CN115430091A - Fire-fighting robot ground monitoring system capable of autonomous communication - Google Patents
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Abstract
本发明公开了一种自主通信的消防机器人地面监控系统，包括地面监控系统、RosBridge通信系统和消防机器人系统；地面监控系统用于通过RosBridge通信系统对消防机器人进行管理、对消防机器人的工作任务进行控制和对消防机器人的实时状态机芯监控；消防机器人系统用于获取消防机器人的实时状态信息、告警信息、子地图信息、实时位置信息、配置信息、视频信息和关节信息，通过RosBridge通信系统传输给地面监控系统；还用于获取地面监控系统发送的工作任务数据控制消防机器人进行相应动作。优点：有效提升消防机器人数据通信、实时监视与控制、作业任务管理、联动作业、远程管控、人机交互和调试维护的智能化与可靠性水平。
The invention discloses a ground monitoring system for a fire-fighting robot with autonomous communication, comprising a ground monitoring system, a RosBridge communication system and a fire-fighting robot system; Control and monitor the real-time state movement of the fire-fighting robot; the fire-fighting robot system is used to obtain the real-time status information, alarm information, sub-map information, real-time position information, configuration information, video information and joint information of the fire-fighting robot, and transmit them through the RosBridge communication system For the ground monitoring system; it is also used to obtain the work task data sent by the ground monitoring system to control the fire-fighting robot to perform corresponding actions. Advantages: Effectively improve the intelligence and reliability of fire robot data communication, real-time monitoring and control, task management, linkage operations, remote control, human-computer interaction, and commissioning and maintenance.
Description
技术领域technical field
本发明涉及一种自主通信的消防机器人地面监控系统，属于通信技术领域。The invention relates to a self-communicating fire-fighting robot ground monitoring system, which belongs to the technical field of communication.
背景技术Background technique
变压器、换流变等大型充油设备作为我国特高压输电核心构成，是电力传输的重要载体，一旦发生火灾事故，不仅仅会造成变电站电力传输与使用的中断，影响电力供应能力，同时会造成巨大的经济损失。消防机器人可提高消防人员扑救特大恶性火灾的实战能力，减少财产损失和人员伤亡。基于变电站复杂火灾形势，我们需要研发可提升变电站消防能力的新技术、新产品、新方法，研发全场景消防机器人系列产品，提升变电站消防性能提升要求，降低电网安全运行风险。Large-scale oil-filled equipment such as transformers and converters, as the core components of UHV power transmission in my country, is an important carrier of power transmission. Once a fire accident occurs, it will not only cause the interruption of power transmission and use in the substation, affect the power supply capacity, but also cause Huge economic loss. Fire-fighting robots can improve the actual combat ability of firefighters to fight extremely large and vicious fires, and reduce property losses and casualties. Based on the complex fire situation in substations, we need to develop new technologies, new products, and new methods that can improve the fire protection capabilities of substations, and develop a series of full-scenario fire-fighting robots to improve the requirements for fire-fighting performance of substations and reduce the risk of safe operation of power grids.
发明内容Contents of the invention
本发明所要解决的技术问题是克服现有技术的缺陷，提供一种自主通信的消防机器人地面监控系统，以有效提升消防机器人数据通信、实时监视与控制、作业任务管理、联动作业、远程管控、人机交互和调试维护等技术与功能的智能化与可靠性水平。The technical problem to be solved by the present invention is to overcome the defects of the prior art, and provide a ground monitoring system for fire-fighting robots with autonomous communication, so as to effectively improve the data communication, real-time monitoring and control, operation task management, linkage operations, remote management and control of fire-fighting robots, The level of intelligence and reliability of technologies and functions such as human-computer interaction, debugging and maintenance.
为解决上述技术问题，本发明提供一种自主通信的消防机器人地面监控系统，包括地面监控系统、RosBridge通信系统和消防机器人系统；In order to solve the above technical problems, the present invention provides a ground monitoring system for fire-fighting robots with autonomous communication, including a ground monitoring system, a RosBridge communication system and a fire-fighting robot system;
所述地面监控系统，用于通过RosBridge通信系统对消防机器人进行连接、启停控制，对消防机器人的工作任务进行控制和对消防机器人的实时状态进行监控；The ground monitoring system is used to connect and start and stop the fire-fighting robot through the RosBridge communication system, control the tasks of the fire-fighting robot and monitor the real-time status of the fire-fighting robot;
所述消防机器人系统，用于获取消防机器人的实时状态信息、告警信息、子地图信息、实时位置信息、配置信息、视频信息和关节信息，并通过RosBridge通信系统传输给地面监控系统；还用于获取地面监控系统发送的工作任务数据控制消防机器人进行相应的动作；The fire-fighting robot system is used to obtain the real-time status information, alarm information, sub-map information, real-time location information, configuration information, video information and joint information of the fire-fighting robot, and transmit it to the ground monitoring system through the RosBridge communication system; it is also used for Obtain the work task data sent by the ground monitoring system to control the fire-fighting robot to perform corresponding actions;
所述RosBridge通信系统采用基于QT的QWebSocket模块开发的利用注册回调的方式进行RosBridge底层通信的通信系统，通信系统通过封装好的RosBridge通信包进行数据传输。The RosBridge communication system adopts a communication system based on the QWebSocket module developed by QT that utilizes the registration callback method to carry out RosBridge underlying communication, and the communication system performs data transmission through the encapsulated RosBridge communication package.
