CN109358558A - A kind of control system and its control method of mine search and rescue robot - Google Patents
A kind of control system and its control method of mine search and rescue robot Download PDFInfo
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- CN109358558A CN109358558A CN201811359580.8A CN201811359580A CN109358558A CN 109358558 A CN109358558 A CN 109358558A CN 201811359580 A CN201811359580 A CN 201811359580A CN 109358558 A CN109358558 A CN 109358558A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provides the control systems and its control method of a kind of mine search and rescue robot, including control module, data acquisition module, wireless transport module, travel module, terminal APP and power module, it is characterized in that, the control module includes dsp processor, arm processor, RAM memory, the traveling module includes displacement sensor, driving device and transfer, the data acquisition device includes infrared night vision camera, smoke sensor device, temperature sensor, humidity sensor, gas concentration sensor and oxygen concentration sensor, the warning device is turned off the light including sudden strain of a muscle and sounding device, the sounding device is equipped with the loudspeaker for playing default stored voice message.The present invention can obtain rapidly the information of disaster scene, find the position of underground miner in danger, reduce accident harm, to Safety of Coal Mine Production and foundation and lower search and rescue system has a very important significance.
Description
Technical field
The present invention relates to generation information technology fields, and in particular to a kind of control system of mine search and rescue robot and its
Control method.
Background technique
The coal resources in China are very rich, are maximum coal production state and country of consumption in the world.But domestic high methane
Mine is in the majority, and the accidents such as gas explosion, water burst, kindling happen occasionally in coal mining, and all kinds of mine disasters is caused frequently to occur, dead
Number also occupies first place in the world.After mine disaster occurs, stranded survivor how is found in time and quick rescue is the cardinal task of rescue.
But complicated dangerous subsurface environment usually can bring difficulty to search-and-rescue work.Rescue worker often can not quickly and accurately obtain calamity
The information at difficult scene, such as gas and O2Whether the concentration of equal gases occurs fire or permeable, trapped person position, scene temperature
Humidity and collapsing situation, ventilation condition etc. are spent, the development of rescue work is hindered.It is set therefore, it is necessary to research and develop a kind of automate
It is standby, it can substitute or part substitution rescue personnel enters scene and completes environment detection and searching rescue task.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is the control systems and its control of a kind of mine search and rescue robot
Method can obtain rapidly the information of disaster scene, find the position of underground miner in danger, accident harm be reduced, to coal mine
It keeps the safety in production and establishes and lower search and rescue system has a very important significance.
The present invention solves technical problem and adopts the following technical scheme that
A kind of control system and its control method of mine search and rescue robot, including control module, data acquisition module, nothing
Line transmission module, traveling module, terminal APP and power module, the control module include dsp processor, arm processor and
RAM memory, the traveling module includes displacement sensor, driving device and transfer, and the data acquisition device includes
Infrared night vision camera, smoke sensor device, temperature sensor, humidity sensor, gas concentration sensor and oxygen concentration sensing
Device, the warning device is turned off the light including sudden strain of a muscle and sounding device, and the sounding device, which is equipped with, plays default stored voice message
Loudspeaker.
Preferably, the present invention also provides the control systems and its control method of stating a kind of mine search and rescue robot, including with
Lower step:
Step 1, rescue worker issue control instruction by terminal APP, then pass through wireless transport module for control instruction
It is sent to control module；
Step 2, after control module receives control instruction, arm processor is carried out after tentatively judging, according to different instruction
It is sent to dsp processor to carry out processing generation control signal and be sent to corresponding module, calls storage inside if it is system
The data stored in control module are then searched in the instruction of data automatically, are gone to after then judging driving direction if it is driving instruction
Step 3 then goes to step 4 if it is data acquisition instructions；
Step 3, after traveling module receives driving instruction, search and rescue robot is started running according to driving instruction.
Step 4, after data acquisition device receives data acquisition signal, log-on data acquisition module starts to acquire number
According to, and control module is sent by the data of acquisition；
Step 5, control module are real-time transmitted to the video data and environmental data that receive by wireless transport module
Terminal APP judges the alarm grade that the environment in mine reaches to algorithm analysis is carried out after the environmental data classification processing received
Not, alarm command then is produced according to alert levels and be sent to alarm module；
Step 6, alarm module receive the alarm command after alarm command according to different stage, issue different stage
Alarm signal；
Step 7, rescue worker according to be transmitted back in mine come video data, environmental data and alarm signal make down
One step search and rescue planning.
