CN108803598A - A kind of polar region multiple robots operating system and Synergistic method - Google Patents
A kind of polar region multiple robots operating system and Synergistic method Download PDFInfo
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- CN108803598A CN108803598A CN201810433433.4A CN201810433433A CN108803598A CN 108803598 A CN108803598 A CN 108803598A CN 201810433433 A CN201810433433 A CN 201810433433A CN 108803598 A CN108803598 A CN 108803598A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000002195 synergetic effect Effects 0.000 title claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000007667 floating Methods 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 13
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 230000010287 polarization Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000009429 distress Effects 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 3
- 239000007789 gas Substances 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- CCEKAJIANROZEO-UHFFFAOYSA-N sulfluramid Chemical group CCNS(=O)(=O)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)C(F)(F)F CCEKAJIANROZEO-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000005457 ice water Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
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- 229910052760 oxygen Inorganic materials 0.000 description 1
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- 231100000614 poison Toxicity 0.000 description 1
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- 239000004575 stone Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of polar region multiple robots operating system, the robot of polar region environment measuring is used for several including central controller, robot is wirelessly communicated with central controller, robot includes master controller, locating module, acquisition module and motion module, master controller is connect with locating module, acquisition module and motion module respectively, acquisition module is used to obtain the location information of robot for acquiring robot ambient data, locating module.Invention additionally discloses a kind of polar region multiple robots Synergistic methods.The present invention relates to electronics coordination technique fields, a kind of polar region multiple robots operating system and Synergistic method, robot is controlled by master controller combination locating module, acquisition module and motion module, and polar region environmental data is acquired in the environment of polar region, and feed back to central controller, the monitoring and management to polar region disaster are improved in real time, central controller can control robot to avoid the disaster position of polar region, reduce robot accident.
Description
Technical field
The present invention relates to electronics coordination technique field more particularly to a kind of polar region multiple robots operating system and Synergistic methods
With device.
Background technology
Due to desert The Icy Well production environment rather harsh, one-man job's risk factor is higher.Desert The Icy Well environment work pair
Production management has a very high requirement of real-time, production management personnel, electric locomotive driver, belt maintenance workers and other one usually
Contact can not be obtained with ground, so the detection to environment is just particularly important.In recent years China on ice accident rise trend
Seriously, therefore desert operating personnel carries desert communication system, however far can not to adapt to desert big for wired collaboration in desert
Measure operating personnel and its managerial needs.And existing environment measuring robot in desert or on ice in do the detection of environment,
It is easy to be influenced by various environment such as ice cube, sand pit and detection work is made to be affected.
Additionally while desert enterprise all pays much attention to production safety, but accident is probabilistic, accident hair
Decidedly reactive measures must be taken to be handled according to situation at that time after life, comprehensive urgent rescue is carried out to desert personnel.
Invention content
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of simple, real-time polar region multiple robots behaviour
Make system, be suitable for polar region environment measuring, improves monitoring and management to disaster.
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of simple, real-time polar region multiple robots associations
Same method is suitable for polar region environment measuring, improves monitoring and management to disaster.
The technical solution adopted in the present invention is：A kind of polar region multiple robots operating system, if including central controller and
The dry robot for being used for polar region environment measuring, the robot are wirelessly communicated with the central controller, the robot packet
Include master controller, locating module, acquisition module and motion module, the master controller respectively with locating module, acquisition module and
Motion module connects, and the acquisition module is for acquiring robot ambient data, and the locating module is for obtaining machine
The location information of people.
As being further improved for said program, the locating module includes polarotactic navigation sensor, the polarised light
Navigation sensor is connect with the master controller, the course for acquiring sun light polarization state and then acquisition robot itself
Angle.
As being further improved for said program, the locating module further includes rangefinder, the rangefinder and the master
Controller connects, for measuring the distance between adjacent machines people.
As being further improved for said program, the motion module includes motor, the floating eccentric magnetic slip ring of three axle suspension and pole
Ground rolling traction runner, the master controller are connect with the motor, and the motor connects with the floating eccentric magnetic slip ring of three axle suspension
It connects, for driving the floating eccentric magnetic slip ring of three axle suspension, the three eccentric shafts magnetic slip ring to connect with the polar region rolling traction runner
It connects, for driving the polar region rolling traction runner to move.
As being further improved for said program, the acquisition module includes humidity sensor, temperature sensor, concentration biography
Sensor, gas monitoring sensors and attitude transducer.
As being further improved for said program, the robot is additionally provided with gas collector.
