CN109933070B - Rescue system of six-wheel rescue land robot - Google Patents
Rescue system of six-wheel rescue land robot Download PDFInfo
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- CN109933070B CN109933070B CN201910236700.3A CN201910236700A CN109933070B CN 109933070 B CN109933070 B CN 109933070B CN 201910236700 A CN201910236700 A CN 201910236700A CN 109933070 B CN109933070 B CN 109933070B
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Abstract
The invention relates to a rescue system for six-wheeled rescue of a dry land robot, which comprises: the system comprises six rounds of rescue dry land robots, a cloud database and a remote control system, wherein the six rounds of rescue dry land robots are used for executing rescue operation on a rescue site; the cloud database is used for recording and storing rescue information of the rescue robot; the remote control system is used for displaying real-time position information and real-time video information of the robot and controlling the six-wheeled rescue dry land robot in real time. The robot is small in structure, spare parts are convenient to purchase and replace, the robot is provided with an equipment carrying frame, various kinds of equipment can be carried at the same time, the robot can be used as a first-aid rescue team in rescue environments where people hardly enter caves, ruins and the like or environments with low safety factors such as mud-rock flow disaster post-site and fire site, the robot can present complete and clear rescue environments through the flexibility and the camera shooting function, high-difficulty rescue tasks such as detection, search and rescue are completed, and intelligent and accurate multifunctional rescue is achieved.
Description
Technical Field
The invention relates to a rescue dry land robot, in particular to a six-wheel spliced rescue dry land robot.
Background
Most of rescue robots are two common wheel type rescue robots and two common crawler type rescue robots, and the common wheel type rescue robots are good in mobility but poor in obstacle crossing performance; the common crawler-type rescue robot has good obstacle crossing performance but poor maneuverability; in emergencies such as wars and terrorist attacks, the dangerous environment is often not favorable for the two rescue robots to go deep into the scene for rescue, so that the design of the rescue robot with high intelligentization degree, strong search and rescue performance and good obstacle crossing performance is particularly important.
Machine vision, electromagnetic sensing technology and accurate positioning technology are the hot spot in technical field at present, combine it with rescue robot with integrated design theory, apply to actual rescue, realize accurate multi-functional rescue of intelligence, help to accomplish high difficult rescue tasks such as investigation, search, rescue properly.
Disclosure of Invention
In order to overcome the problems in the prior art, the rescue system for the six-wheeled rescue dry land robot is used for realizing intelligent and accurate multifunctional rescue and is beneficial to properly finishing high-difficulty rescue tasks such as detection, search and rescue.
In order to achieve the purpose, the technical scheme of the invention is as follows: a rescue system for a six-wheeled rescue motorgrader robot, comprising: the system comprises six rounds of rescue dry land robots, a cloud database and a remote control system, wherein the six rounds of rescue dry land robots are used for executing rescue operation on a rescue site; the cloud database is used for recording and storing rescue information of the rescue robot; the remote control system is used for displaying real-time position information and real-time video information of the robot and controlling the six rounds of rescue dry land robots in real time;
the dry land robot for six-wheel rescue comprises: the first central control unit is used for coordinating and controlling the operation of each module, processing the image information acquired from the high-definition camera module and calculating the geometric information of the object in the three-dimensional space;
the front 4 and rear 2 type chassis structure is used for lifting the front wheels and the ground plate and adjusting the gravity center of the six-wheel rescue dry land robot;
the first communication module is communicated with the first central control unit and is used for sending the real-time video information processed by the first central control unit to a remote control system and receiving command information from the remote control system;
the UWB positioning module is communicated with the first central control unit and used for acquiring the position and the rescue position of the real-time calibration rescue robot;
the six-degree-of-freedom double-mechanical-arm system is communicated with the first central control unit and is used for carrying rescue goods and materials, cleaning small road obstacles through cooperative operation and rescuing trapped people basically in a point-to-point manner;
the hazardous gas detection module is communicated with the first central control unit and is used for detecting the type and range of toxic gas around the rescue robot;
the high-definition camera module is communicated with the first central control unit and is used for acquiring real-time high-definition video information;
the equipment carrying frame is used for carrying basic rescue equipment, the basic rescue equipment is configured autonomously according to rescue conditions, and rescue information of the rescue equipment is transmitted to the remote control system through the first communication module and displayed on the human-computer interaction interface.
