CN112276975A - Large-load emergency rescue robot control system facing complex environment - Google Patents
Large-load emergency rescue robot control system facing complex environment Download PDFInfo
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- CN112276975A CN112276975A CN202011186864.9A CN202011186864A CN112276975A CN 112276975 A CN112276975 A CN 112276975A CN 202011186864 A CN202011186864 A CN 202011186864A CN 112276975 A CN112276975 A CN 112276975A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a large-load emergency rescue robot control system facing a complex environment, which structurally comprises: the robot control system comprises a robot chassis control subsystem, a mechanical arm control subsystem, a communication subsystem, a video subsystem, an automatic wire winding and unwinding control subsystem and a terminal display control subsystem, wherein the robot chassis control subsystem is connected with the terminal display control subsystem through a serial WIFI module of the communication subsystem, and a chassis main controller of the robot chassis control subsystem is connected with a mechanical arm controller through a CAN (controller area network) line; the technical scheme of the invention has the characteristics of large load of a hydraulic system and convenient operation and control of an electric system; wireless and wired dual communication mechanisms: ensuring normal communication under the condition of serious electromagnetic interference; meanwhile, the invention is easy to realize and suitable for popularization and application due to reasonable and simple structural design.
Description
Technical Field
The invention relates to an intelligent rescue robot, in particular to a large-load emergency rescue robot control system facing a complex environment.
Background
In recent years, emergencies such as wars and terrorist attacks, natural disasters such as earthquakes and tsunamis, and potential nuclear, chemical, biological and explosive substances threaten the safety of human life and property. The severity, diversity and complexity of various disasters have increased as they occur more often. 72 hours after the disaster occurs are the gold rescue time, but under the influence of the unstructured environment of the disaster site, the rescue workers are difficult to work quickly, efficiently and safely, and the rescue task gradually exceeds the capability range of the rescue workers, so that the rescue robot becomes an important development direction.
At present, most rescue robots mainly search for rescue targets, after finding the rescue targets, standby robots send rescue information to a rescue command department, and rescue command personnel decide to send rescue personnel or other rescue equipment to implement rescue actions according to the rescue information and road conditions, so that the rescue efficiency is low.
Therefore, the above problems should be solved in time by those skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a large-load emergency rescue robot control system for complex environment, which has the characteristics of complex environment passing capacity, real-time interaction capacity, quick rescue tool replacement, large load, field rescue action implementation and the like.
The invention is realized by the following technical scheme: a large-load emergency rescue robot control system for complex environment structurally comprises: the robot chassis control system comprises a robot chassis control subsystem (1), a mechanical arm control subsystem (2), a communication subsystem (3), a video subsystem (4), an automatic winding and unwinding control subsystem (5) and a terminal display control subsystem (6), wherein the robot chassis control subsystem (1) mainly comprises an inclination angle sensor (7), a temperature sensor (8), a walking motor driving system (9) and a chassis main controller (10); the mechanical arm control subsystem (2) comprises a mechanical arm controller (11), and the mechanical arm controller (11) is respectively connected with a temperature pressure sensor (12), an angle sensor (13), an electric arm part (14) and a hydraulic arm part (15); the communication subsystem (3) comprises a serial port to network port module (16), a first switch (17), a first wireless network bridge module (21), a second wireless network bridge module (24), a first optical fiber transceiver (22), a second optical fiber transceiver (23) and a serial WIFI module (25); the video subsystem comprises a mechanical arm shoulder tripod head (18), a mechanical arm wrist camera (19) and a panoramic imaging system (20); the automatic take-up and pay-off control subsystem (5) comprises a second switch (26), a winder controller (27), a WIFI module (28) and a take-up and pay-off motor driving system (29); the terminal display control subsystem (6) includes: the device comprises an industrial personal computer (30), a remote controller control panel (31), a left key board (32) and a right key board (33);
the robot chassis control subsystem (1) is connected with the terminal display control subsystem (6) through a serial WIFI module (25) of the communication subsystem (3), and a chassis main controller (10) of the robot chassis control subsystem (1) is connected with the mechanical arm controller (11) through a CAN line.
