in a quick-insertion manner; the cradle head is fixed on the right rear side of the robot body in a quick insertion mode; the winch is fixed on the left rear side of the robot body in a quick insertion mode.
6. A mobile control backpack is characterized by comprising an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; the power supply module in the mobile control backpack is connected to a main control board of the handheld device through a power line; the industrial personal computer is respectively connected to a main control board and a display module of the handheld device through data lines to carry out data transmission; the backpack communication module is used for carrying out wireless communication with the robot body;
the bag body of the mobile control backpack comprises a remote controller bin, a main control bin and a charger bin;
the remote controller bin is arranged close to the back, and a vibration-proof cushion is arranged inside the remote controller bin and used for accommodating and fixing the handheld device;
the main control bin is used for accommodating the industrial personal computer, the backpack communication module and the power supply module, wherein the industrial personal computer and the backpack communication module are arranged in the main control bin, the power supply module is arranged in the battery box, the battery box is arranged at the bottom of the main control bin, and the main control bin is stacked above the battery box;
the charger bin is positioned on the outer side of the bag body and is used for accommodating a battery charger;
the industrial personal computer is also used for controlling a display module of the handheld device to display the pose of each motion joint of the mobile robot in real time in a two-dimensional animation mode; and the industrial personal computer is also used for detecting whether each motion joint of the mobile robot generates interference condition, and if so, alarming.
7. A remote control terminal is characterized by comprising a handheld device and a mobile control backpack;
the handheld device comprises a key rocker module, a main control board and a display module; the main control board is connected with the key rocker module and used for sending a control instruction received by the key rocker module to an industrial personal computer of the mobile control backpack;
the mobile control backpack comprises an industrial personal computer, a power module and a backpack communication module which are packaged in a backpack body; a power supply module in the mobile control backpack is connected to a main control board of the handheld device through a power line, and the main control board supplies power to the display module; the industrial personal computer is connected to the main control board and the display module of the handheld device through data lines respectively for data transmission; the backpack communication module is used for carrying out wireless communication with the mobile robot;
the bag body of the mobile control backpack comprises a remote controller bin, a main control bin and a charger bin;
the remote controller bin is arranged close to the back, and a vibration-proof cushion is arranged inside the remote controller bin and used for accommodating and fixing the handheld device;
the main control bin is used for accommodating the industrial personal computer, the backpack communication module and the power supply module, wherein the industrial personal computer and the backpack communication module are arranged in the main control bin, the power supply module is arranged in the battery box, the battery box is arranged at the bottom of the main control bin, and the main control bin is stacked above the battery box;
the charger bin is positioned on the outer side of the bag body and is used for accommodating a battery charger;
the industrial personal computer is also used for controlling a display module of the handheld device to display the pose of each motion joint of the mobile robot in real time in a two-dimensional animation mode; and the industrial personal computer is also used for detecting whether each motion joint of the mobile robot generates interference condition, and if so, alarming.
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 CN108145688A (en) | 2018-06-12 |
| CN108145688B true 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) |
Families Citing this family (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 |
| CN110390810B (en) * | 2019-07-25 | 2020-11-17 | 中国科学院合肥物质科学研究院 | Remote controller of high-mobility ground unmanned platform and remote control method thereof |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100553896C (en) * | 2007-09-29 | 2009-10-28 | 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 |
| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145688A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108145688B (en) | Public safety mobile robot system and public safety mobile robot | |
| US11284040B2 (en) | Surveillance unit with removable modules | |
| CN107585222B (en) | Unmanned reconnaissance vehicle | |
| US7346429B2 (en) | Mobile robot hybrid communication link | |
| RU2364500C2 (en) | Mobile robotic complex | |
| US20100179691A1 (en) | Robotic Platform | |
| WO2017184327A1 (en) | An unmanned aerial robotic vehicle with mounting mechanism | |
| WO2016137055A1 (en) | Information communication technology-based unmanned alert system | |
| Carey et al. | Novel EOD robot design with dexterous gripper and intuitive teleoperation | |
| CN105973087A (en) | Explosive protecting, transferring and removing device | |
| US20110031044A1 (en) | Robotic platform & methods for overcoming obstacles | |
| CN113848992B (en) | Target detection positioning and automatic shooting system based on unmanned aerial vehicle and armed striking robot | |
| CN115285100A (en) | Intelligent security patrol robot system supporting multi-mode driving control | |
| CN109029131A (en) | A kind of ball firing target robot system | |
| CN112462775A (en) | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle | |
| CN111010543B (en) | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium | |
| CN210551257U (en) | Crawler-type explosive-handling robot | |
| CN101854523B (en) | Small scout and counter-strike battle robot | |
| CA2314776A1 (en) | Portable video surveillance device | |
| CN209599237U (en) | Office building or household imitate scorpion safety protection robot | |
| Yang et al. | The development status and trends of unmanned ground vehicle control system | |
| CN109693249B (en) | Scorpion-like security robot for office building or house | |
| RU2709074C1 (en) | Mobile robot system | |
| JP2017041166A (en) | Autonomous traveling equipment | |
| CN219836062U (en) | Fire-fighting robot and fire-fighting system |
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 |