CN108357580A - A kind of rescue climbing robot control system and method - Google Patents
A kind of rescue climbing robot control system and method Download PDFInfo
- Publication number
- CN108357580A CN108357580A CN201711473575.5A CN201711473575A CN108357580A CN 108357580 A CN108357580 A CN 108357580A CN 201711473575 A CN201711473575 A CN 201711473575A CN 108357580 A CN108357580 A CN 108357580A
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- CN
- China
- Prior art keywords
- climbing robot
- wheel
- rescue
- remote
- control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rescue climbing robot control systems, it applies on rescue climbing robot, including processor, receiver of remote-control sytem, remote control transmitter, wheel train sensor, the processor, the wheel train sensor and the receiver of remote-control sytem are installed on the rescue climbing robot, the processor is communicated to connect with the receiver of remote-control sytem, the wheel train sensor respectively, the remote control transmitter is communicated to connect with the receiver of remote-control sytem, and the wheel of walking, the reel of climbing are provided on the rescue climbing robot.The control system and method for rescue climbing robot provided by the invention can be walked according to landform environmental selection wheel or reel climbs pattern, control rescue climbing robot overcomes terrain obstruction that relief supplies or equipment are transported to the region of needs, and it is powerful to lead to barrier.
Description
Technical field
The present invention relates to a kind of rescue climbing robot control system and methods, belong to field of intelligent control technology.
Background technology
With the rapid development of artificial intelligence technology, the application of robot is more and more extensive in mechanical industry, accident rescue
Climbing robot demand is increasing, and traditional rescue climbing robot merely relates to walking class, lacks for complicated landform
Design consider.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of rescue climbing robot control is provided
System and method processed.
In order to solve the above technical problems, the present invention provides a kind of rescue climbing robot control system, applies and climbed in rescue
It climbs in robot, which is characterized in that including processor, receiver of remote-control sytem, remote control transmitter, wheel train sensor, the processor,
The wheel train sensor and the receiver of remote-control sytem are installed on the rescue climbing robot, the processor respectively with institute
Receiver of remote-control sytem, wheel train sensor communication connection are stated, the remote control transmitter is communicated to connect with the receiver of remote-control sytem, institute
It states and is provided with the wheel of walking, the reel of climbing on rescue climbing robot.
As a kind of preferred embodiment, the processor is used for：Obtain the walking type of rescue climbing robot；And
According to the walking type, walking mechanism control model corresponding with the walking type is switched to.
As a kind of preferred embodiment, the walking type of the rescue climbing robot includes：Wheel walking, reel are climbed
It climbs.
As a kind of preferred embodiment, the receiver of remote-control sytem is used to receive the remote control letter that the remote control transmitter is sent out
Number, the wheel train sensor is wheel or reel for detecting train, and the type information of train is sent to the processing
Device.
As a kind of preferred embodiment, the remote signal includes：For indicate it is described walking type control signal,
Control signal for the motion state for indicating the rescue climbing robot.
As a kind of preferred embodiment, it is described rescue climbing robot motion state include it is set forth below in it is several
：Wheel steering, wheel advance, wheel retreats, wheel accelerates, wheel slows down, reel is wrung, reel unclamps, reel is climbed.
The present invention also proposes a kind of control method of rescue climbing robot control system, which is characterized in that including as follows
Step：Obtain the walking type of the rescue climbing robot；And according to the walking type, switch to and the walking class
The corresponding walking mechanism control model of type.
As a kind of preferred embodiment, the walking type includes：Wheel walking, reel climbing.
As a kind of preferred embodiment, the invention also includes：The remote signal that the remote control transmitter is sent out is received, and
The rescue climbing robot is controlled according to the remote signal, the remote signal includes：For indicating the walking type
Control signal, for indicate it is described rescue climbing robot motion state control signal.
As a kind of preferred embodiment, it is described rescue climbing robot motion state include it is set forth below in it is several
：Wheel steering, wheel advance, wheel retreats, wheel accelerates, wheel slows down, reel is wrung, reel unclamps, reel is climbed.
