CN110356548A - Explosion-proof flying robot - Google Patents
Explosion-proof flying robot Download PDFInfo
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- CN110356548A CN110356548A CN201910727015.0A CN201910727015A CN110356548A CN 110356548 A CN110356548 A CN 110356548A CN 201910727015 A CN201910727015 A CN 201910727015A CN 110356548 A CN110356548 A CN 110356548A
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- 230000006854 communication Effects 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 39
- 238000012545 processing Methods 0.000 claims description 22
- 238000003331 infrared imaging Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 238000004880 explosion Methods 0.000 abstract description 6
- 230000002265 prevention Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 42
- 238000000034 method Methods 0.000 description 8
- 230000010365 information processing Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000002604 ultrasonography Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000000505 pernicious effect Effects 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000003915 liquefied petroleum gas Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q5/00—Selecting arrangements wherein two or more subscriber stations are connected by the same line to the exchange
- H04Q5/24—Selecting arrangements wherein two or more subscriber stations are connected by the same line to the exchange for two-party-line systems
- H04Q5/245—Circuit arrangements in which for one subscriber low frequency speech and/or signalling signals proceed on the line, while for the other subscriber the low frequency speech and/or signalling signals are modulated upon a high frequency carrier signal
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of explosion-proof flying robots, the robot is connect with ground command center's wireless telecommunications, robot built-in has the wireless talkback terminal connecting with the robot wireless telecommunications and configured with the emitter for emitting the wireless talkback terminal, and robot further includes the image collection module for obtaining the image information of robot region image.Ground command center obtains the image information of explosion prevention robot region by image collection module, commanding controls robot motion according to the image information of acquisition, indicator of trapped personnel position can not be moved to by image information observation robot but wireless talkback terminal can emit to indicator of trapped personnel position, directly pass through emitter for wireless talkback terminal transmission to indicator of trapped personnel position, indicator of trapped personnel can realize voice communication with explosion-proof flying robot by wireless talkback terminal, to realize voice communication by explosion-proof flying robot and ground command center.
Description
Technical field
The present invention relates to the technical fields of fire-fighting robot, more particularly, to a kind of explosion-proof flying robot.
Background technique
In explosion scene, scene of fire etc. there are in the detection process of marginal security factor scene, in order to avoid need not
The personal casualty loss wanted generally can be first advanced into using dedicated intelligent machine equipment and the scene detected is needed to be detected, this
Dedicated mechanical equipment is referred to as explosion prevention robot.Present explosion prevention robot for flexibility, generally has flight function
Can, the explosion prevention robot with flight function is referred to as explosion-proof flying robot.
Existing explosion-proof flying robot generally has the function of two-way voice talkback, is with a kind of application of scene of fire
Example, explosion-proof flying robot search and are moved to indicator of trapped personnel position, and indicator of trapped personnel passes through explosion-proof with ground command center
The speech talkback function of flying robot exchanges, to realize ground command center to the commander of indicator of trapped personnel and stranded
Personnel carry out real time information feedback to ground command center, to facilitate the disaster relief.
There are following technical problems by above-mentioned explosion-proof flying robot in the prior art: being equally with the application of scene of fire
Example, if indicator of trapped personnel locks into A point, and explosion-proof flying robot is moved to after the B point of A point just since the intensity of a fire is too quickly or ground
The factors such as shape limitation can not directly be moved to A point, at this point, indicator of trapped personnel can not pass through anti-riot flight since scene of fire is noisy
Robot is exchanged, if finding the route for being able to enter A point again, then can be delayed best rescue opportunity, at this point, if can
A kind of means of information exchange for realizing A point and B point are provided, then can obtain the information feedback from stranded scene in time, from
And it is greatly helped to rescue belts.
Summary of the invention
The object of the present invention is to provide a kind of explosion-proof flying robot, it the advantage is that it can be truncated in flight path
And in the case that small size object can pass through, the information exchange of two o'clock in short distance is realized.
Foregoing invention purpose of the invention has the technical scheme that
A kind of explosion-proof flying robot, the robot are connect with ground command center's wireless telecommunications, and the robot built-in has
The wireless talkback terminal being connect with the robot wireless telecommunications and the emitter configured with the transmitting wireless talkback terminal,
The robot further includes the image collection module for obtaining the image information of robot region image.
