CN109940639A - A kind of earthquake emergency robot - Google Patents
A kind of earthquake emergency robot Download PDFInfo
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- CN109940639A CN109940639A CN201910371563.4A CN201910371563A CN109940639A CN 109940639 A CN109940639 A CN 109940639A CN 201910371563 A CN201910371563 A CN 201910371563A CN 109940639 A CN109940639 A CN 109940639A
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- main control
- control chip
- earthquake emergency
- module
- emergency robot
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Abstract
This application discloses a kind of earthquake emergency robots, it include: emergency article storage box, main control chip, shock sensor module, infrared thermal releasing sensor module, avoiding obstacles by supersonic wave module and running gear, the necessary article that sustains life can be placed in emergency article storage box, shock sensor module can start main control chip when detecting seismic signal；For main control chip when receiving the infrared signal of escape personnel of infrared thermal releasing sensor module transmission, control running gear is mobile to the direction of escape personnel, and earthquake emergency robot is made to be moved to escape personnel at one's side；In moving process, when main control chip receive avoiding obstacles by supersonic wave module transmission avoidance signal, then control running gear avoiding barrier, earthquake emergency robot made smoothly to reach escape personnel at one's side.If escape personnel is unfortunately stranded, earthquake emergency robot can provide the required article that sustains life for escape personnel, to achieve the purpose that save life.
Description
Technical field
This application involves security protection emergence technology field, in particular to a kind of earthquake emergency robot.
Background technique
In the people that the multiple area of earthquake is lived, an emergency box can be all prepared, is placed the institute that sustains life in emergency box
Necessary article, such as: water, food, drug etc..And when earthquake occurs suddenly, people often forget to answer because of alarmed
The presence of anxious case.If there are personnel stranded, just it is badly in need of the article of maintenance life, but placement location and personnel due to emergency box at this time
Trapped position can not be unified, and prepared emergency box is also just difficult to play its effect.
Therefore, when earthquake occurs, how emergency box to be made to play a role in time, is that those skilled in the art need to solve
Problem.
Summary of the invention
In view of this, the application's is designed to provide a kind of earthquake emergency robot, to realize when earthquake occurs, make
Emergency box plays a role in time, saves the life of people.Its concrete scheme is as follows:
This application provides a kind of earthquake emergency robots, comprising:
Emergency article storage box, main control chip, the shock sensor module being connected with the main control chip, infrared thermal releasing pass
Sensor module, avoiding obstacles by supersonic wave module and running gear, in which:
The shock sensor module, for detecting the vibration signal of earthquake emergency robot local environment, if institute
Vibration signal is stated more than preset vibration threshold value, then sends enabling signal to the main control chip, to start the main control chip；
The infrared thermal releasing sensor module, for detecting the infrared of the escape personnel around the earthquake emergency robot
Signal；
The main control chip, for working as the infrared signal for receiving the infrared thermal releasing sensor module and sending, then
It is mobile to the direction of the escape personnel to control the running gear；In moving process, when receiving the avoiding obstacles by supersonic wave
The avoidance signal that module is sent then controls the running gear avoiding barrier according to the avoidance signal.
Preferably, further includes:
The GPS navigation module being connected with the main control chip, for acquiring the location information of the earthquake emergency robot,
The main control chip controls the escape route that the running gear is planned according to the GPS navigation module according to the positional information
It is mobile.
Preferably, further includes:
The timing module being connected with the main control chip then starts timing for starting when the main control chip.
Preferably, further includes:
The voice cue module being connected with the main control chip, for being more than preset time threshold and institute when timing time
The final position that earthquake emergency robot does not reach the escape route is stated, then plays preset earthquake escape common sense.
Preferably, the voice cue module uses ISR speech chip.
Preferably, the voice cue module is also used to:
During the main control chip controls the running gear to the movement of the direction of the escape personnel, play pre-
If prompt information, to prompt the escape personnel to carry the earthquake emergency robot.
Preferably, further includes:
The recording module being connected with the main control chip then starts to record for starting when the main control chip.
Preferably, further includes:
The alarm module being connected with the main control chip, for starting when the main control chip, then according to preset alarm
Mode is alarmed.
Preferably, the infrared thermal releasing sensor module is four, is separately positioned on the four of the earthquake emergency robot
A orientation.
Preferably, the infrared thermal releasing sensor module is installed on rotating electric machine, and the rotating electric machine is in the master control core
Under the control of piece, the infrared thermal releasing sensor module is driven to rotate.
