CN111098285A

CN111098285A - Wheeled detection robot based on low-earth-orbit satellite communication

Info

Publication number: CN111098285A
Application number: CN201811245997.1A
Authority: CN
Inventors: 陈彦男; 蒋行川; 谢涛
Original assignee: Beijing Commsat Technology Development Co Ltd
Current assignee: Beijing Commsat Technology Development Co Ltd
Priority date: 2018-10-25
Filing date: 2018-10-25
Publication date: 2020-05-05

Abstract

A wheel type detection robot based on low earth orbit satellite communication relates to the technical field of robots. The invention adopts the latest low-orbit satellite module Iridium 9523 to realize the transmission of more than 300kb/s, realize the segmented return of images at a longer distance, carry a 3G/4G module and reduce the communication cost under the condition of a ground network. Based on satellite communication, SLAM technology and various sensor technologies, the robot is a low-earth-orbit satellite communication-based wheeled detection robot, the robot can realize free crossing of low gradient, narrow-area steering, SLAM map reconstruction, automatic acquisition of sensor data (temperature, humidity, air pressure and the like) and image acquisition in a short time, image information and sensor information are returned in a dialing mode through a low-earth-orbit satellite, the highest speed can reach 300kb/s, and the return of data can be met. When the satellite signal is not good, but the ground network can be detected (4G/3G), the ground network is adopted to transmit back partial data, so that the effects of realizing image transmission back at a longer distance and reducing communication cost are achieved.

Description

Wheeled detection robot based on low-earth-orbit satellite communication

1. Field of the invention

The invention relates to the technical field of robots, in particular to a robot for detecting returned information.

2. Background of the invention

2.1 background of the invention

At present, many environments are not suitable for human beings to detect, detection robots are born at the same time, and the detection robots are intelligent mechanisms with sensing, decision-making and movement capabilities. The detection robot has been widely used in military, marine exploration, Mars detection and geological exploration, for example, figure 1 is a multi-link Mars detection robot. A better detection route is found out through sensing the state of the surrounding environment, meanwhile, the characteristics of the environment (such as temperature, humidity, geological conditions, photos, audio frequency and the like) are obtained, and the data need to be transmitted back to the cloud end to be subjected to comprehensive analysis and processing in a background. At present, with the occurrence of sudden accidents such as natural disasters, the geographic environment changes greatly, the environment is complicated, and meanwhile, construction sites such as mines face the requirements of exploration environment, risks and the like, so that the detection robot has come to the end, but because the sites usually have no ground network, communication satellite equipment needs to be carried for detection, the traditional detection robot can return few communication information data, but with the development of the current sensor technology, more data can be detected and returned, and large data such as images and audios need to be returned. At present, no equipment can completely return the data, and the more the data is returned, the greater the help for subsequent detection and rescue work is.

2.2 prior art

2.2.1 prior art protocol

In the prior art, a wheeled robot is adopted for environment detection at present, most of the conventional wheeled robots adopt common tires, steering is controlled through rotation of a steering engine, and the steering data is uploaded to a cloud terminal or a handheld terminal in a wireless transmission mode (such as 4G, 3G, LORA, WIFI and the like) after a sensor (a barometer, a temperature, humidity, a gyroscope and the like) collects required environment data. Some existing satellite transmission schemes only support signal transmission of small data, and cannot complete return transmission of large data (images and the like).

2.2.2 disadvantages of the prior art solutions

Under the prior art scheme, the chassis tire adopts ordinary tire + connecting rod control, it is difficult to turn to go in the region of relative stenosis, need an area to be used for the direction adjustment, in data transmission, be restricted to wireless transmission mode, many areas do not cover 4G, 3G net, if adopt 3G, 4G's mode, the data of uncovered area can't pass back in time, wifi transmission distance is limited, must handheld terminal and robot distance be relatively close (less than 1 kilometer), LORA etc. in the data volume of long distance transmission mode very limited, need erect the base station simultaneously and improve communication distance, only can pass back a little locating information based on traditional satellite communication, can't accomplish the file transmission of big data volume (great file package/image). And if data is transmitted only by satellite communication, the communication cost is extremely high.