By using above-mentioned technical proposal, ground command center obtains explosion prevention robot location by image collection module
The image information in domain, commanding controls robot motion according to the image information of acquisition, after finding indicator of trapped personnel position, if
Be by image information observe robot can not be moved to indicator of trapped personnel position but wireless talkback terminal can emit to by
Oppressive member position, can directly by emitter by wireless talkback terminal transmission to indicator of trapped personnel position, it is stranded
Personnel by wireless talkback terminal can with explosion-proof flying robot realize voice communication, thus by explosion-proof flying robot with
Ground command center realizes voice communication.
The present invention is further arranged to: the emitter is fitted with openable explosion-proof bullet shell, the wireless talkback
Terminal is set in explosion-proof bullet shell, is provided between the wireless talkback terminal and explosion-proof bullet shell for protecting wireless talkback
The safeguard structure of terminal.
By using above-mentioned technical proposal, wireless talkback terminal is emitted by explosion-proof bullet shell, explosion-proof bullet shell can wrap up
Wireless talkback terminal simultaneously provides protection for wireless talkback terminal, meanwhile, the safeguard structure between bullet and wireless talkback terminal
Protection can be provided for wireless talkback terminal, to reduce the possibility of wireless talkback terminal damage, keep emitter transmitting wireless
The range and speed of intercommunication terminal, which are suitably promoted, will not damage wireless talkback terminal itself.
The present invention is further arranged to: being additionally provided in the explosion-proof bullet shell and is connect and be used for robot wireless telecommunications
The remote gas detection device of remote gas detection, is provided on the explosion-proof bullet shell and safeguard structure for gas to pass through
Ventilating structure.
By using above-mentioned technical proposal, due to the presence of remote gas detection device, therefore can not be arrived in some robots
The region for reaching or directly reaching can detect the gas componant in the region, to the region by the explosion-proof bullet shell of transmitting to sentence
Break the region whether have there are the condition of survivor or if appropriate for indicator of trapped personnel escape route pass through.
The present invention is further arranged to: the wireless talkback terminal includes for the sound module of sounding and for quieting down
Quiet down module, and the sound module is set as bone-conduction speaker, and the module that quiets down is set as bony microphone.
By using above-mentioned technical proposal, sounding is realized by bone-conduction speaker and bony microphone and is quieted down, is improved
The voice transmission efficiency of wireless talkback terminal, while being conducive to reduce the volume of wireless talkback terminal.
The present invention is further arranged to: the robot further includes central processing unit and couples the of the central processing unit
One wireless communication module and the second wireless communication module, the central processing unit and ground command center pass through the first wireless telecommunications
Module communication connection, the wireless talkback terminal and remote gas detection device pass through the second wireless communication module communication connection.
By using above-mentioned technical proposal, due to robot and wireless talkback terminal and remote gas detection device, ground
Command centre is to realize wireless telecommunications by the first wireless communication module and the second wireless communication module respectively, therefore two communicate
Process is difficulty parallel, that the possibility and module for reducing signal interference integrate.
The present invention is further arranged to: it includes image information processing module and the coupling figure that described image, which obtains module,
As the thermal infrared imaging module of message processing module, high-definition camera, ultraviolet imagery module, ultrasonic imager, described image
Message processing module handles the image that thermal infrared imaging module, high-definition camera, ultraviolet imagery module, ultrasonic imager obtain
Information simultaneously will treated that image information is transmitted to central processing unit.
By using above-mentioned technical proposal, believed by the image that a variety of image acquisition modes obtain robot region
Breath, and by multiple images information processing of the image information processing module to acquisition, to obtain robot region more
Accurate image information, meanwhile, the setting of thermal infrared imaging instrument can also obtain robot region temperature information and
The Infrared Image Information of human body, to facilitate the acquisition of indicator of trapped personnel position.
The present invention is further arranged to: the robot further includes for detecting robot region vital sign parameter signals
Vital sign remote probe module and pair for realizing robot position and ground command center's two-way voice talkback
Say module.
It, can be in sniffing robot region by vital sign remote probe module by using above-mentioned technical proposal
Position where indicator of trapped personnel, to facilitate rescue；Since wireless talkback terminal volume is smaller, therefore single wireless talkback terminal
It single can only generally use, directly pass through machine when robot can reach indicator of trapped personnel region and stranded number is more
Intercommunication module on people is exchanged with all indicator of trapped personnel, in order to avoid the process wave that wireless terminal holder exchanges with other indicator of trapped personnel
It is time-consuming.
The present invention is further arranged to: the robot further includes for detecting robot position to wireless talkback end
The range finder module for the positional distance that end needs to reach.