Further, the first central control unit, the harmful gas detection module, the first communication module, the UWB positioning module and the high-definition camera module are vehicle-mounted built-in devices, and the six-degree-of-freedom double-mechanical-arm system is a vehicle-mounted external device.
Further, the first central controller is provided with a machine vision module for identifying the safety mark, analyzing the danger coefficient of the acquired image, and pre-judging and reminding the possible emergency.
Furthermore, the built-in UWB positioning module can calibrate the position and the rescue position of the real-time positioning rescue robot and is used for automatically returning to the line guidance of the base after communication is interrupted.
Furthermore, the front 4 and rear 2 type chassis structure is formed by connecting a four-wheel drive chassis and a chassis of a balance car through an electromagnetic device; the chassis of the four-wheel drive vehicle adopts an H-shaped structure, one side of the H-shaped structure is provided with a first tire and a third tire, and the other side of the H-shaped structure is provided with a second tire and a fourth tire to form the four-wheel drive vehicle; two sides of the H-shaped structure are connected through a middle shaft worm wheel and worm direct-current speed reduction motor output shaft, when the middle shaft worm wheel and worm direct-current speed reduction motor output shaft rotates anticlockwise, a third tire and a fourth tire are used as supporting points, the first tire and the second tire are lifted, the foot lifting action is realized, and the gravity center of a vehicle body and the distance between middle wheel wheels are adjusted; when the output shaft of the middle shaft worm wheel worm direct current speed reducing motor rotates clockwise, the first tire and the second tire are used as fulcrums, the third tire and the fourth tire are lifted, the foot falling action is realized, the foot lifting action and the foot falling action are alternately carried out, and the fifth tire and the sixth tire are respectively arranged on two sides of the chassis of the balance car to form the balance car; when the fifth tire and the sixth tire rotate, the six-wheel rescue dry land robot can be pushed to move forward, and the first tire and the second tire can protect the body of the rescue vehicle, so that the rescue vehicle cannot easily turn over when an unknown object collides.
Further, after the four-wheel drive vehicle and the balance vehicle are separated, the balance vehicle can be quickly searched and rescued, and the four-wheel drive vehicle is loaded with an equipment carrying frame and is slowly followed or separately searched; the balance car and the four-wheel driven car are both provided with the UWB positioning module, after the balance car finds a rescue point, the rescue position is calibrated, the four-wheel driven car is returned to find, the six-wheel rescue dry land robot is combined to rapidly move to the rescue point, and simple rescue is carried out.
Further, the remote control system includes: the system comprises a human-computer interaction interface, a remote control handle, a second communication module and a second central control unit; the human-computer interaction interface is provided with a simulation cockpit and a control room and is used for displaying real-time position information and real-time video information of the robot, so that a controller can conveniently control the robot in real time, and the real-time position information comprises longitude, latitude, three-dimensional image information, a rescue robot driving path and a straight line distance from the rescue robot to a control center; the real-time video information comprises 720-degree panoramic virtual reality presenting the surrounding environment of the rescue robot and a position area where a dangerous accident possibly occurs.
Further, the remote control handle comprises a micro control unit, a third communication module and a left and right control rocker; the left control rocker and the right control rocker have three modes which are respectively used for controlling the moving speed and the moving direction of the robot, the observation angle of the camera, the position of the mechanical arm and the front angle of the vehicle body; the third communication module is used for communicating with the second communication module and transmitting control information to the remote control system; the micro control unit is used for coordinating and controlling the operation of the left and right control rocking bars and the third communication module.
Furthermore, the remote control handle is divided into a main remote control handle and an auxiliary remote control handle, the main remote control handle controls the four-wheel drive vehicle after the six-wheel rescue dry land robot and the vehicle body are separated, and the auxiliary remote control handle controls the balance vehicle.