As it can be seen that this application provides the earthquake emergency robot that one kind can freely walk, in the earthquake emergency robot
The necessary article that sustains life can be placed in emergency article storage box, shock sensor module can be answered detecting earthquake
When the vibration signal of anxious robot local environment, enabling signal is sent to main control chip, to start main control chip；Infrared thermal releasing passes
Sensor module is able to detect the infrared signal of the escape personnel around earthquake emergency robot；Infrared heat is received in main control chip
When the infrared signal that pyroelectric sensor module is sent, control running gear is mobile to the direction of escape personnel, so that earthquake emergency machine
Device people is moved to escape personnel at one's side；Simultaneously as earthquake there is a situation where when it is more complicated, ground is likely to occur more barrier
Hinder object, therefore in earthquake emergency robot moving process, when main control chip receives the avoidance of avoiding obstacles by supersonic wave module transmission
Signal can control running gear avoiding barrier according to avoidance signal, escape so as to reach earthquake emergency robot smoothly
Stranger person is at one's side.The earthquake emergency robot of escape personnel at one's side is reached, it can be when escape personnel be unfortunately stranded, for the people that escapes
Member provides the required article that sustains life, to wait the arrival of rescue worker, to achieve the purpose that save life.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the first earthquake emergency robot schematic diagram disclosed in the present application；
Fig. 2 is second of earthquake emergency disclosed in the present application robot schematic diagram；
Fig. 3 is the third earthquake emergency robot schematic diagram disclosed in the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Currently, can all prepare an emergency box in the people that the multiple area of earthquake is lived, maintenance life is placed in emergency box
Article necessary to ordering, such as: water, food, drug etc..And when earthquake occurs suddenly, people often forget because of alarmed
Remember the presence of emergency box.If there are personnel unfortunately to be buried by building, just it is badly in need of the article of maintenance life at this time, but due to emergency box
Placement location and the position that is buried of personnel can not unify, prepared emergency box is also just difficult to play its effect.For this purpose, this
Application provides a kind of earthquake emergency robot that can freely walk, and can be moved to escape personnel at one's side when earthquake occurs,
When escape personnel is unfortunately stranded, the required article that sustains life is provided for escape personnel, to achieve the purpose that save life.
Shown in Figure 1, the embodiment of the present application discloses the first earthquake emergency robot, comprising:
It is emergency article storage box, main control chip 101, the shock sensor module 102 being connect with main control chip 101, infrared
Pyroelectric sensor module 103, avoiding obstacles by supersonic wave module 104 and running gear 105, in which:
Shock sensor module 102, for detecting the vibration signal of earthquake emergency robot local environment, if vibration signal
More than preset vibration threshold value, then enabling signal is sent to main control chip 101, to start main control chip 101；Infrared thermal releasing sensing
Device module 103, for detecting the infrared signal of the escape personnel around earthquake emergency robot；Main control chip 101 connects for working as
The infrared signal for receiving the transmission of infrared thermal releasing sensor module 103 then controls running gear 105 and moves to the direction of escape personnel
It is dynamic；In moving process, when the avoidance signal for receiving the transmission of avoiding obstacles by supersonic wave module 104, is then controlled and gone according to avoidance signal
105 avoiding barrier of walking apparatus.
Earthquake emergency robot disclosed in the present embodiment further include: further include: the GPS navigation being connect with main control chip 101
Module 106, for acquiring the location information of earthquake emergency robot, main control chip 101 controls running gear according to location information
The 105 escape route movements planned according to GPS navigation module 106.
In the present embodiment, main control chip 101 can be HT66FU50 model, and the chip of HT66FU50 model is that a have
The A/D type Flash single-chip microcontroller of 8 high-performance reduced instruction set computers, the flash storage of the series monolithic can be programmed repeatedly, energy
Enough providing the user with greatly side makes, and there are also other characteristics such as outer added-time base function, I/O using flexible for the single-chip microcontroller.Certainly main
Control chip 101 or the chip of other models.
Specifically, in the same region, escape route is fixed, therefore the escape road that GPS navigation module 106 is planned
Line is consistent with the escape route where escape personnel, then during earthquake emergency robot is mobile according to escape route,
Infrared thermal releasing sensor module 103 can detecte the infrared signal of the escape personnel around earthquake emergency robot, therein
It is mobile to the direction of escape personnel that main control chip 101 can control running gear 105；If there are barrier on moving direction, that
Avoiding obstacles by supersonic wave module 104 can send avoidance signal to main control chip 101, and main control chip 101 can be according to avoidance signal
105 avoiding barrier of running gear is controlled, to smoothly reach escape personnel at one's side.