By using above-mentioned technical proposal, robot position can be judged to wireless talkback terminal by range finder module
The distance for the position for needing to reach, to judge the position that can emitter reach wireless talkback terminal transmission to needs.
The present invention is further arranged to: the robot further includes the master for detecting robot region gas componant
Body gas detection module.
By using above-mentioned technical proposal, the gas componant of robot region can be obtained by robot, to sentence
Break which region noxious gas component it is less, to facilitate the determination into route and indicator of trapped personnel escape of rescue personnel
The determination of route.
The present invention is further arranged to: the robot further includes being built-in with fire extinguisher bomb and for remote transmission fire extinguisher bomb
Fire-fighting emits part.
By using above-mentioned technical proposal, make robot itself that there is certain fire-fighting ability, can to partial region into
Row cooling, fire extinguishing, so that robot be made to have the ability for changing site environment, and then keep the scope of activities of robot wider, obtain
It takes information capability stronger, facilitates robot cooperation rescue work.
In conclusion advantageous effects of the invention are as follows:
1. by emit wireless talkback terminal be directly realized robot cannot pass through but small size object can pass through two
Communication connection between setting；
2. the setting of bone-conduction speaker and bony microphone improves voice transmission efficiency；
3. more than kinds of image acquisition mode help to obtain the more accurate image information in robot region.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is system structure diagram of the invention；
Fig. 3 is the structural schematic diagram of wireless talkback terminal of the present invention；
Fig. 4 is the structural schematic diagram of image collection module of the present invention；
Fig. 5 is the concrete structure schematic diagram of emitter of the present invention.
In figure, 1, emitter；11, launching tube；111, sliding groove；12, card-bit part；121, reset spring；13, emit
Part；131, sliding part；14, trigger member；15, emit spring；16, motor is resetted；17, electric pushrod；18, silk is cut with scissors；2, explosion-proof bullet
Ball shell；3, wireless talkback terminal；4, remote gas detection device；5, fire-fighting emits part；51, fire extinguisher bomb.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Referring to Figures 1 and 2, a kind of explosion-proof flying robot, including central processing unit and the first wireless communication module, in
Central processor passes through the first channel radio by the first wireless communication module and ground command center's communication connection, ground command center
Interrogate all information that module is capable of Manipulation of the machine human action and the acquisition of acquisition robot.
The robot includes for obtaining the image collection module of robot region image information, for detecting machine
The bulk gas detection module of people region gas componant, for sniffing robot region vital sign parameter signals life
Order sign remote probe module, for the intercommunication module of robot position and ground command center's real-time communication.
Referring to Fig. 4, image collection module includes image information processing module and the heat for coupling image information processing module
Infrared imaging module, high-definition camera, ultraviolet imagery module and ultrasonic imager, thermal infrared imaging module, high-definition camera
The image information that head, ultraviolet imagery module and ultrasonic imager obtain can be transmitted to image information processing module, image letter
Breath processing module can the multiple series of image information of acquisition be compared and be handled, so as to avoid single image acquisition mode due to
The image information inaccuracy obtained caused by environment or other factors, and then obtain robot region and accurately scheme
As information.Such as live flue dust of above-mentioned environmental factor is more, visibility is lower, there are sound wave interference.Meanwhile thermal infrared at
The temperature information of robot region and the profile information of human body can also be obtained as module, to facilitate robot pair
High-temperature area evade and the search and rescue to indicator of trapped personnel.
Referring to Fig. 2, bulk gas detection module and has gas componant needed for the life for detecting robot region
The content of malicious pernicious gas ingredient, thus judge robot region whether have there are the condition of survivor and whether be suitable for
The escape route of indicator of trapped personnel or the search and rescue route of rescue worker pass through, and then facilitate rescue.
Vital sign remote probe module, for the vital sign parameter signals of sniffing robot region, life entity reference
Number position, that is, indicator of trapped personnel position, to facilitate the acquisition of indicator of trapped personnel position, and then facilitates rescue.
Intercommunication module couples central processing unit and is led to by central processing unit, the first communication module and ground command center
News connection, including loudspeaker and microphone, robot are moved to indicator of trapped personnel position, and indicator of trapped personnel can pass through intercommunication mould
Block is exchanged with ground command center, to facilitate the movement of ground command center commander indicator of trapped personnel and indicator of trapped personnel for live feelings
Condition embodiment feeds back to command centre, and then facilitates rescue.