Furthermore, a circuit system and a shell of the six-wheeled dry land rescue robot are provided with a fireproof waterproof layer; the six-wheel rescue dry land robot adopts six independent direct current brushless strong magnetic motors, is provided with a stepless speed change mechanism and can adjust the turning radius in real time. The tires of the six-wheeled rescue dry land robot can be quickly replaced to adapt to different rescue terrains.
Compared with the prior art, the invention has the beneficial effects that:
the invention has low cost, high intelligent degree, small volume and small power, calibrates the rescue position, and can carry out primary and simple treatment on the rescue site while implementing point-to-point on-site rescue; the rescue robot chassis can adaptively adjust the gravity center according to a rescue site and easily pass through complex three-dimensional terrains such as gullies, slopes, steps and the like. The intelligent and accurate multifunctional rescue is realized, and the rescue task with high difficulty such as investigation, search, rescue and the like can be completed properly.
Drawings
FIG. 1 is a block diagram of a six-wheeled rescue robot module of the present invention;
FIG. 2 is a block diagram of a remote control system module;
FIG. 3 is a block diagram of a remote control handle module;
FIG. 4 is a schematic view of a chassis structure of a six-wheeled rescue robot of the present invention;
fig. 5 is an exemplary service flowchart of the rescue system for six rounds of rescue of the motorsports for dry land in the embodiment.
Detailed Description
A more detailed description of the present invention will now be given, in conjunction with schematic drawings and examples, of a six-wheeled rescue robot rescue system for dry land vehicles, wherein preferred embodiments of the present invention are shown, it being understood that those skilled in the art may modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
As shown in fig. 1 to 4, the rescue system for six-wheeled rescue dry land robot provided by the invention comprises: a six-wheeled rescue motordrome for performing rescue operations at a rescue scene; the cloud database is used for recording and storing rescue information of the rescue robot; and the remote control system is used for displaying the real-time position information and the real-time video information of the robot and controlling the six rounds of rescue dry land robots in real time.
As shown in figure 4, the chassis structure of the six-wheeled rescue dry land robot of the rescue system of the six-wheeled rescue dry land robot is a front 4 and rear 2 type chassis structure, which is formed by connecting a four-wheel drive vehicle chassis and a chassis of a balance vehicle through an electromagnetic device, the device comprises a front-vehicle left front support rod 15, a first tire 16, a middle-axis worm wheel and worm direct-current speed reducing motor 17, a front-vehicle left rear support rod 18, a third direct-current strong-magnetic brushless motor 19, a third tire 20, a fifth direct-current strong-magnetic brushless motor 21, a fifth tire 22, a sixth direct-current strong-magnetic brushless motor 23, a sixth tire 24, a fourth tire 25, a fourth direct-current strong-magnetic brushless motor 26, a front-vehicle right rear arm support rod 27, a second tire 28, a second direct-current strong-magnetic brushless motor 29, a front-vehicle right front support rod 30, a V-shaped connecting rod support 31, an encoder 32, a through connecting rod support 33 and a first direct-current strong-magnetic brushless motor 34.
The chassis of the four-wheel drive vehicle adopts an H-shaped structure, one side of the H-shaped structure is provided with a first tire 16 and a third tire 20, and the other side of the H-shaped structure is provided with a second tire 28 and a fourth tire 25 to form the four-wheel drive vehicle; two sides of the H-shaped structure are connected through an output shaft of the middle shaft worm wheel and worm direct current speed reducing motor 17, when the output shaft of the middle shaft worm wheel and worm direct current speed reducing motor 17 rotates anticlockwise, the third tire 20 and the fourth tire 25 are used as supporting points, so that the first tire 16 and the second tire 28 are lifted, the foot lifting action is realized, and the gravity center of a vehicle body and the wheel distance of the middle wheel are adjusted; when the output shaft of the middle shaft worm wheel worm direct current speed reducing motor 17 rotates clockwise, the first tire 16 and the second tire 28 are used as supporting points, the third tire 20 and the fourth tire 25 are lifted, the 'foot-falling' action is realized, the 'foot-lifting' and the 'foot-falling' action are alternately carried out, and a fifth tire 22 and a sixth tire 24 are respectively arranged on two sides of a chassis of the balance car to form the balance car; when the fifth tire 22 and the sixth tire 24 rotate, the six-wheeled rescue dry land robot can be pushed to move forward, and the first tire 16 and the second tire 28 can protect the rescue vehicle body, so that the rescue vehicle cannot be turned over easily when an unknown object collides.