Preferably, the inclination angle sensor (7) is used for detecting the inclination angles of the robot in the X direction and the Y direction in real time in the walking process, and transmitting the inclination angles to the terminal display control subsystem (6) through the chassis main controller (10) and the communication subsystem (3) and displaying the inclination angles in real time; the temperature sensor (8) is used for detecting the temperature inside the vehicle body of the robot in the working process; the walking motor driving system (9) receives a speed command issued by the chassis main controller (10) to realize forward, backward, turning and stop movement.
Preferably, the communication subsystem (3) completes the sending of the control command of the terminal control subsystem (6) to the chassis main controller (10), the mechanical arm controller (11) and the reel controller (27), and transmits the feedback information of the chassis main controller (10), the mechanical arm controller (11) and the reel controller (27) and the video information of the video subsystem (4) to the terminal display control subsystem (6); when a wireless communication mode is adopted, the reel controller (27) does not participate in control, and information transmission is completed by a wireless network bridge module I (21) arranged on the robot chassis control subsystem (1) and a wireless network bridge module II (24) arranged on the terminal display control subsystem (6); when a wired communication mode is adopted, information of the chassis main controller (10), the mechanical arm controller (11) and the video subsystem (4) is communicated with the terminal display control subsystem (6) through the optical fiber transceiver I (22), the optical fiber transceiver II (23) and the WIFI module (28) on the automatic winder controller (27).
Preferably, the video subsystem (4) comprises a mechanical arm shoulder tripod head (18), a mechanical arm wrist camera (19) and a panoramic imaging system (20); the mechanical arm shoulder holder (18), the mechanical arm wrist camera (19) and the panoramic imaging system (20) are respectively connected with the first switch (17) through a network, and the video subsystem (4) is used for providing the surrounding environment and the environment video information of a rescue target in the advancing process of the robot, so that remote rescue is facilitated.
Preferably, the automatic take-up and pay-off control subsystem (5) comprises a second switch (26) which is respectively connected with a winder controller (27) and a WIFI module (28), and a take-up and pay-off motor driving system (29) is connected with the winder controller (27) through a CAN bus; the automatic take-up and pay-off control subsystem (5) is mainly used in the occasions where electromagnetic interference is serious and the wireless communication mode cannot be applied in the environment.
Preferably, the terminal display control subsystem (6) comprises an industrial personal computer (30), a remote controller control panel (31), a left key board (32) and a right key board (33); the remote controller control panel (31) detects the key change conditions of the left key board (32) and the right key board (33) and then transmits key information to the industrial personal computer (30) through a serial port; the industrial personal computer (30) controls the robot to execute corresponding actions according to the changed key values, such as the robot moves forwards and backwards, and the mechanical arm extends and retracts.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the technical scheme of the invention has the characteristics of large load of a hydraulic system and convenient operation and control of an electric system; multichannel video signal transmission system: the chassis panoramic imaging system, the mechanical arm shoulder holder and the wrist camera can clearly display the peripheral environmental conditions of the robot on a travel route, and rescue work is implemented by adjusting the pose of the mechanical arm after an imminent target is found; wireless and wired dual communication mechanisms: ensuring normal communication under the condition of serious electromagnetic interference; meanwhile, the invention is easy to realize and suitable for popularization and application due to reasonable and simple structural design.