As a kind of specific embodiment, infrared thermal releasing sensor module 103 can be set one, and be installed on rotation
Motor, rotating electric machine drive infrared thermal releasing sensor module 103 to carry out 360 degree rotation under the control of main control chip 101, with
Detect the infrared signal of the escape personnel around earthquake emergency robot.
Certainly, infrared thermal releasing sensor module 103 also can be set multiple.Such as: in the surrounding of earthquake emergency robot
It is respectively set, i.e., infrared thermal releasing sensor module 103 is four.When the top view of earthquake emergency robot is square, this four
A infrared thermal releasing sensor module 103 can be placed on four vertex of square according to "×" type, can also be according to " ten " word
Type is placed on the midpoint of each edge of square.Infrared thermal releasing sensor module 103 in the present embodiment can also be changed to spirit
Other higher detection modules of sensitivity.
It should be noted that the running gear 105 in the present embodiment can be using DC speed-reducing as power, motor
Quantity may be configured as two, the DC speed-reducing 1:48 twin shaft of the two 6V exports TT motor, and motor speed may be configured as:
100 revs/min, torque may be configured as: 4.5KGCM.The driving chip of motor can use L298N model.Specifically, in order to just
Mobile in earthquake emergency robot, universal wheel walking movement can be used in running gear 105.
Certainly, the earthquake emergency robot in the present embodiment further include: power module, the power module for earthquake for answering
Anxious robot power supply.Power module can be using chargeable and dismountable battery, in order to the charging and more of battery
It changes.To keep voltage stabilization, it can allow voltage-stablizer and use.Specifically, supply voltage can be 9V, L7805 type is can be used in voltage-stablizer
Number.
As it can be seen that the embodiment of the present application provides a kind of earthquake emergency robot that can freely walk, the earthquake emergency machine
The necessary article that sustains life can be placed in emergency article storage box in people, shock sensor module can detect
When the vibration signal of earthquake emergency robot local environment, enabling signal is sent to main control chip, to start main control chip；It is infrared
Pyroelectric sensor module is able to detect the infrared signal of the escape personnel around earthquake emergency robot；It is received in main control chip
When the infrared signal that infrared thermal releasing sensor module is sent, control running gear is mobile to the direction of escape personnel, so that earthquake
Emergency robot is moved to escape personnel at one's side；Simultaneously as earthquake there is a situation where when it is more complicated, ground is likely to occur
Compared with multi-obstacle avoidance, therefore in earthquake emergency robot moving process, sent when main control chip receives avoiding obstacles by supersonic wave module
Avoidance signal, can according to avoidance signal control running gear avoiding barrier, so as to keep earthquake emergency robot smooth
Reach escape personnel at one's side.The earthquake emergency robot of escape personnel at one's side is reached, can be when escape personnel is unfortunately stranded
Escape personnel provides the required article that sustains life, to wait the arrival of rescue worker, to achieve the purpose that save life.
Shown in Figure 2, the embodiment of the present application discloses second of earthquake emergency robot, comprising:
It is emergency article storage box, main control chip 201, the shock sensor module 202 being connect with main control chip 201, infrared
Pyroelectric sensor module 203, avoiding obstacles by supersonic wave module 204 and running gear 205, in which:
Shock sensor module 202, for detecting the vibration signal of earthquake emergency robot local environment, if vibration signal
More than preset vibration threshold value, then enabling signal is sent to main control chip 201, to start main control chip 201；
Infrared thermal releasing sensor module 203, for detecting the infrared signal of the escape personnel around earthquake emergency robot；
Main control chip 201, for when the infrared signal for receiving the transmission of infrared thermal releasing sensor module 203, then controlling row
Walking apparatus 205 is mobile to the direction of escape personnel；In moving process, when receive avoiding obstacles by supersonic wave module 204 transmission keep away
Hinder signal, then 205 avoiding barrier of running gear is controlled according to avoidance signal.
Earthquake emergency robot disclosed in the present embodiment further include: the GPS navigation module 206 being connect with main control chip 201,
For acquiring the location information of earthquake emergency robot, main control chip 201 according to location information control running gear 205 according to
The escape route that GPS navigation module 206 is planned is mobile.
Earthquake emergency robot disclosed in the present embodiment further include: the timing module 207 connecting with main control chip 201 is used
Start in when main control chip 201, then starts timing.
Earthquake emergency robot disclosed in the present embodiment further include: the voice cue module being connect with main control chip 201
208, for being more than the final position that preset time threshold and earthquake emergency robot do not reach escape route when timing time,
Then play preset earthquake escape common sense.