3. Summary of the invention

The return signal is a very important ring of the detection robot, and there are many places on the earth without ground signal coverage. The detection robot has a great application scene that in the unmanned areas with little or no human smoke and some disaster outburst places, data are transmitted back based on the low-earth communication satellite, so that the detection range of the detection robot is greatly improved, meanwhile, observers can obtain the latest data from any place on the earth, the value of the detection robot is greatly improved, and the burden of the observers (rescuers) is reduced. However, as the number of sensors increases, the data volume becomes larger and larger, and the traditional short message cannot meet the requirement of data transmission.

In order to solve the technical problems, the latest low-orbit satellite module Iridium 9523 can realize transmission of more than 300kb/s, can realize return of long-distance image segments, is also provided with a 3G/4G module, and reduces communication cost under the condition of a ground network. Due to the high communication speed, the data of a plurality of sensors can be transmitted back, which greatly helps the observation (rescue) personnel to implement later work.

The invention discloses a low-orbit satellite communication-based wheeled detection robot based on satellite communication, SLAM technology and various sensor technologies, which can realize free crossing of low gradient, steering in narrow area, SLAM map reconstruction, automatic acquisition of sensor data (temperature, humidity, air pressure and the like) and image acquisition in short time, and return image information and sensor information in a dialing mode through a low-orbit satellite, wherein the highest speed can reach 300kb/s, and the return of the data can be basically met. When the satellite signal is not good, but the ground network can be detected (4G/3G), the ground network is adopted to transmit back partial data, so that the effect of reducing the communication cost is achieved.

4. Description of the drawings

FIG. 1 Signal Transmission workflow

FIG. 2 is a view showing a configuration of a frame

FIG. 3 rendering a profile

FIG. 4 hardware System Block diagram

5. Detailed description of the preferred embodiments

A wheeled exploration robot based on low earth orbit satellite communication mainly comprises: moving platform, control system, satellite antenna, information acquisition system, power supply system, its characterized in that: the mobile platform utilizes the Mackelan wheels to realize the zero-movement steering and all-directional movement of the ground and the terrain-crossing movement, and a control system, a satellite antenna, an information acquisition system and a power supply system are carried on the platform. The control system controls the basic motion of the mobile platform and is connected with the information acquisition system, the power supply system and the satellite antenna. After the information acquisition system acquires the information data, the information data are sent to the communication module, and the high-speed satellite communication module is adopted, so that the return of large data such as videos/images and the like can be realized, and the large data are returned to the satellite through the satellite antenna. In the process, the mobile platform can adjust the position of the mobile platform to carry out satellite alignment operation. Modules such as ultrasonic waves in the information acquisition system can assist the mobile platform to move so as to avoid obstacles. The above processes basically ensure that data can be successfully and stably sent out. When the satellite signal is not good, but the ground network can be detected (4G/3G), the ground network is adopted to transmit back partial data, so that the effect of reducing the communication cost is achieved. Specific models and hardware block diagrams refer to fig. 2, 3, and 4. Fig. 1 shows a signal transmission workflow, and communication switching between a terrestrial network and a satellite can be realized through the workflow of fig. 1.

As an improvement of the invention, the mobile platform is formed by adopting the mobile platform and part of the information acquisition system, wherein the ultrasonic waves, the binocular laser radar and the mobile platform can assist the mobile platform to move, so that the minimum collision and risk prediction capability of the mobile platform are ensured, and the safety of the robot is greatly guaranteed. This improved hardware and architecture is unchanged, except that the sensor data is invoked in the operating strategy.

As an improvement of the invention, the binocular in the information acquisition platform can adopt an infrared camera for detection, and meanwhile, an infrared LED is assisted for light supplement, so that the detection capability of the system under the dark condition can be enhanced. The shape of the rest part is unchanged.

As an improvement of the invention, the antenna system can be designed by adopting a communication-in-motion antenna, a servo motor is additionally arranged at the top of the robot to control the antenna to aim at the satellite, and other parts of structural hardware are kept unchanged, so that the communication data transmission of the robot is smoother and more continuous after the design is adopted.