Drawings
FIG. 1 is a schematic view of the structural connection of the present invention;
FIG. 2 is a schematic workflow diagram of the present invention;
the reference numerals in the drawings denote:
1-a robot chassis control subsystem; 2-a mechanical arm control subsystem; 3-a communication subsystem; 4-a video subsystem; 5-automatic take-up and pay-off control subsystem; 6-terminal display control subsystem; 7-a tilt sensor; 8-a temperature sensor; 9-a walking motor driving system; 10-a chassis master controller; 11-a robot arm controller; 12-a temperature pressure sensor; 13-an angle sensor; 14-electric arm part; 15-hydraulic arm part; 16-a serial port to network port module; 17-a first switch; 18-mechanical arm shoulder pan-tilt; 19-robot wrist camera; 20-a panoramic imaging system; 21-wireless network bridge module one; 22-fiber transceiver one; 23-a second optical fiber transceiver; 24-wireless network bridge module two; 25-serial to WIFI module; 26-switch two; 27-reel controller; 28-a WIFI module; 29-a take-up and pay-off motor drive system; 30-an industrial personal computer; 31-remote control panel; 32-left keypad; 33-right keypad.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in the attached drawings, the control system for the complex environment-oriented large-load emergency rescue robot structurally comprises: the robot chassis control subsystem 1 mainly comprises an inclination angle sensor 7, a temperature sensor 8, a walking motor driving system 9 and a chassis main controller 10; the mechanical arm control subsystem 2 comprises a mechanical arm controller 11, and the mechanical arm controller 11 is respectively connected with a temperature pressure sensor 12, an angle sensor 13, an electric arm part 14 and a hydraulic arm part 15; the communication subsystem 3 comprises a serial port to network port module 16, a first switch 17, a first wireless network bridge module 21, a second wireless network bridge module 24, a first optical fiber transceiver 22, a second optical fiber transceiver 23 and a serial WIFI module 25; the video subsystem comprises a mechanical arm shoulder tripod head 18, a mechanical arm wrist camera 19 and a panoramic imaging system 20; the automatic pay-off and take-up control subsystem 5 comprises a second switch 26, a winder controller 27, a WIFI module 28 and a pay-off and take-up motor driving system 29; the terminal display control subsystem 6 includes: the device comprises an industrial personal computer 30, a remote controller control panel 31, a left key board 32 and a right key board 33;
the robot chassis control subsystem 1 is connected with the terminal display control subsystem 6 through a serial WIFI module 25 of the communication subsystem 3, and a chassis main controller 10 of the robot chassis control subsystem 1 is connected with the mechanical arm controller 11 through a CAN line.
In a specific implementation process, the inclination angle sensor 7 is used for detecting the inclination angles of the robot in the X direction and the Y direction in real time in a walking process, and transmitting the inclination angles to the terminal display control subsystem 6 through the chassis main controller 10 and the communication subsystem 3 for real-time display; the temperature sensor 8 is used for detecting the temperature inside the robot body in the working process; the walking motor driving system 9 receives a speed command issued by the chassis main controller 10 to realize forward, backward, turning and stop motion.
In the specific implementation process, the communication subsystem 3 completes the issuing of the control instruction of the terminal control subsystem 6 to the chassis main controller 10, the mechanical arm controller 11 and the reel controller 27, and transmits the feedback information of the chassis main controller 10, the mechanical arm controller 11 and the reel controller 27 and the video information of the video subsystem 4 to the terminal display control subsystem 6; when the wireless communication mode is adopted, the reel controller 27 does not participate in the control, and the information transmission is completed by the wireless bridge module I21 arranged on the robot chassis control subsystem 1 and the wireless bridge module II 24 arranged on the terminal display control subsystem 6; when the wired communication mode is adopted, the information of the chassis main controller 10, the mechanical arm controller 11 and the video subsystem 4 is communicated with the terminal display control subsystem 6 through the first optical fiber transceiver 22, the second optical fiber transceiver 23 and the WIFI module 28 on the automatic winder controller 27.
In a specific implementation process, the video subsystem 4 comprises a mechanical arm shoulder tripod head 18, a mechanical arm wrist camera 19 and a panoramic imaging system 20; the mechanical arm shoulder holder 18, the mechanical arm wrist camera 19 and the panoramic imaging system 20 are respectively connected with the first switch 17 through a network, and the video subsystem 4 is used for providing the surrounding environment and the environment video information of a rescue target in the advancing process of the robot, so that remote rescue is facilitated.