As being further improved for said program, the robot further includes identification module, the identification module with it is described
Master controller connects, and the identification module includes distributed Background Recognition unit and object identification unit.
A kind of polar region multiple robots Synergistic method is suitable for a kind of such as above-mentioned polar region multiple robots operating system, described
Method includes：
Acquisition step, robot acquire itself ambient data while obtaining location information, and by environmental data and position
Confidence breath is sent to central controller；
Set-up procedure, central controller obtain the formation information of multiple robots, and central controller is according to the environment received
Data information and location information send out adjustment signal to robot, adjust robot location, and then adjust the formation of multiple robots.
As being further improved for said program, the location information includes course angle, distance and the direction of motion, described to adopt
Collecting step is specially：Robot acquires sunlight, itself course angle is obtained according to the polarization state of sunlight, meanwhile, robot
It obtains the positioning signal of adjacent machines people and the distance between with adjacent machines people, becomes according to the distance between adjacent machines people
Change judges the direction of motion of itself, and itself course angle and the direction of motion of itself are sent to central controller；Robot is adopted
Collect itself ambient data, the environmental data includes temperature, humidity, specific gas concentration and image information, and by environment
Data are sent to central controller.
As being further improved for said program, the method further includes emergency step：As robot probe to temperature height
When predetermined value, positioning distress signal is sent out after central controller receives positioning distress signal to central controller and obtains machine
The ambient data of device people current location formulates corresponding rescue scheme.
The beneficial effects of the invention are as follows：
A kind of polar region multiple robots operating system passes through master controller combination locating module, acquisition module and motion module
Control robot acquires polar region environmental data in the environment of polar region, and feeds back to central controller, improves in real time to polar region disaster
Monitoring and management, central controller can control robot to avoid the disaster position of polar region, reducing the generation of robot accident.
The present invention another advantageous effect be：
A kind of polar region multiple robots Synergistic method passes through master controller combination locating module, acquisition module and motion module
Control robot acquires polar region environmental data in the environment of polar region, and feeds back to central controller, improves in real time to polar region disaster
Monitoring and management, central controller can control robot to avoid the disaster position of polar region, reducing the generation of robot accident.
Description of the drawings
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of polar region multiple robots operating system module block diagram of the present invention；
Fig. 2 is polar region robot architecture schematic diagram of the present invention；
Fig. 3 is a kind of polar region multiple robots Synergistic method flow chart of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
Fig. 1 is a kind of polar region multiple robots operating system module block diagram of the present invention, referring to Fig.1, a kind of polar region multiple robots
Operating system, including central controller and several be used for the robot of polar region environment measuring, robot and central controller without
Line communicates, and central controller is computer or notebook.
Wherein, robot includes master controller, locating module, acquisition module and motion module.Master controller respectively with it is fixed
Position module, acquisition module are connected with motion module.Master controller uses BCM2837 chips.Acquisition module is for acquiring robot
Ambient data, locating module are used to obtain the location information of robot.
Specifically, locating module includes polarotactic navigation sensor, polarotactic navigation sensor is connect with master controller, is used
In the course angle of acquisition sun light polarization state and then acquisition robot itself.
Specifically, locating module further includes rangefinder, rangefinder is connect with master controller.Rangefinder for measure with it is adjacent
The distance between robot.Rangefinder acquires the positioning signal that other robot is sent, and calculates the RSSI value for receiving signal, according to
RSSI value judges the distance between other robot.In the present embodiment, the chip that rangefinder uses is CC2530 chips.Polarization
Collected data are sent to master controller by light guide sensor and rangefinder, and master controller is calculated after receiving data
Obtain the course angle of robot and the distance between with adjacent machines people.
It is rolled specifically, motion module includes motor, the floating eccentric magnetic slip ring of three axle suspension and polar region rolling traction runner, polar region
Traction runner is drum-type wheel.Master controller is connect with motor, and motor is connect with the floating eccentric magnetic slip ring of three axle suspension, three eccentric shafts
Magnetic slip ring is connect with polar region rolling traction runner, and master controller sends control signal to motor, and motor drives the floating bias of three axle suspension
Magnetic slip ring, the floating eccentric magnetic slip ring of three axle suspension and then drive polar region rolling traction runner movement, realize the movement of robot.Work as machine
Human hair gives birth to emergency, and rangefinder constantly measures at a distance from adjacent machines people, by sentencing with the distance change of adjacent machines people
The direction of motion of disconnected adjacent machines people, and then adjust the guiding direction of itself polar region rolling traction runner, that is, change the fortune of itself
Dynamic direction.