The advantageous effect that the present invention is reached：The control system and method for rescue climbing robot provided by the invention can be with
Pattern is climbed according to the walking of landform environmental selection wheel or reel, control rescue climbing robot overcomes terrain obstruction that will rescue
Article or equipment are transported to the region of needs, and it is powerful to lead to barrier.
Description of the drawings
Fig. 1 is the structural schematic diagram of the control system of the present invention.
The meaning marked in figure：1- rescue climbing robots, 2- processors, 3- wheels, 4- reels, 5- wheel train sensors,
6- receivers of remote-control sytem, 7- remote control transmitters.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of the control system of the present invention.The present invention proposes a kind of rescue climbing robot control system
System is applied on rescue climbing robot 1, which is characterized in that including processor 2, receiver of remote-control sytem 6, remote control transmitter 7, wheel
It is sensor 5, processor 2, wheel train sensor 5 and receiver of remote-control sytem 6 are installed on rescue climbing robot 1, and processor 2 divides
It is not communicated to connect with receiver of remote-control sytem 6, wheel train sensor 5, remote control transmitter 7 is communicated to connect with receiver of remote-control sytem 6, rescue climbing
The wheel 3 of walking, the reel 4 of climbing are provided in robot 1.
As a kind of preferred embodiment, processor 2 is used for：Obtain the walking type of rescue climbing robot 1；And root
According to walking type, walking mechanism control model corresponding with walking type is switched to.
As a kind of preferred embodiment, the walking type of rescue climbing robot 1 includes：Wheel walking, reel climbing.
As a kind of preferred embodiment, receiver of remote-control sytem 6 is taken turns for receiving the remote signal that remote control transmitter 7 is sent out
It is that sensor 5 is used to detect train as wheel 3 or reel 4, and the type information of train is sent to processor 2.
As a kind of preferred embodiment, remote signal includes：For indicating the control signal of walking type, for indicating
Rescue the control signal of the motion state of climbing robot 1.
As a kind of preferred embodiment, the motion state of rescue climbing robot 1 include it is set forth below in several items：
Wheel steering, wheel advance, wheel retreats, wheel accelerates, wheel slows down, reel is wrung, reel unclamps, reel is climbed.
The present invention also proposes a kind of control method of rescue climbing robot control system, which is characterized in that including as follows
Step：Obtain the walking type of rescue climbing robot 1；And according to walking type, switch to row corresponding with walking type
Walk mechanism controls pattern.
As a kind of preferred embodiment, walking type includes：Wheel walking, reel climbing.
As a kind of preferred embodiment, the invention also includes：Receive the remote signal that remote control transmitter 7 is sent out, and root
Rescue climbing robot 1 is controlled according to remote signal, remote signal includes：For indicating the control signal of walking type, being used for table
Show the control signal of the motion state of rescue climbing robot 1.
As a kind of preferred embodiment, the motion state of rescue climbing robot 1 include it is set forth below in several items：
It turns to, advance, retreating, accelerating, slowing down, spiral is wrung, release is wrung, is climbed.
The control system and method for rescue climbing robot provided by the invention can be according to landform environmental selection wheel rows
Walking either reel climbing pattern control rescue climbing robot overcomes terrain obstruction that relief supplies or equipment are transported to needs
Region, lead to barrier it is powerful.