In a specific implementation process, the automatic take-up and pay-off control subsystem 5 comprises a second switch 26 which is respectively connected with a winder controller 27 and a WIFI module 28, and a take-up and pay-off motor driving system 29 is connected with the winder controller 27 through a CAN bus; the automatic take-up and pay-off control subsystem 5 is mainly used in the occasions where electromagnetic interference is serious and the wireless communication mode cannot be applied in the environment.
In a specific implementation process, the terminal display control subsystem 6 comprises an industrial personal computer 30, a remote controller control panel 31, a left key board 32 and a right key board 33; the remote controller control board 31 detects the key change conditions of the left key board 32 and the right key board 33 and then transmits key information to the industrial personal computer 30 through a serial port; the industrial personal computer 30 controls the robot to perform corresponding actions, such as the robot moving forward and backward, and the arm extending and retracting, according to the changed key values.
This patent design's big load emergency rescue robot control system towards complex environment compares current technique and has: 1) crawler-type chassis structure: the complex environment passing ability is achieved; 2) hydraulic and electric hybrid mechanical arm structure: the robot has the characteristics of large load of a hydraulic system and convenient operation and control of an electric system; 3) multichannel video signal transmission system: the chassis panoramic imaging system, the mechanical arm shoulder holder and the wrist camera can clearly display the peripheral environmental conditions of the robot on a travel route, and rescue work is implemented by adjusting the pose of the mechanical arm after an imminent target is found; 4) wireless and wired dual communication mechanisms: and ensuring normal communication under the condition of serious electromagnetic interference.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a big load emergency rescue robot control system towards complex environment which characterized in that, its structure includes: the robot chassis control system comprises a robot chassis control subsystem (1), a mechanical arm control subsystem (2), a communication subsystem (3), a video subsystem (4), an automatic winding and unwinding control subsystem (5) and a terminal display control subsystem (6), wherein the robot chassis control subsystem (1) mainly comprises an inclination angle sensor (7), a temperature sensor (8), a walking motor driving system (9) and a chassis main controller (10); the mechanical arm control subsystem (2) comprises a mechanical arm controller (11), and the mechanical arm controller (11) is respectively connected with a temperature pressure sensor (12), an angle sensor (13), an electric arm part (14) and a hydraulic arm part (15); the communication subsystem (3) comprises a serial port to network port module (16), a first switch (17), a first wireless network bridge module (21), a second wireless network bridge module (24), a first optical fiber transceiver (22), a second optical fiber transceiver (23) and a serial WIFI module (25); the video subsystem comprises a mechanical arm shoulder tripod head (18), a mechanical arm wrist camera (19) and a panoramic imaging system (20); the automatic take-up and pay-off control subsystem (5) comprises a second switch (26), a winder controller (27), a WIFI module (28) and a take-up and pay-off motor driving system (29); the terminal display control subsystem (6) comprises an industrial personal computer (30), a remote controller control panel (31), a left key board (32) and a right key board (33);
the robot chassis control subsystem (1) is connected with the terminal display control subsystem (6) through a serial WIFI module (25) of the communication subsystem (3), and a chassis main controller (10) of the robot chassis control subsystem (1) is connected with the mechanical arm controller (11) through a CAN line.
2. The large-load emergency rescue robot control system facing the complex environment as claimed in claim 1, wherein the tilt sensor (7) is used for detecting the tilt angles of the robot in the X direction and the Y direction in real time during walking, and transmitting the tilt angles to the terminal display control subsystem (6) through the chassis main controller (10) and the communication subsystem (3) and displaying the tilt angles in real time; the temperature sensor (8) is used for detecting the temperature inside the vehicle body of the robot in the working process; the walking motor driving system (9) receives a speed command issued by the chassis main controller (10) to realize forward, backward, turning and stop movement.