Specifically, acquisition module include humidity sensor, temperature sensor, concentration sensor, gas monitoring sensors and
Attitude transducer etc..Temperature sensor is used to detect the temperature of robot, and concentration sensor is for detecting robot
The concentration of ambient enviroment specific gas carries out real-time tracking monitoring and positioning to the concentration of specific gas, and clear grasp has at any time
Position and activity situation of the poisonous gas in desert.Gas monitoring sensors are used to detect the specific gas around robot, posture
Sensor is used to detect the attitudes vibration of robot, and in the present embodiment, attitude transducer uses MPU6050 chips.
Preferably, humidity sensor is used to detect the humidity of robot, is known using array humidity sensor
The concentration in not each orientation, determines the direction of gas motion.
Specifically, the robot is additionally provided with gas collector and odometer, gas collector is by activated carbon, float stone, oxygen
Change aluminium component to constitute.When robot is when volcanic area is detected, gas collector can be used for adsorbing acquisition volcanic area
Gas, the true composition for speculating Magmatic Fluid.It comes back to the base after the gas that robot acquires volcanic area, according to machine
The information such as the time of device people record and position, analyze gas, the time interval that prediction volcano is erupted again.
Preferably, which further includes identification module, and identification module is connect with master controller.Identification module includes distribution
Formula Background Recognition unit and object identification unit.Distributed Background Recognition unit and object identification unit are video camera, wherein
Distributed Background Recognition unit preferably uses binocular camera, and static background, object identification list are extracted for tracking dynamic object
Member is for shooting object.The image collected information is sent to master control by distributed Background Recognition unit and object identification unit
Device processing analysis processed.
Fig. 2 is polar region robot architecture schematic diagram of the present invention, with reference to Fig. 2, a kind of polar region robot, including fuselage 1, and master control
Device 2, locating module 3, motion module 4 and acquisition module 5 processed.Wherein, on the fuselage 1, locating module 3 is set the setting of master controller 2
It sets in the front end of fuselage 1, acquisition module 5 is arranged in the rear end of fuselage 1, and there are four the tools of motion module 4, is respectively distributed to fuselage 1
Both sides.Motion module 4 includes motor, the floating eccentric magnetic slip ring of three axle suspension and polar region rolling traction runner, master controller and motor
Connection, motor are connect with the floating eccentric magnetic slip ring of three axle suspension, and three eccentric shaft magnetic slip rings are connect with polar region rolling traction runner, main control
Device sends control signal, the floating eccentric magnetic slip ring of motor three axle suspension of driving to motor, and the floating eccentric magnetic slip ring of three axle suspension drives pole in turn
Ground rolling traction runner movement, realizes the movement of robot.
A kind of polar region robot operating system of the present invention is suitable for the detection of the environment such as desert or volcano, can also promote and answer
It uses in other civilian scientific investigations or the processing of military chemical industry calamity emergency, is being inconvenient to send someone, into the occasion of detection, to pass through machine
Crowd monitoring ice water or poison gas concentration calculate the site of an accident.
Fig. 3 is a kind of polar region multiple robots Synergistic method flow chart of the present invention, with reference to Fig. 3, a kind of polar region multiple robots association
Same method, it includes central controller and multiple robots to be suitable for such as above-mentioned polar region multiple robots operating system, system, and center controls
Device is wirelessly communicated with multiple robots, and Synergistic method includes：
Acquisition step, robot acquire itself ambient data while obtaining location information, and by environmental data and position
Confidence breath is sent to central controller；Wherein, location information includes course angle, distance and the direction of motion；Environmental data includes temperature
Degree, humidity, specific gas concentration and image information.
Set-up procedure, central controller obtain formation information, central controller according to the environmental data information that receives with
Location information sends out adjustment signal to robot, adjusts robot location, and then adjust the formation of multiple robots so that robot
Group is uniformly distributed in specific region.
Acquisition step is specially robot acquisition sunlight, obtains itself course angle according to the polarization state of sunlight, together
When, robot obtains the positioning signal of adjacent machines people and the distance between with adjacent machines people, according to adjacent machines people it
Between distance change judge the direction of motion of itself, and itself course angle and the direction of motion of itself are sent to central control
Device；Robot acquires itself ambient data, by collected temperature data, humidity data, specific gas concentration data and
Ambient enviroment image information is sent to central controller.