As shown in fig. 1, the six-wheeled rescue dry land robot further comprises: the first central control unit 9 is used for coordinating and controlling the operation of each module, processing the image information acquired from the camera and calculating the geometric information of the object in the three-dimensional space; the front 4 and rear 2 type chassis structure 7 realizes the lifting of the front wheels and the ground so that the gravity center of the robot can be adjusted; the communication module is communicated with the first central control unit 9 and is used for sending the real-time video information processed by the first central control unit 9 to a remote control system and receiving command information from the remote control system; the UWB positioning module 6 is communicated with the first central control unit 9 and used for acquiring the position and rescue position of the real-time calibration rescue robot; the six-degree-of-freedom double-mechanical-arm system 5 is communicated with the first central control unit 9 and is used for carrying rescue materials, cleaning small road obstacles through cooperative operation and basically rescuing trapped people point to point; the hazardous gas detection module 8 is communicated with the first central control unit 9 and is used for detecting the type and range of toxic gas around the rescue robot; the high-definition camera module 1 is in communication with the first central control unit 9 and is used for acquiring real-time high-definition video information; the equipment carrying frame is used for carrying basic rescue equipment, the basic rescue equipment is configured autonomously according to rescue conditions, and rescue information of the rescue equipment is transmitted to the remote control system through the first communication module 2 and displayed on the human-computer interaction interface 3.
As shown in fig. 2, the remote control system includes: a man-machine interaction interface 3, a remote control handle 4, a second communication module 10 and a second central control unit 11. And the human-computer interaction interface 3 is provided with a simulated cockpit and a control room and is used for displaying real-time position information and real-time video information of the robot. As shown in fig. 3, the remote control handle 4 includes a micro control unit 12, a third communication module 13, and a left and right control rocker 14, and is used for controlling the moving speed and moving direction of the robot, the observation angle of the camera, and the adjustment of the position of the robot arm and the angle of the front part of the vehicle body; the third communication module 13 is used for communicating with the second communication module 10 and transmitting the control information to the remote control system; the micro control unit 12 is used for coordinating and controlling the operation of the left and right control rockers 14 and the third communication module 13.
The six-wheel rescue dry land robot is formed by connecting a four-wheel drive vehicle and a balance vehicle by an electromagnetic technology, the four-wheel drive vehicle and the balance vehicle are separated, the balance vehicle carries out quick search and rescue, and the four-wheel drive vehicle carries an equipment carrying frame and slowly follows or separately searches. The balance car and the four-wheel driven car are both provided with the UWB positioning module 6, after the balance car finds a rescue point, the rescue position is calibrated, the four-wheel driven car is returned to find, and the six-wheel rescue dry land robot is combined to rapidly move to the rescue point for simple rescue. The remote control handle 4 is divided into a main remote control handle and an auxiliary remote control handle, the main remote control handle controls the four-wheel drive vehicle after the six-wheel rescue dry land robot is separated from the vehicle body, and the auxiliary remote control handle controls the balance vehicle. The real-time position information comprises longitude, latitude, three-dimensional image information, a rescue robot driving path and a straight line distance between the rescue robot and the control center; the real-time video information comprises 720 degrees of panoramic virtual reality presenting the surrounding environment of the rescue robot and a position area where an emergency dangerous event can happen. The six-wheel rescue land robot has a stepless speed change function, the turning radius is adjustable in real time, a circuit system and a shell are provided with a fireproof waterproof layer, and tires can be quickly replaced to adapt to different rescue terrains.
The working flow of the rescue system for the six-wheeled rescue dry land robot provided by the invention is given below by combining with fig. 5.
