CN108995658A - A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems - Google Patents
A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems Download PDFInfo
- Publication number
- CN108995658A CN108995658A CN201810779862.7A CN201810779862A CN108995658A CN 108995658 A CN108995658 A CN 108995658A CN 201810779862 A CN201810779862 A CN 201810779862A CN 108995658 A CN108995658 A CN 108995658A
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- CN
- China
- Prior art keywords
- interchanger
- crawler type
- output end
- processor
- input terminal
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0071—Controller overrides driver automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
Abstract
The present invention relates to unmanned fields more particularly to a kind of adverse circumstances crawler type danger source to probe processing Unmanned Systems.The present invention includes driving main body, processor, environmental analysis instrument, AP terminal, camera, interchanger, solenoid valve block, velocity sensor and card reader；Driving main body includes crawler type conduct structure, the output end of camera is connect with the input terminal of environmental analysis instrument, the output end of environmental analysis instrument and the input terminal of processor connect, the output end of camera is connected by the input terminal of interchanger and AP terminal and ground system, and processor is connect by interchanger and AP terminal with ground system interactive mode.Adverse circumstances are suitable for, suitable for the Unmanned Systems of danger source processing task the present invention provides a kind of.
Description
Technical field
Probing processing the present invention relates to unmanned field more particularly to a kind of adverse circumstances crawler type danger source, nobody drives
Sail system.
Background technique
Unmanned device is also referred to as wheeled mobile robot, rely primarily in device based on computer system
Intelligent driving instrument realizes unpiloted target.Unmanned device is to perceive road ambient enviroment by sensor-based system, automatically
Planning travel route simultaneously controls the smart machine that vehicle reaches predeterminated target.It is ambient enviroment is perceived using sensor, and
According to perception road, setting position and obstacle information obtained, the steering and speed of control device, to enable devices to
Reliably and securely travelled on road.Collect numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating in one
Body is the product of computer science, pattern-recognition and intelligent control technology high development, and measures a national research strength
With an important symbol of industrial level, have broad application prospects in national defence and national economy field.
Existing Unmanned Systems can only travel in specific environment, when being applied to national defence, adapt to
Property is lower.Under explosion-proof, radiation protection environment, or for the exploring and processing of biology, chemistry, radioactivity, core, virus, explosive
When, common unmanned device is difficult to be competent at.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, provide one kind and are suitable for adverse circumstances, are suitable for danger source processing times
The Unmanned Systems of business, solving existing Unmanned Systems can not work in adverse circumstances and can not carry out dangerous source detection
The problem of with processing.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems, including drive main body, processor, environment
Analyzer, AP terminal, camera, interchanger, solenoid valve block, velocity sensor and card reader；Driving main body includes crawler type row
The output end of gauge structure, camera is connect with the input terminal of environmental analysis instrument, the output end of environmental analysis instrument and processor it is defeated
Enter end connection, the output end of camera is connected by the input terminal of interchanger and AP terminal and ground system, and processor passes through friendship
It changes planes and is connect with AP terminal with ground system interactive mode；The output end of velocity sensor and the input terminal of processor connect, card reading
The output end of device and the input terminal of processor connect, and the output end of processor is connected by the input terminal of interchanger and variable-frequency governor
It connects, the output end of processor and the input terminal of solenoid valve block connect, and solenoid valve block is connect with locomotive machinery component.
As a preferred solution of the present invention, it is connected between the camera and environmental analysis instrument by analog video interface.
As a preferred solution of the present invention, it is connected between the camera and interchanger by Ethernet, interchanger and AP
Connected between terminal by Ethernet, connected between processor and interchanger by Ethernet, interchanger and variable-frequency governor it
Between pass through Ethernet connect.
As a preferred solution of the present invention, it is connected between the environmental analysis instrument and processor by RS232 serial line interface.
As a preferred solution of the present invention, it is connected between the card reader and processor by RS485 serial line interface.
As a preferred solution of the present invention, pass through tracheae and machine driving between the solenoid valve block and locomotive machinery component
Mode connects.
As a preferred solution of the present invention, by meeting the nothing of 802.11n agreement between the AP terminal and ground system
Line LAN connection.
As a preferred solution of the present invention, the environmental analysis instrument is mainly made of decoder module and data processing module,
Decoder module selects the decoding chip of model SAA7113, and data processing module selects the FPGA core of model EP3C16F484
Piece.
Compared with prior art, the beneficial effects of the present invention are:
Driving main body of the invention uses track structure, then drives main body and adapt to explosion-proof, radiation protection environment, can sail
Enter the region containing the danger sources such as biology, chemistry, radioactivity, core, virus, explosive, adaptability is stronger.Environmental analysis instrument energy
It probes and danger sources, the ability to work such as processing biology, chemistry, radioactivity, core, virus, explosive is strong.The device of the invention and its
Its same category of device is compared, and the accurate detection of setting position may be implemented, in real time analysis front ambient condition, real-time report device
Work information and environmental information, and control instruction is received, realize the automation control to device；Use the device of the invention can be with
The automation of realization device travels, and keeps the operation of device more safe and reliable.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment one
A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems, including drive main body, processor, environment
Analyzer, AP terminal, camera, interchanger, solenoid valve block, velocity sensor and card reader；Driving main body includes crawler type row
The output end of gauge structure, camera is connect with the input terminal of environmental analysis instrument, the output end of environmental analysis instrument and processor it is defeated
Enter end connection, the output end of camera is connected by the input terminal of interchanger and AP terminal and ground system, and processor passes through friendship
It changes planes and is connect with AP terminal with ground system interactive mode；The output end of velocity sensor and the input terminal of processor connect, card reading
The output end of device and the input terminal of processor connect, and the output end of processor is connected by the input terminal of interchanger and variable-frequency governor
It connects, the output end of processor and the input terminal of solenoid valve block connect, and solenoid valve block is connect with locomotive machinery component.