Referring to Figure 1 and Figure 3, the robot further include for robot wireless telecommunications wireless talkback terminal 3, for remote
The remote gas detection device 4 of journey the detection of gas compositions, for emitting wireless talkback terminal 3 and remote gas detection device 4
Emitter 1, for judging that can emitter 1 by wireless talkback terminal 3 and the transmitting of remote gas detection device 4 to specific bit
The ultrasound measurement module set.
Wireless talkback terminal 3 includes terminal wireless communication module and the osteoacusis loudspeaking for coupling terminal wireless communication module
Device and bony microphone.Central processing unit is coupled with the second wireless telecommunications for connecting with 3 wireless telecommunications of wireless talkback terminal
Module, wireless talkback terminal 3 and central processing unit are realized wireless by terminal wireless communication module and the second wireless communication module
Communication connection is connect to realize with the wireless telecommunications of ground command center.Simultaneously as robot and wireless talkback terminal 3,
Ground command center is to realize wireless telecommunications by the first wireless communication module and the second wireless communication module respectively, therefore two
Communication process is difficulty parallel, that the possibility and module for reducing signal interference integrate.
Bone-conduction speaker and bony microphone are respectively used to sounding and quiet down, and the holder of wireless talkback terminal 3 can wear
It wears wireless talkback terminal 3 and passes through bone-conduction speaker and bony microphone and ground command center's speech exchange, meanwhile, bone passes
The sound transfer mode efficiency led is higher and bone-conduction speaker and bony microphone small volume, convenient for integrated.
Remote gas detection device 4 is for gas componant needed for the life of 4 region of remote gas detection device and has
Malicious pernicious gas ingredient, can also directly emit remote gas detection device 4 when not finding indicator of trapped personnel can not to robot
Direct row to but need to carry out the region of gas detection, thus judge the region whether have there are the condition of survivor and whether
It is suitable for that the escape route of indicator of trapped personnel or the search and rescue route of rescue worker pass through, and then facilitate rescue.
Further, in order to realize the protection to remote gas detection device 4 and wireless talkback terminal 3, by wireless talkback
Terminal 3 and remote gas detection device 4 are arranged in the same explosion-proof bullet shell 2, and explosion-proof bullet shell 2 is spherical in shape and openable,
Wireless talkback terminal 3 and remote gas detection device 4 are located in two semicircle spherical shells of explosion-proof bullet shell 2, wireless right
Wireless talkback terminal 3 can be taken out after the explosion-proof bullet shell 2 of one side of something where saying terminal 3 produces mouth and opens explosion-proof bullet shell 2, remotely
The hemispherical closing of the explosion-proof bullet shell 2 of one side of something and remote gas detection device 4 where gas-detecting device 4 can not take out, but
It is provided with the fine and closely woven stomata of supplied gas circulation on explosion-proof bullet shell 2, while being provided with outside wireless talkback terminal 3 wireless for protecting
The safeguard structure of intercommunication terminal 3, in the present embodiment, safeguard structure are preferably the spongy layer for wrapping up wireless talkback terminal 3.
Referring to Fig.1 and Fig. 5, emitter 1 is preferably saving casting device in the present embodiment, including launching tube 11, transmitting part 13,
Emit spring 15, hinge silk 18, card-bit part 12, reset motor 16, electric pushrod 17.Launching tube 11 is closed at one end, the other end is open
For emitting explosion-proof bullet shell 2, explosion-proof bullet shell 2 is located in launching tube 11 and side abuts transmitting part 13, and transmitting part 13 is arranged
It is connect to wrap up the half of hemispherical shell of explosion-proof bullet shell 2 and emitting 13 edge of part with wall slip in launching tube 11, emits bullet
Spring 15 be located at transmitting part 13 and the closed end of launching tube 11 between and transmitting 15 both ends of spring respectively with transmitting part 13 and transmitting
11 inner walls of cylinder are fixedly connected, and the two opposite direction mirror images for being laterally away from transmitting 13 center of part of transmitting part 13 are provided with sliding part
131, the sliding groove 111 slided for sliding part 131 is provided on launching tube 11, card-bit part 12 is set as L-type fixture block and the fixture block
Sliding groove 111, the longer partial-length direction of card-bit part 12 and launching tube 11 are inserted by launching tube 11 in shorter one side outside to inside
Length direction it is parallel and be rotatablely connected with 11 outer wall of launching tube by connector, in 12 end of card-bit part insertion sliding groove 111
When by sliding part 131 be connected to sliding groove 111 close to launching tube 11 close one end end, in card-bit part 12 far from sliding groove
When 111 one end are depressed to the direction close to launching tube 11, the contact of card-bit part 12 prevent transmitting part 13 will the detent of transmitting part 13
Quick-fried bullet shell 2 is launched.