The controller opens the six-wheel rescue dry land robot control system, the six-wheel rescue dry land robot is used for acquiring real-time high-definition video information through the high-definition camera module 1, and the high-definition video information is transmitted to the human-computer interaction interface 3 of the remote control system through the first communication module 2. If the vehicle is a non-driving path, the six rounds of rescue dry land robots are controlled by the controller to obtain real-time high-definition video information in different directions, and if the vehicle is a driving rescue path, the controller controls the six rounds of rescue dry land robots through the remote control handle 4 to rescue and detect the vehicle. If the six-wheel rescue dry land robot reaches a rescue point, the six-degree-of-freedom double-mechanical-arm system 5 carries out adaptive basic rescue according to equipment loaded in the equipment carrying frame. The six-wheeled rescue dry land robot is in a flat environment and can enter a rapid search and rescue mode, the six-wheeled rescue dry land robot is electromagnetically separated into a four-wheel drive vehicle and a balance vehicle, the detection speed is accelerated, if the balance vehicle reaches a rescue point first, the rescue point is marked through a built-in UWB positioning module 6, and basic rescue is carried out before waiting for the four-wheel drive vehicle; if the four-wheel drive vehicle reaches the rescue point first, the four-wheel drive vehicle carries out basic rescue, and the balance vehicle follows the four-wheel drive vehicle to assist rescue. After rescue is finished, the six-wheel rescue dry land robot returns to the remote control center through the built-in UWB positioning module 6, rescue data are transmitted to the cloud server, and a rescue task is finished.
Claims (9)
1. A rescue system for a six-wheeled rescue motorgrader robot, comprising: six rounds of rescue land dry land machine robots, high in the clouds database, remote control system, its characterized in that: the six-wheel rescue dry land robot is used for executing rescue operation on a rescue site; the cloud database is used for recording and storing rescue information of the rescue robot; the remote control system is used for displaying real-time position information and real-time video information of the robot and controlling the six rounds of rescue dry land robots in real time;
the six-wheel rescue dry land robot comprises: the first central control unit (9) is used for coordinating and controlling the operation of each module, processing the image information acquired from the high-definition camera module (1) and calculating the geometric information of the object in the three-dimensional space;
the front 4 and rear 2 type chassis structure (7) is used for realizing the lifting of front wheels and a ground plate and adjusting the gravity center of the six-wheel rescue dry land robot; the front 4 and rear 2 type chassis structure (7) is formed by connecting a chassis of the four-wheel drive vehicle and a chassis of the balance vehicle through an electromagnetic device; the chassis of the four-wheel drive vehicle adopts an H-shaped structure, one side of the H-shaped structure is provided with a first tire (16) and a third tire (20), and the other side of the H-shaped structure is provided with a second tire (28) and a fourth tire (25) to form the four-wheel drive vehicle; two sides of the H-shaped structure are connected through an output shaft of the middle shaft worm wheel and worm direct current speed reducing motor (17), when the output shaft of the middle shaft worm wheel and worm direct current speed reducing motor (17) rotates anticlockwise, the third tire (20) and the fourth tire (25) are used as supporting points, so that the first tire (16) and the second tire (28) are lifted, the foot lifting action is realized, and the gravity center of a vehicle body and the wheel interval of the middle wheel are adjusted; when the output shaft of the middle shaft worm wheel worm direct current speed reducing motor (17) rotates clockwise, the first tire (16) and the second tire (28) are used as fulcrums, so that the third tire (20) and the fourth tire (25) are lifted, the foot-falling action is realized, the foot-lifting action and the foot-falling action are alternately carried out, and the fifth tire (22) and the sixth tire (24) are respectively arranged on two sides of the chassis of the balance car to form the balance car; when the fifth tire (22) and the sixth tire (24) rotate, the six-wheel rescue dry land robot can be pushed to move forward, and the first tire (16) and the second tire (28) can protect the body of the rescue vehicle and prevent the rescue vehicle from easily turning over when an unknown object collides;
the first communication module (2) is communicated with the first central control unit (9) and is used for sending the real-time video information processed by the first central control unit (9) to a remote control system and receiving command information from the remote control system;
the UWB positioning module (6) is communicated with the first central control unit (9) and is used for acquiring the rescue robot position and the rescue position which are calibrated in real time;
the six-degree-of-freedom double-mechanical-arm system (5) is communicated with the first central control unit (9) and is used for carrying rescue materials, cleaning small road obstacles through cooperative operation and rescuing trapped people basically point to point;
the hazardous gas detection module (8) is communicated with the first central control unit (9) and is used for detecting the type and range of toxic gas around the rescue robot;
the high-definition camera module (1) is communicated with the first central control unit (9) and is used for acquiring real-time high-definition video information;
the equipment carrying frame is used for carrying basic rescue equipment, the basic rescue equipment is configured autonomously according to rescue conditions, and rescue information of the rescue equipment is transmitted to the remote control system through the first communication module (2) and displayed on the human-computer interaction interface (3).