The invention is based on the further expanded application of the wheeled robot, fig. 2 is the outline frame structure diagram of the invention, fig. 3 is a rendering outline diagram, the parts of each part in the diagram are annotated and are respectively described below, the power system adopts a brushless direct current motor (6), four wheels all use Mackerel wheels (4), and meanwhile, the invention adopts an independent suspension system (7) for connection, thereby greatly reducing the impact force on the vehicle body and enabling the acquired image information to be more stable. The robot comprises a front body and a rear body, wherein four guide wheels (8) are arranged on the front body and the rear body, the robot is prevented from being stuck in a narrow area, the whole robot is provided with a plurality of sensors for collecting information, a gyroscope (inside), a barometer (inside), a temperature and humidity sensor (inside), ultrasonic waves (2) and a camera (3), the whole robot body is fixed on a carbon fiber bottom plate (5), an OLED operation panel (1) is arranged in front of the robot body, and simple human-computer interaction can be carried out.

Hardware system block diagram

As shown in FIG. 4, ARM is adopted as a main control core for hardware of the system, the brushless driver is controlled to complete vehicle body operation control, meanwhile, the system can be added with a laser radar, environment surveying and mapping are completed through the radar, and the double cameras can also perform auxiliary surveying and mapping when acquiring images. A plurality of sensors are mounted inside the vehicle body, relevant environmental information is collected through the gyroscope, the barometer, the temperature and humidity and other sensors, and the ultrasonic module is used for assisting in avoiding obstacles. The vehicle body supports simple human-computer interaction, and related parameters of the vehicle body can be set through the OLED. And uploading the collected information to a terminal (background) through a satellite module.

6. Beneficial effect brought by the technical scheme

According to the invention, the high-speed low-orbit satellite module is carried for communication, so that the data quantity which can be collected by the whole detection system is increased, the detection range of the detection robot is enlarged, the data quantity which can be transmitted back is increased, and more useful information can be obtained. From the technical aspect, data are transmitted through the low-orbit satellite module, certain real-time performance of the system is basically guaranteed, a transmission detection area is widened, and the robot can adapt to a narrow space easily due to the improvement of the Milang wheel. In the actual application process, the method and the device are beneficial to more efficiently collecting information, and data collection personnel do not need to wait near an unmanned area in person or build a simple base station for a detection area to obtain comprehensive data. After multiple searches, the map of the area can be returned, and meanwhile, the situation of the ground network is considered, the switching between the ground network and the satellite communication is realized, and the communication cost is greatly reduced. There is no such a ground network satellite detection robot at present.

Claims

1. A wheeled exploration robot based on low earth orbit satellite communication mainly comprises: moving platform, control system, satellite antenna, information acquisition system, power supply system, its characterized in that: the mobile platform realizes the zero-movement steering and the all-around movement in the ground and the terrain-crossing movement, and a control system, a satellite antenna, an information acquisition system and a power supply system are carried on the platform. The control system controls the basic motion of the mobile platform and is connected with the information acquisition system, the power supply system and the satellite antenna. After the information acquisition system acquires the information data, the information data is sent to the communication module and is transmitted back to the satellite through the satellite antenna.

2. A low earth orbit satellite communication-based wheeled probe robot as claimed in claim 1, wherein: when the ground network exists, the 3G/4G communication is preferentially used, and when the ground network does not exist, the low-orbit satellite communication is adopted, so that the real-time speed reaches 300 kb/s.

3. The low earth orbit satellite communication-based wheeled detection robot moving platform according to claim 1 is characterized in that: the adoption of the independent suspension connection mode can realize all-terrain movement and zero-space autorotation steering, and guide wheels are arranged around the platform to prevent the mobile platform from being blocked.

4. The low earth orbit satellite communication-based wheeled detection robot moving platform according to claim 1 is characterized in that: laser radar is placed above the platform, and an ultrasonic sensor is placed at the bottom end of the platform by wheel measurement and used for avoiding obstacles.

5. The low earth orbit satellite communication-based wheeled detection robot moving platform according to claim 1 is characterized in that: the top is lower than the laser radar position, installs servo motor installation antenna additional. And the communication-in-motion antenna is realized, and the automatic satellite alignment function is completed.

6. The low earth orbit satellite communication-based wheeled detection robot information collection system according to claim 1, characterized in that: the laser radar and the binocular can comprehensively process information, map scanning is carried out through the SLAM technology, and the map is returned after the map scanning is finished. The device has the functions of temperature, humidity, air pressure, posture and other information acquisition.