The process of card-bit part 12 to the direction pressure of close launching tube 11 is realized by trigger member 14, in trigger member 14
It is provided with the inclined-plane for abutting 12 end of card-bit part, trigger member 14 is connected with electric pushrod 17, and electric pushrod 17 is pushed away to launching tube 11
Card-bit part 12 is depressed far from the end of sliding groove 111 when into trigger member 14 can trigger the process of the explosion-proof bullet shell 2 of transmitting.Electricity
Dynamic push rod 17 and reset motor 16 couple and are controlled by central processing unit, can operate explosion-proof bullet shell by central processing unit
2 transmitting.It is provided with reset spring 121 between end of the card-bit part 12 far from sliding groove 111 and launching tube 11, in trigger member 14
When detaching to the export-oriented direction far from launching tube 11, card-bit part 12 can reset and card-bit part 12 under the action of reset spring 121
In end insertion sliding groove 111 far from reset spring 121.
Launching tube 11 closes one end and is provided centrally with string holes, and transmitting part 13 is connected close to the side that launching tube 11 closes one end
Hinged silk 18, hinge silk 18 are pierced by the output shaft that connection resets motor 16 by string holes, are resetted motor 16 and are fixed in robot
Portion resets motor 16 and rotates the length that can adjust hinge silk 18, and hinge silk 18 does not influence to emit 13 emission process of part when extending, and cuts with scissors silk
18 shortenings can pull transmitting part 13 to reset.
Emitter 1 is used to emit wireless talkback terminal 3 to indicator of trapped personnel position, and the purpose is in machine human hair
It existing indicator of trapped personnel position but can not can only fly close to indicator of trapped personnel position but directly to indicator of trapped personnel position
But when small size object can pass through, at this time since the environment of robot position is noisy and robot and indicator of trapped personnel
The distance factors such as farther out, indicator of trapped personnel can not be exchanged directly by intercommunication module with ground command center, therefore pass through emitter 1
Directly by wireless talkback terminal 3 emit to indicator of trapped personnel position, indicator of trapped personnel hold wireless talkback terminal 3 can be realized with
Ground command center's exchange makes ground command center obtain the information feedback of indicator of trapped personnel, so as to avoid due to robot weight
New find is moved to indicator of trapped personnel position and wastes time, is delayed best rescue opportunity.Above-mentioned robot can not be direct
The reason of flight is to indicator of trapped personnel position such as intermediate region temperature is higher, smaller etc. by gap.
Referring to Fig. 2, ultrasound measurement module needs the position reached for robot measurement position to explosion-proof bullet shell 2
The distance set can judge that can emitter 1 emit explosion-proof bullet shell 2 to explosion-proof bullet in conjunction with the range of emitter 1
Shell 2 needs the position that reaches, when emitting explosion-proof bullet shell 2 to indicator of trapped personnel, position that explosion-proof bullet shell 2 needs to reach by
Subject to oppressive member nearby and in order to indicator of trapped personnel takes, when emitting explosion-proof bullet shell 2 to no man's land and carrying out gas detection
Only need explosion-proof bullet shell 2 that can emit the region detected to needs.
In the present embodiment, in order to guarantee bulk gas detection module and remote gas detection device 4 to corresponding region
The integrality of gas componant detection, bulk gas detection module and remote gas detection device 4 are preferably SGA-100 serial gas
Detection module, so that the detection to toxic and harmful gas a variety of near robot is realized, such as gas, natural gas, liquefied petroleum gas
Deng and life needed for gas detection, such as oxygen.
Referring to Figures 1 and 2, which further includes coupling and is controlled by the fire-fighting transmitting part 5 of central processing unit and sets
In the fire extinguisher bomb 51 emitted in fire-fighting transmitting part 5 and by fire-fighting transmitting part 5.Fire-fighting transmitting part 5 is set as structure and principle and hair
The completely the same saving casting device of injection device 1, and fire-fighting transmitting part 5 is arranged side by side with emitter 1, the direction of the launch is parallel, open court
To identical, therefore it is suitable for 1 ultrasound measurement module of emitter and image collection module also and can be suitable for fire-fighting to emit part 5.
In the present embodiment, fire extinguisher bomb 51 is preferably foam fire-fighting bullet 51.