2. The rescue system for a six-wheeled rescue motorgrader as in claim 1, wherein: the first central control unit (9), the harmful gas detection module (8), the first communication module (2), the UWB positioning module (6) and the high-definition camera module (1) are vehicle-mounted built-in equipment, and the six-degree-of-freedom double-mechanical-arm system (5) is vehicle-mounted external equipment.
3. The rescue system for six-wheeled rescue dry land robot according to claim 1, characterized in that the first central controller (9) is provided with a machine vision module for identifying safety signs, analyzing danger coefficients of the acquired images, and making a prediction and a reminder of possible emergency situations.
4. The rescue system for a six-wheeled rescue motorgrader as in claim 1, wherein: the UWB positioning module (6) can calibrate the position and rescue position of the real-time positioning rescue robot, and is used for automatically returning to a line guide of a base after communication is interrupted.
5. The rescue system for a six-wheeled rescue motorgrader as in claim 1, wherein: after the four-wheel drive vehicle and the balance vehicle are separated, the balance vehicle can be quickly searched and rescued, and the four-wheel drive vehicle is provided with an equipment carrying frame and is slowly followed or separately searched; the balance car and the four-wheel driven car are both provided with the UWB positioning module (6), after the balance car finds a rescue point, the rescue position is calibrated, the four-wheel driven car is returned to find, and the six-wheel rescue dry land robot is combined to rapidly advance to the rescue point for simple rescue.
6. The rescue system for a six-wheeled rescue motorgrader as in claim 1, wherein: the remote control system includes: the system comprises a human-computer interaction interface (3), a remote control handle (4), a second communication module (10) and a second central control unit (11); the human-computer interaction interface (3) is provided with a simulation cockpit and a control room and is used for displaying real-time position information and real-time video information of the robot, so that a controller can conveniently control the robot in real time, and the real-time position information comprises longitude, latitude, three-dimensional image information, a rescue robot driving path and a straight line distance from the rescue robot to a control center; the real-time video information comprises 720-degree panoramic virtual reality presenting the surrounding environment of the rescue robot and a position area where a dangerous accident possibly occurs.
7. The rescue system for a six-wheeled rescue motorgrader as in claim 6, wherein: the remote control handle (4) comprises a micro control unit (12), a third communication module (13) and a left control rocker (14); the left control rocker (14) and the right control rocker (14) have three modes, and are respectively used for controlling the moving speed and the moving direction of the robot, the observation angle of the camera, the position of the mechanical arm and the front angle of the vehicle body; the third communication module (13) is used for communicating with the second communication module (10) and transmitting control information to the remote control system; the micro control unit (12) is used for coordinating and controlling the operation of the left and right control rocking bars (14) and the third communication module (13).
8. The rescue system for a six-wheeled rescue motorgrader as in claim 7, wherein: the remote control handles (4) are divided into a main remote control handle and an auxiliary remote control handle, the main remote control handle controls the four-wheel drive vehicle after the six-wheel rescue dry land robot and the vehicle body are separated, and the auxiliary remote control handle controls the balance vehicle.
9. The rescue system for a six-wheeled rescue motorgrader as in claim 1, wherein: the circuit system of the six-wheeled rescue dry land robot and the shell thereof are provided with a fireproof waterproof layer; the six-wheel rescue dry land robot adopts six independent direct-current brushless strong magnetic motors and is provided with a stepless speed change mechanism, and the turning radius is adjustable in real time; the tires of the six-wheeled rescue dry land robot can be quickly replaced to adapt to different rescue terrains.
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