Specifically, when timing time is more than the end that preset time threshold and earthquake emergency robot do not reach escape route
Point position, shows that escape personnel and earthquake emergency machine do not reach safety area per capita, then voice cue module 208 can be broadcast
Preset earthquake escape common sense is put, to know that escape personnel escapes.
As a kind of specific embodiment, voice cue module 208 uses ISR speech chip.Voice cue module 208
It is also used to: during main control chip 201 controls running gear 205 to the movement of the direction of escape personnel, playing preset mentions
Show information, to prompt escape personnel to carry earthquake emergency robot.Such as: voice cue module 208 can play " owner, band
It is upper I " prompt tone at the convenient time carry earthquake emergency so that escape personnel notices the presence of earthquake emergency robot
Robot.
In the present embodiment, shock sensor module 202 is equipped with the regulating member of adjustable in vibration threshold value, operating voltage
Generally 3.3-5V；And there is mounting hole, which can provide convenience for the installation of shock sensor module 202.
It should be noted that other in the present embodiment realize that step is same as the previously described embodiments or similar, therefore this implementation
Details are not described herein for example.
Therefore present embodiments provide a kind of earthquake emergency robot that can freely walk, the earthquake emergency machine
The necessary article that sustains life can be placed in emergency article storage box in people, shock sensor module can detect
When the vibration signal of earthquake emergency robot local environment, enabling signal is sent to main control chip, to start main control chip；It is infrared
Pyroelectric sensor module is able to detect the infrared signal of the escape personnel around earthquake emergency robot；It is received in main control chip
When the infrared signal that infrared thermal releasing sensor module is sent, control running gear is mobile to the direction of escape personnel, so that earthquake
Emergency robot is moved to escape personnel at one's side；Simultaneously as earthquake there is a situation where when it is more complicated, ground is likely to occur
Compared with multi-obstacle avoidance, therefore in earthquake emergency robot moving process, sent when main control chip receives avoiding obstacles by supersonic wave module
Avoidance signal, can according to avoidance signal control running gear avoiding barrier, so as to keep earthquake emergency robot smooth
It reaches escape personnel at one's side, and plays earthquake escape common sense in reasonable time and escape personnel is instructed to escape, to avoid escaping
Stranger person is stranded.If escape personnel is unfortunately stranded, earthquake emergency robot can be provided for escape personnel sustain life it is required
Article, to wait the arrival of rescue worker, thus achieve the purpose that save life.
Shown in Figure 3, the embodiment of the present application discloses the third earthquake emergency robot, comprising:
It is emergency article storage box, main control chip 301, the shock sensor module 302 being connect with main control chip 301, infrared
Pyroelectric sensor module 303, avoiding obstacles by supersonic wave module 304 and running gear 305, in which:
Shock sensor module 302, for detecting the vibration signal of earthquake emergency robot local environment, if vibration signal
More than preset vibration threshold value, then enabling signal is sent to main control chip 301, to start main control chip 301；
Infrared thermal releasing sensor module 303, for detecting the infrared signal of the escape personnel around earthquake emergency robot；
Main control chip 301, for when the infrared signal for receiving the transmission of infrared thermal releasing sensor module 303, then controlling row
Walking apparatus 305 is mobile to the direction of escape personnel；In moving process, when receive avoiding obstacles by supersonic wave module 304 transmission keep away
Hinder signal, then 305 avoiding barrier of running gear is controlled according to avoidance signal.
Earthquake emergency robot disclosed in the present embodiment further include: the GPS navigation module 306 being connect with main control chip 301,
For acquiring the location information of earthquake emergency robot, main control chip 301 according to location information control running gear 305 according to
The escape route that GPS navigation module 306 is planned is mobile.
Earthquake emergency robot disclosed in the present embodiment further include: the timing module 307 connecting with main control chip 301 is used
Start in when main control chip 301, then starts timing.
Earthquake emergency robot disclosed in the present embodiment further include: the voice cue module being connect with main control chip 301
308, for being more than the final position that preset time threshold and earthquake emergency robot do not reach escape route when timing time,
Then play preset earthquake escape common sense.
Earthquake emergency robot disclosed in the present embodiment further include: the recording module 309 connecting with main control chip 301 is used
Start in when main control chip 301, then starts to record.
Earthquake emergency robot disclosed in the present embodiment further include: the alarm module 310 connecting with main control chip 301 is used
Start in when main control chip 301, then alarms according to preset type of alarm.Type of alarm can be sound or light.
It should be noted that other in the present embodiment realize that step is same as the previously described embodiments or similar, therefore this implementation
Details are not described herein for example.