By fire-fighting transmitting part 5 transmitting fire extinguisher bomb 51 to specified region, make robot itself that there is certain fire-fighting ability,
It can be cooled down to partial region, be put out a fire, to make robot that there is the ability for changing site environment, and then make robot
Scope of activities is wider, and acquisition information capability is stronger, facilitates robot cooperation rescue work.
In specific work process: ground command center is judged by the various information that central processing unit obtains where robot
The environment in region and indicator of trapped personnel position, and then it is mobile to control robot；In robot close to indicator of trapped personnel but can not
When being directly moved to indicator of trapped personnel position, wireless talkback terminal 3 can be emitted to indicator of trapped personnel position, robot
Depending on the information that position and objective emission position are obtained by ultrasound measurement module and image collection module, with explosion-proof bullet
Shell 2 can fly to objective emission position, and the determination of objective emission position is subject to indicator of trapped personnel and facilitates acquisition, by oppressive
Member can open explosion-proof bullet shell 2 and be exchanged by wireless talkback terminal 3 with ground command center.Meanwhile do not find it is stranded
Personnel's and the region that can not directly be moved to of robot, transmitting remote gas detection device 4 to region can obtain the area
The gas componant information in domain, to cooperate rescue.
Explosion-proof flying robot disclosed in this invention is directly realized robot by transmitting wireless talkback terminal 3 can not
By but the two positions that can pass through of small size object between communication connection；In wireless talkback terminal 3 bone-conduction speaker and
The setting of bony microphone improves voice transmission efficiency；A variety of image acquisition modes help to obtain institute, robot in robot
In the more accurate image information in region.
The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this
Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done, should all be covered by protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of explosion-proof flying robot, it is characterised in that: the robot is connect with ground command center's wireless telecommunications, described
Robot built-in has the wireless talkback terminal (3) connecting with the robot wireless telecommunications and configured with the transmitting wireless talkback
The emitter (1) of terminal (3), the robot further include the image information for obtaining robot region image
Image collection module.
2. explosion-proof flying robot according to claim 1, it is characterised in that: the emitter (1) is fitted with and can beat
The explosion-proof bullet shell (2) opened, the wireless talkback terminal (3) are set in explosion-proof bullet shell (2), the wireless talkback terminal
(3) safeguard structure for protecting wireless talkback terminal (3) is provided between explosion-proof bullet shell (2).
3. explosion-proof flying robot according to claim 1, it is characterised in that: also set up in the explosion-proof bullet shell (2)
Have and is connect with robot wireless telecommunications and the remote gas detection device (4) for remote gas detection, the explosion-proof bullet shell
(2) and on safeguard structure it is provided with ventilating structure for gas to pass through.
4. explosion-proof flying robot according to claim 1, it is characterised in that: the wireless talkback terminal (3) includes using
In the sound module of sounding and the module that quiets down for quieting down, the sound module is set as bone-conduction speaker, described to quiet down
Module is set as bony microphone.
5. explosion-proof flying robot according to claim 1, it is characterised in that: the robot further includes central processing unit
With the first wireless communication module and the second wireless communication module for coupling the central processing unit, the central processing unit and ground
Command centre passes through the first wireless communication module communication connection, the wireless talkback terminal (3) and remote gas detection device (4)
Pass through the second wireless communication module communication connection.
6. explosion-proof flying robot according to claim 1, it is characterised in that: it includes image letter that described image, which obtains module,
It ceases processing module and couples the thermal infrared imaging module of described image message processing module, high-definition camera, ultraviolet imagery mould
Block, ultrasonic imager, described image message processing module handle thermal infrared imaging module, high-definition camera, ultraviolet imagery mould
Image information that block, ultrasonic imager obtain simultaneously will treated that image information is transmitted in robot.
7. explosion-proof flying robot according to claim 1, it is characterised in that: the robot further includes for detection machine
The vital sign remote probe module of device people region vital sign parameter signals and for realizing robot position and ground
The intercommunication module of command centre's two-way voice talkback.
8. explosion-proof flying robot according to claim 1, it is characterised in that: the robot further includes for detection machine
The range finder module for the positional distance that device people position to wireless talkback terminal (3) need to reach.
9. explosion-proof flying robot according to claim 1, it is characterised in that: the robot further includes for detection machine
The bulk gas detection module of device people region gas componant.
10. explosion-proof flying robot according to claim 1, it is characterised in that: the robot further includes being built-in with to go out
Fiery bullet (51) and fire-fighting transmitting part (5) for being used for remote transmission fire extinguisher bomb (51).
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