3. The complex environment-oriented large-load emergency rescue robot control system according to claim 1, wherein the communication subsystem (3) completes the sending of the control command of the terminal control subsystem (6) to the chassis main controller (10), the mechanical arm controller (11) and the reel controller (27), and transmits the feedback information of the chassis main controller (10), the mechanical arm controller (11) and the reel controller (27) and the video information of the video subsystem (4) to the terminal display control subsystem (6); when a wireless communication mode is adopted, the reel controller (27) does not participate in control, and information transmission is completed by a wireless network bridge module I (21) arranged on the robot chassis control subsystem (1) and a wireless network bridge module II (24) arranged on the terminal display control subsystem (6); when a wired communication mode is adopted, information of the chassis main controller (10), the mechanical arm controller (11) and the video subsystem (4) is communicated with the terminal display control subsystem (6) through the optical fiber transceiver I (22), the optical fiber transceiver II (23) and the WIFI module (28) on the automatic winder controller (27).
4. The complex environment-oriented large-load emergency rescue robot control system according to claim 1, characterized in that the video subsystem (4) comprises a robot arm shoulder pan-tilt head (18), a robot arm wrist camera (19), a panoramic imaging system (20); the mechanical arm shoulder holder (18), the mechanical arm wrist camera (19) and the panoramic imaging system (20) are respectively connected with the first switch (17) through a network, and the video subsystem (4) is used for providing the surrounding environment and the environment video information of a rescue target in the advancing process of the robot, so that remote rescue is facilitated.
5. The complex environment-oriented large-load emergency rescue robot control system according to claim 1, wherein the automatic pay-off and take-up line control subsystem (5) comprises a second switch (26) connected with the winder controller (27) and the WIFI module (28), and a pay-off and take-up line motor drive system (29) connected with the winder controller (27) through a CAN bus; the automatic take-up and pay-off control subsystem (5) is mainly used in the occasions where electromagnetic interference is serious and the wireless communication mode cannot be applied in the environment.
6. The complex environment-oriented large-load emergency rescue robot control system according to claim 1, wherein the terminal display control subsystem (6) comprises an industrial personal computer (30), a remote controller control panel (31), a left key board (32) and a right key board (33); the remote controller control panel (31) detects the key change conditions of the left key board (32) and the right key board (33) and then transmits key information to the industrial personal computer (30) through a serial port; the industrial personal computer (30) controls the robot to execute corresponding actions according to the changed key values, such as the robot moves forwards and backwards, and the mechanical arm extends and retracts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011186864.9A CN112276975A (en) | 2020-10-30 | 2020-10-30 | Large-load emergency rescue robot control system facing complex environment |
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| CN202011186864.9A CN112276975A (en) | 2020-10-30 | 2020-10-30 | Large-load emergency rescue robot control system facing complex environment |
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| KR101845675B1 (en) * | 2017-11-15 | 2018-04-05 | 백명신 | Desktop robot dispenser system using wireless controller |
| CN109917786A (en) * | 2019-02-04 | 2019-06-21 | 浙江大学 | A kind of robot tracking control and system operation method towards complex environment operation |
| CN111515973A (en) * | 2020-04-29 | 2020-08-11 | 山东省科学院自动化研究所 | Nuclear power station emergency rescue robot, system and method |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
| CN211682148U (en) * | 2020-03-06 | 2020-10-16 | 辽宁科技大学 | Fire rescue robot |
| CN111791214A (en) * | 2020-07-03 | 2020-10-20 | 北京海益同展信息科技有限公司 | Inspection robot and inspection system for inspecting construction tunnel |
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2020
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385274A (en) * | 2014-07-31 | 2015-03-04 | 湖北三江航天红林探控有限公司 | Emergency disposal robot used for responding to subway sudden events |
| KR101845675B1 (en) * | 2017-11-15 | 2018-04-05 | 백명신 | Desktop robot dispenser system using wireless controller |
| CN109917786A (en) * | 2019-02-04 | 2019-06-21 | 浙江大学 | A kind of robot tracking control and system operation method towards complex environment operation |
| CN211682148U (en) * | 2020-03-06 | 2020-10-16 | 辽宁科技大学 | Fire rescue robot |
| CN111515973A (en) * | 2020-04-29 | 2020-08-11 | 山东省科学院自动化研究所 | Nuclear power station emergency rescue robot, system and method |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
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Application publication date: 20210129 |