Driving main body of the invention uses track structure, then drives main body and adapt to explosion-proof, radiation protection environment, can sail
Enter the region containing the danger sources such as biology, chemistry, radioactivity, core, virus, explosive, adaptability is stronger.Environmental analysis instrument energy
It probes and danger sources, the ability to work such as processing biology, chemistry, radioactivity, core, virus, explosive is strong.The device of the invention and its
Its same category of device is compared, and the accurate detection of setting position may be implemented, in real time analysis front ambient condition, real-time report device
Work information and environmental information, and control instruction is received, realize the automation control to device；Use the device of the invention can be with
The automation of realization device travels, and keeps the operation of device more safe and reliable.
Embodiment two
On the basis of example 1, it is connected between the camera and environmental analysis instrument by analog video interface.
Embodiment three
It on the basis of embodiment one or embodiment two, is connected, is handed over by Ethernet between the camera and interchanger
It changes planes and is connect between AP terminal by Ethernet, connected between processor and interchanger by Ethernet, interchanger and frequency conversion
It is connected between governor by Ethernet.
Example IV
It is serial by RS232 between the environmental analysis instrument and processor on the basis of above-mentioned any one embodiment
Interface connection.It is connected between the card reader and processor by RS485 serial line interface.The solenoid valve block and locomotive machinery portion
It is connected by tracheae with mechanical drive mode between part.
Embodiment five
On the basis of above-mentioned any one embodiment, by meeting 802.11n between the AP terminal and ground system
The WLAN of agreement connects.The environmental analysis instrument is mainly made of decoder module and data processing module, decoder module
The decoding chip of model SAA7113 is selected, data processing module selects the fpga chip of model EP3C16F484.
Claims (8)
1. a kind of adverse circumstances crawler type danger source probes processing Unmanned Systems, which is characterized in that including driving main body, place
Manage device, environmental analysis instrument, AP terminal, camera, interchanger, solenoid valve block, velocity sensor and card reader；Driving main body includes
The output end of crawler type conduct structure, camera is connect with the input terminal of environmental analysis instrument, the output end of environmental analysis instrument and place
The input terminal connection of device is managed, the output end of camera is connected by the input terminal of interchanger and AP terminal and ground system, processing
Device is connect by interchanger and AP terminal with ground system interactive mode；The output end of velocity sensor and the input terminal of processor connect
It connects, the input terminal of the output end of card reader and processor connects, and the output end of processor passes through interchanger and variable-frequency governor
Input terminal connection, the output end of processor and the input terminal of solenoid valve block connect, and solenoid valve block is connect with locomotive machinery component.
2. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, is connected between the camera and environmental analysis instrument by analog video interface.
3. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, is connected between the camera and interchanger by Ethernet, is connected between interchanger and AP terminal by Ethernet, place
It manages and is connected between device and interchanger by Ethernet, connected between interchanger and variable-frequency governor by Ethernet.
4. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, is connected between the environmental analysis instrument and processor by RS232 serial line interface.
5. the on-vehicle control apparatus according to claim 1 for mine unmanned engine, which is characterized in that the reading
It is connected between card device and processor by RS485 serial line interface.
6. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, is connected between the solenoid valve block and locomotive machinery component by tracheae and mechanical drive mode.
7. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, is connected between the AP terminal and ground system by meeting the WLAN of 802.11n agreement.
8. a kind of adverse circumstances crawler type danger source according to claim 1 probes processing Unmanned Systems, feature
It is, the environmental analysis instrument is mainly made of decoder module and data processing module, and decoder module selects model SAA7113
Decoding chip, data processing module select model EP3C16F484 fpga chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810779862.7A CN108995658A (en) | 2018-07-16 | 2018-07-16 | A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810779862.7A CN108995658A (en) | 2018-07-16 | 2018-07-16 | A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108995658A true CN108995658A (en) | 2018-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810779862.7A Pending CN108995658A (en) | 2018-07-16 | 2018-07-16 | A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems |
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Citations (7)
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| CN101417674A (en) * | 2008-11-20 | 2009-04-29 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN105261029A (en) * | 2015-11-20 | 2016-01-20 | 中国安全生产科学研究院 | Method and robot for performing fire source location and fire extinguishment based on binocular vision |
| CN205256328U (en) * | 2015-12-08 | 2016-05-25 | 合肥工大高科信息科技股份有限公司 | A on -board control device for mine unmanned engine |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106347509A (en) * | 2016-11-01 | 2017-01-25 | 陈文全 | Barrier-free detection robot |
| CN106428264A (en) * | 2016-10-12 | 2017-02-22 | 上海大学 | Explosive-handling robot |
-
2018
- 2018-07-16 CN CN201810779862.7A patent/CN108995658A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417674A (en) * | 2008-11-20 | 2009-04-29 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN105261029A (en) * | 2015-11-20 | 2016-01-20 | 中国安全生产科学研究院 | Method and robot for performing fire source location and fire extinguishment based on binocular vision |
| CN205256328U (en) * | 2015-12-08 | 2016-05-25 | 合肥工大高科信息科技股份有限公司 | A on -board control device for mine unmanned engine |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106428264A (en) * | 2016-10-12 | 2017-02-22 | 上海大学 | Explosive-handling robot |
| CN106347509A (en) * | 2016-11-01 | 2017-01-25 | 陈文全 | Barrier-free detection robot |
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181214 |
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| RJ01 | Rejection of invention patent application after publication |