The present invention is not it should be noted that driving shafting, steering engine and the steering mechanism of rescue climbing robot 1 give
Go out, reel wrings the embodiment that rope realizes that rescue climbing robot 1 is climbed and also do not provide, and those skilled in the art should
Know according to existing rope-climbed robot and drive shafting, steering engine and speed adjusting gear that rescue may be implemented accordingly and climbs
The motion state of robot 1 such as turns to, advances, retreating, accelerating, slowing down, spiral is wrung, release is wrung, is climbed, the present invention
It repeats no more.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of rescue climbing robot control system is applied on rescue climbing robot, which is characterized in that including processing
Device, receiver of remote-control sytem, remote control transmitter, wheel train sensor, the processor, the wheel train sensor and the receiver of remote-control sytem
It is installed on the rescue climbing robot, the processor is logical with the receiver of remote-control sytem, the wheel train sensor respectively
Letter connection, the remote control transmitter are communicated to connect with the receiver of remote-control sytem, and walking is provided on the rescue climbing robot
Wheel, climbing reel.
2. a kind of rescue climbing robot control system according to claim 1, which is characterized in that the processor is used
In：Obtain the walking type of rescue climbing robot；And according to the walking type, switch to corresponding to the walking type
Walking mechanism control model.
3. a kind of rescue climbing robot control system according to claim 2, which is characterized in that the rescue climbing machine
The walking type of device people includes：Wheel walking, reel climbing.
4. a kind of rescue climbing robot control system according to claim 1, which is characterized in that the receiver of remote-control sytem
The remote signal sent out for receiving the remote control transmitter, the wheel train sensor are that wheel still twists for detecting train
Wheel, and the type information of train is sent to the processor.
5. a kind of rescue climbing robot control system according to claim 4, which is characterized in that the remote signal packet
It includes：The control of motion state for indicating the control signal of the walking type, for indicating the rescue climbing robot
Signal.
6. a kind of rescue climbing robot control system according to claim 5, which is characterized in that the rescue climbing machine
The motion state of device people include it is set forth below in several items：Wheel steering, wheel advance, wheel retreats, wheel accelerates, wheel
Slow down, reel is wrung, reel unclamps, reel is climbed.
7. a kind of control method based on rescue climbing robot control system described in claim 1, which is characterized in that including
Following steps：Obtain the walking type of the rescue climbing robot；And according to the walking type, switch to and the row
Walk the corresponding walking mechanism control model of type.
8. a kind of control method of rescue climbing robot control system according to claim 7, which is characterized in that described
Walking type include：Wheel walking, reel climbing.
9. a kind of control method of rescue climbing robot control system according to claim 7, which is characterized in that also wrap
It includes：The remote signal that the remote control transmitter is sent out is received, and the rescue climbing robot is controlled according to the remote signal,
The remote signal includes：For indicating the control signal of the walking type, for indicating the rescue climbing robot
The control signal of motion state.
10. a kind of control method of rescue climbing robot control system according to claim 9, which is characterized in that institute
State rescue climbing robot motion state include it is set forth below in several items：Wheel steering, wheel advance, wheel retreats,
Wheel accelerates, wheel slows down, reel is wrung, reel unclamps, reel is climbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473575.5A CN108357580A (en) | 2017-12-29 | 2017-12-29 | A kind of rescue climbing robot control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711473575.5A CN108357580A (en) | 2017-12-29 | 2017-12-29 | A kind of rescue climbing robot control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108357580A true CN108357580A (en) | 2018-08-03 |
Family
ID=63010300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711473575.5A Pending CN108357580A (en) | 2017-12-29 | 2017-12-29 | A kind of rescue climbing robot control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108357580A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| JP2016078466A (en) * | 2014-10-09 | 2016-05-16 | 首都高技術株式会社 | Magnetic type adsorption travel vehicle, and magnet type construction/civil engineering structure inspection device |
| CN106043482A (en) * | 2016-06-07 | 2016-10-26 | 徐洪军 | Cable erection traction robot |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
-
2017
- 2017-12-29 CN CN201711473575.5A patent/CN108357580A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| JP2016078466A (en) * | 2014-10-09 | 2016-05-16 | 首都高技術株式会社 | Magnetic type adsorption travel vehicle, and magnet type construction/civil engineering structure inspection device |
| CN106043482A (en) * | 2016-06-07 | 2016-10-26 | 徐洪军 | Cable erection traction robot |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180803 |