Set-up procedure is specially that central controller determines multiple robots formation according to area to be tested size so that robot
Group is uniformly distributed in area to be tested, and central controller receives the environmental data information and location information that each robot is sent,
Judge whether each robot is normal, if there is machine human hair to give birth to abnormal conditions, redefines the formation information of multiple robots, and
Adjustment signal is sent out to robot, adjusts the position of robot, and then adjust the formation of multiple robots.
The Synergistic method further includes emergency step：When robot probe to temperature is higher than predetermined value, to central controller
It sends out positioning distress signal and obtains surrounding's ring of the robot current location after central controller receives positioning distress signal
Border data formulate corresponding rescue scheme.
A kind of polar region multiple robots Synergistic method passes through master controller combination locating module, acquisition module and motion module
Control robot acquires polar region environmental data in the environment of polar region, and feeds back to central controller, improves in real time to polar region disaster
Monitoring and management, central controller can control robot to avoid the disaster position of polar region, reducing the generation of robot accident.
It is to be illustrated to the preferable implementation of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of polar region multiple robots operating system, which is characterized in that be used for polar region environment including central controller and several
The robot of detection, the robot are wirelessly communicated with the central controller, and the robot includes master controller, positioning mould
Block, acquisition module and motion module, the master controller is connect with locating module, acquisition module and motion module respectively, described
Acquisition module is used to obtain the location information of robot for acquiring robot ambient data, the locating module.
2. a kind of polar region multiple robots operating system according to claim 1, which is characterized in that the locating module includes
Polarotactic navigation sensor, the polarotactic navigation sensor are connect with the master controller, for acquiring sun light polarization shape
State and then the course angle for obtaining robot itself.
3. a kind of polar region multiple robots operating system according to claim 2, which is characterized in that the locating module also wraps
Rangefinder is included, the rangefinder is connect with the master controller, for measuring the distance between adjacent machines people.
4. a kind of polar region multiple robots operating system according to claim 3, which is characterized in that the motion module includes
The floating eccentric magnetic slip ring of motor, three axle suspension and polar region rolling traction runner, the master controller are connect with the motor, the motor
It is connect with the floating eccentric magnetic slip ring of three axle suspension, for driving the floating eccentric magnetic slip ring of three axle suspension, the three eccentric shafts magnetic to slide
Ring is connect with the polar region rolling traction runner, for driving the polar region rolling traction runner to move.
5. a kind of polar region multiple robots operating system according to claim 4, which is characterized in that the acquisition module includes
Humidity sensor, temperature sensor, concentration sensor, gas monitoring sensors and attitude transducer.
6. a kind of polar region multiple robots operating system according to claim 5, which is characterized in that the robot is also set up
There is gas collector.
7. a kind of polar region multiple robots operating system according to any one of claims 1 to 6, which is characterized in that the machine
Device people further includes identification module, and the identification module is connect with the master controller, and the identification module includes distributed background
Recognition unit and object identification unit.
8. a kind of polar region multiple robots Synergistic method is suitable for a kind of polar region robot as described in any one of claim 1 to 7
Group operation system, which is characterized in that the method includes：
Acquisition step, robot acquire itself ambient data while obtaining location information, and environmental data and position are believed
Breath is sent to central controller；
Set-up procedure, central controller obtain the formation information of multiple robots, and central controller is according to the environmental data received
Information and location information send out adjustment signal to robot, adjust robot location, and then adjust the formation of multiple robots.
9. a kind of polar region multiple robots Synergistic method according to claim 8, which is characterized in that the location information includes
Course angle, distance and the direction of motion, the acquisition step are specially：Robot acquires sunlight, according to the polarization shape of sunlight
State obtains itself course angle, meanwhile, robot obtains the positioning signal of adjacent machines people and the distance between with adjacent machines people,
Judge the direction of motion of itself according to the distance between adjacent machines people variation, and by the movement side of itself course angle and itself
To being sent to central controller；Robot acquires itself ambient data, and the environmental data includes temperature, humidity, specific
Gas concentration and image information, and environmental data is sent to central controller.
10. a kind of polar region multiple robots Synergistic method according to claim 9, which is characterized in that the method further includes
Emergency step：When robot probe to temperature is higher than predetermined value, positioning distress signal, center control are sent out to central controller
After device receives positioning distress signal, the ambient data of robot current location is obtained, formulates corresponding rescue scheme.
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| CN201810433433.4A CN108803598A (en) | 2018-05-08 | 2018-05-08 | A kind of polar region multiple robots operating system and Synergistic method |
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| CN201810433433.4A CN108803598A (en) | 2018-05-08 | 2018-05-08 | A kind of polar region multiple robots operating system and Synergistic method |
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Application publication date: 20181113 |