Earthquake emergency robot disclosed in the present embodiment can be carried out when earthquake occurs by alarm module 310
Alarm, and moved according to the escape route that GPS navigation module 306 is planned, in moving process, if detecting escape people
Member, then it is mobile to the direction of escape personnel；If detecting barrier, obstacle avoidance, smoothly to reach escape personnel at one's side.Together
When, preset earthquake escape common sense can also be played to instruct escape personnel to escape；If escape personnel is unfortunately stranded,
Shake emergency robot can provide the required article that sustains life for escape personnel, to wait the arrival of rescue worker, to reach
To the purpose for saving life.Recording module 309 can also record escape details, and when escape personnel is conscious, carry out voice
Message；If escape personnel is stranded, the time is longer, and timing module 307 can also give the correct time, and voice cue module 308 can also be broadcast
The content for enhancing conviction of seeking survival is put, to bring psychological consolation to escape personnel.
The software module of hardware, processor execution can be directly used in conjunction with the embodiments described herein description scheme,
Or the combination of the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory (ROM), electricity
Well known in programming ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
Any other form of storage readable storage medium storing program for executing in.
Specific examples are used herein to illustrate the principle and implementation manner of the present application, and above embodiments are said
The bright core concept for being merely used to help understand the application；At the same time, for those skilled in the art, according to the application's
Thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as
Limitation to the application.
Claims (10)
1. a kind of earthquake emergency robot characterized by comprising
Emergency article storage box, main control chip, the shock sensor module being connected with the main control chip, infrared thermal releasing sensor
Module, avoiding obstacles by supersonic wave module and running gear, in which:
The shock sensor module, for detecting the vibration signal of earthquake emergency robot local environment, if the shake
Dynamic signal is more than preset vibration threshold value, then sends enabling signal to the main control chip, to start the main control chip；
The infrared thermal releasing sensor module, for detecting the infrared letter of the escape personnel around the earthquake emergency robot
Number；
The main control chip, for when the infrared signal for receiving the infrared thermal releasing sensor module transmission, then controlling
The running gear is mobile to the direction of the escape personnel；In moving process, when receiving the avoiding obstacles by supersonic wave module
The avoidance signal of transmission then controls the running gear avoiding barrier according to the avoidance signal.
2. earthquake emergency robot according to claim 1, which is characterized in that further include:
The GPS navigation module being connected with the main control chip, it is described for acquiring the location information of the earthquake emergency robot
Main control chip controls the running gear according to the positional information and moves according to the escape route that the GPS navigation module is planned
It is dynamic.
3. earthquake emergency robot according to claim 2, which is characterized in that further include:
The timing module being connected with the main control chip then starts timing for starting when the main control chip.
4. earthquake emergency robot according to claim 3, which is characterized in that further include:
The voice cue module being connected with the main control chip, for being more than preset time threshold and described when timing time
Shake emergency robot does not reach the final position of the escape route, then plays preset earthquake escape common sense.
5. earthquake emergency robot according to claim 4, which is characterized in that the voice cue module uses ISR language
Sound chip.
6. earthquake emergency robot according to claim 4, which is characterized in that the voice cue module is also used to:
During the main control chip controls the running gear to the movement of the direction of the escape personnel, play preset
Prompt information, to prompt the escape personnel to carry the earthquake emergency robot.
7. earthquake emergency robot according to claim 6, which is characterized in that further include:
The recording module being connected with the main control chip then starts to record for starting when the main control chip.
8. earthquake emergency robot according to claim 7, which is characterized in that further include:
The alarm module being connected with the main control chip, for starting when the main control chip, then according to preset type of alarm
It alarms.
9. earthquake emergency robot according to any one of claims 1 to 8, which is characterized in that the infrared thermal releasing sensing
Device module is four, is separately positioned on four orientation of the earthquake emergency robot.
10. earthquake emergency robot according to any one of claims 1 to 8, which is characterized in that the infrared thermal releasing passes
Sensor module is installed on rotating electric machine, and the rotating electric machine drives the infrared thermal releasing to pass under the control of the main control chip
Sensor module rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371563.4A CN109940639A (en) | 2019-05-06 | 2019-05-06 | A kind of earthquake emergency robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371563.4A CN109940639A (en) | 2019-05-06 | 2019-05-06 | A kind of earthquake emergency robot |
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| CN109940639A true CN109940639A (en) | 2019-06-28 |
Family
ID=67016978
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| CN201910371563.4A Pending CN109940639A (en) | 2019-05-06 | 2019-05-06 | A kind of earthquake emergency robot |
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| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN112711251A (en) * | 2020-12-03 | 2021-04-27 | 佛山科学技术学院 | Control method and system for earthquake rescue robot |
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Application publication date: 20190628 |