Preferably, the control instruction in step 1 includes driving instruction, data acquisition instructions and storage inside is called to store
Instruction.
Preferably, after control module receives the control instruction in step 1 in step 2, arm processor is tentatively sentenced
It is disconnected, it dsp processor is sent to according to different instruction carries out processing and generate control signal and be sent to corresponding module.
Preferably, driving instruction includes operating range and driving direction in step 3.
Preferably, data acquisition includes to progress video capture in mine and to smokescope, temperature in mine in step 4
Humidity, gas density, oxygen concentration carry out data acquisition.
Preferably, after control module receives the environmental data of data collecting module collected in step 5, arm processor into
Row is sent to dsp processor and carries out algorithm analysis after being classified, and calls storing data in RAM memory, judges in mine
The alert levels that reach of environment, then produce alarm command according to alert levels and be sent to alarm module.
Preferably, the alarm signal issued in step 6 is in the light and difference for issue different colours according to alert levels
The voice of appearance.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention is combined using arm processor, dsp processor with wireless transmission transmission technology, and intelligent search and rescue aircraft is built
Device people's control system, and mating infrared night vision camera, displacement sensor, smoke sensor device, temperature sensor, humidity sensor
Device, gas concentration sensor and oxygen concentration sensor realize the connection of mine search and rescue robot and terminal APP on this basis
System, rescue personnel judge ore removal by video image by observing adjustable robot travel route to the video of passback
Whether have in well and waited for rescue by oppressive, if it find that trapped person then passes through the position of robot motion displacement location trapped person
It sets, then analysis assessment is carried out to the environmental data of scene passback and search and rescue robot alarm signal is judged, to make
It adequately searches and rescues and prepares, the safety of rescue worker is also ensured while completing search-and-rescue work.
Detailed description of the invention
Fig. 1 is work flow diagram of the invention.
Specific embodiment
Combined with specific embodiments below, technical scheme in the embodiment of the invention is clearly and completely described, shows
So, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
Present embodiments provide the control system and its control method of a kind of mine search and rescue robot, including control module,
Data acquisition module, wireless transport module, traveling module, terminal APP and power module, the control module include DSP processing
Device, arm processor and RAM memory, the traveling module include displacement sensor, driving device and transfer, the number
It include infrared night vision camera, smoke sensor device, temperature sensor, humidity sensor, gas concentration sensor according to acquisition device
And oxygen concentration sensor, the warning device is turned off the light including sudden strain of a muscle and sounding device, and the sounding device, which is equipped with, plays default deposit
Store up the loudspeaker of voice messaging.
The present embodiment also provides the control system and its control method for stating a kind of mine search and rescue robot, including following step
It is rapid:
Step 1, rescue worker issue control instruction by terminal APP, then pass through wireless transport module for control instruction
It is sent to control module, control instruction includes driving instruction, data acquisition instructions and calling storage inside store instruction.
Step 2, after control module receives control instruction, then according to default rule by control instruction classification processing, such as
Fruit is that system calls the instruction of storage inside data then to search for the data stored in control module automatically, then if it is driving instruction
Step 3 is gone to after judging driving direction, then goes to step 4 if it is data acquisition instructions；
Step 3, after traveling module receives the instruction of operating range and driving direction, search and rescue robot is according to traveling
Instruction starts running.
Step 4, after data acquisition device receives data acquisition signal, log-on data acquisition module starts to mine
Interior progress video capture and are carried out by data acquisition, and will be adopted for smokescope in mine, temperature and humidity, gas density, oxygen concentration
The data of collection are sent to control module；
Step 5, control module are real-time transmitted to the video data and environmental data that receive by wireless transport module
Terminal APP, be sent to after classifying to the environmental data arm processor received dsp processor carry out algorithm analysis, and
RAM memory calls storing data, judges the alert levels that the environment in mine reaches, and is then produced and is alarmed according to alert levels
It instructs and is sent to alarm module.
Step 6, alarm module receive the alarm command after alarm command according to different stage, issue different colours
The voice of light and different content；
Step 7, rescue worker according to be transmitted back in mine come video data, environmental data and alarm signal make down
One step search and rescue planning.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solution in embodiment may also be suitably combined to form those skilled in the art can
With the other embodiments of understanding.
Claims (8)
1. a kind of control system and its control method of mine search and rescue robot, including it is control module, data acquisition module, wireless
Transmission module, traveling module, terminal APP and power module, which is characterized in that the control module includes dsp processor, ARM
Processor and RAM memory, the traveling module include displacement sensor, driving device and transfer, the data acquisition
Device includes infrared night vision camera, smoke sensor device, temperature sensor, humidity sensor, gas concentration sensor and oxygen
Concentration sensor, the warning device is turned off the light including sudden strain of a muscle and sounding device, and the sounding device, which is equipped with, plays default storaged voice
The loudspeaker of information.
2. the control system and its control method of a kind of mine search and rescue robot according to claim 1, which is characterized in that
The following steps are included:
Step 1, rescue worker issue control instruction by terminal APP, are then sent control instruction by wireless transport module
To control module；
Step 2, after control module receives control instruction, then according to default rule by control instruction classification processing, if it is
System calls the instruction of storage inside data then to search for the data stored in control module automatically, then judges if it is driving instruction
Step 3 is gone to after driving direction out, then goes to step 4 if it is data acquisition instructions；
Step 3, after traveling module receives driving instruction, search and rescue robot is started running according to driving instruction；
Step 4, after data acquisition device receives data acquisition signal, log-on data acquisition module starts to acquire data,
And control module is sent by the data of acquisition；
Step 5, control module are real-time transmitted to terminal by wireless transport module to the video data and environmental data that receive
APP judges the alert levels that the environment in mine reaches to algorithm analysis is carried out after the environmental data classification processing received,
Then alarm command is produced according to alert levels and be sent to alarm module；
Step 6, alarm module receive the alarm command after alarm command according to different stage, issue the alarm of different stage
Signal；
Step 7, rescue worker according to be transmitted back in mine come video data, environmental data and alarm signal make in next step
Search and rescue planning.
3. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
Control instruction in step 1 includes driving instruction, data acquisition instructions and calling storage inside store instruction.
4. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
After control module receives the control instruction in step 1 in step 2, arm processor is tentatively judged, according to different instruction
Dsp processor is sent to carry out processing generation control signal and be sent to corresponding module.
5. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
Driving instruction includes operating range and driving direction in step 3.
6. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
Data acquisition includes to progress video capture in mine and to smokescope, temperature and humidity, gas density, oxygen in mine in step 4
Gas concentration carries out data acquisition.
7. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
After control module receives the environmental data of data collecting module collected in step 5, arm processor is sent to after being classified
Dsp processor carries out algorithm analysis, and calls storing data in RAM memory, judges the alarm grade that the environment in mine reaches
Not, alarm command then is produced according to alert levels and be sent to alarm module.
8. the control system and its control method of a kind of mine search and rescue robot according to claim 2, which is characterized in that
The alarm signal issued in step 6 is the voice that the light and different content of different colours are issued according to alert levels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359580.8A CN109358558A (en) | 2018-11-15 | 2018-11-15 | A kind of control system and its control method of mine search and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359580.8A CN109358558A (en) | 2018-11-15 | 2018-11-15 | A kind of control system and its control method of mine search and rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109358558A true CN109358558A (en) | 2019-02-19 |
Family
ID=65345475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811359580.8A Withdrawn CN109358558A (en) | 2018-11-15 | 2018-11-15 | A kind of control system and its control method of mine search and rescue robot |
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| CN (1) | CN109358558A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091327A (en) * | 2019-03-28 | 2019-08-06 | 苏州博瑞芯智能科技有限公司 | A kind of rescue robot control system |
| CN110745129A (en) * | 2019-10-10 | 2020-02-04 | 北京踏歌智行科技有限公司 | Control device and control method for unmanned mining vehicle |
-
2018
- 2018-11-15 CN CN201811359580.8A patent/CN109358558A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091327A (en) * | 2019-03-28 | 2019-08-06 | 苏州博瑞芯智能科技有限公司 | A kind of rescue robot control system |
| CN110745129A (en) * | 2019-10-10 | 2020-02-04 | 北京踏歌智行科技有限公司 | Control device and control method for unmanned mining vehicle |
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Application publication date: 20190219 |