进一步的，所述地面监控系统包括机器人控制模块，Further, the ground monitoring system includes a robot control module,
用于在一个运维班组多台机器人之间进行选择切换，选择一个机器人后切换至对应消防机器人的任务控制模块和实时监控模块的工作界面；It is used to select and switch between multiple robots in an operation and maintenance team, select a robot and switch to the working interface of the task control module and real-time monitoring module of the corresponding fire robot;
所述任务控制模块，用于对对应消防机器人的工作任务进行控制；The task control module is used to control the work tasks of the corresponding fire fighting robot;
所述实时监控模块，用于对对应消防机器人的状态进行实时监控。The real-time monitoring module is used to monitor the state of the corresponding fire fighting robot in real time.
进一步的，所述任务控制模块包括：Further, the task control module includes:
分析设定模块，用于根据实时状态信息、告警信息、子地图信息、实时位置信息、配置信息、视频信息和关节信息确定告警等级、火灾距离、机器人本体状态信息，根据确定的信息对带电任务进行分析并设定作业任务；The analysis and setting module is used to determine the alarm level, fire distance, robot body status information according to the real-time status information, alarm information, sub-map information, real-time location information, configuration information, video information and joint information, and to determine the live task according to the determined information. Conduct analysis and set job tasks;
编制模块，用于根据分析的结果或设定对任务进行编制；The compilation module is used to compile the tasks according to the analysis results or settings;
地图选点模块，用于根据编制好的作业任务在场景地图进行选点，对消防机器人任务执行进行初定位；The map point selection module is used to select points on the scene map according to the compiled work tasks, and perform initial positioning on the task execution of the fire-fighting robot;
下发模块，用于将编制后的作业任务和初定位的信息通过RosBridge通信系统下发给消防机器人系统；The sending module is used to send the compiled job tasks and initial positioning information to the fire robot system through the RosBridge communication system;
执行控制模块，用于对下发的作业任务进行暂停、停止或者继续执行控制；The execution control module is used to suspend, stop or continue the execution control of the issued job tasks;
展示模块，用于对下发的作业任务进行展示。The display module is used to display the assigned job tasks.
进一步的，所述实时监控模块包括：Further, the real-time monitoring module includes:
视频图像监控模块，用于获取消防机器人的实时视频图像并进行显示；The video image monitoring module is used to obtain the real-time video image of the fire fighting robot and display it;
状态及告警信息监控模块，用于根据获取的消防机器人的实时状态和告警信息对消防机器人的状态进行监控；The status and alarm information monitoring module is used to monitor the status of the fire-fighting robot according to the acquired real-time status and alarm information of the fire-fighting robot;
指令遥控模块，用于对机器人进行运动远程控制和消防炮远程控制；The instruction remote control module is used for the remote control of the movement of the robot and the remote control of the fire monitor;
子地图交互模块，用于对机器人周边理化环境进行显示及进行人机交互；The sub-map interaction module is used to display the physical and chemical environment around the robot and perform human-computer interaction;
全局路径规划模块，用于确定目的地点的最优路径。The global path planning module is used to determine the optimal path to the destination point.
进一步的，所述消防机器人系统包括状态信息模块，Further, the fire robot system includes a status information module,
用于获取机器人当前的工作模式、监控云台的状态、预警信息。It is used to obtain the current working mode of the robot, monitor the status of the gimbal, and early warning information.
进一步的，所述消防机器人系统包括告警信息模块，Further, the fire robot system includes an alarm information module,
用于输出一般告警信息、严重告警信息和危急告警信息；所述一般告警信息包括机器人通讯中断、机器人遇到障碍物，严重告警信息包括磁导航损坏、机器人电池电压过低，危急告警信息包括机器人温度过高、机器人地图位置丢失。It is used to output general warning information, serious warning information and critical warning information; the general warning information includes robot communication interruption, robot encountering obstacles, serious warning information includes magnetic navigation damage, robot battery voltage is too low, critical warning information includes robot The temperature is too high, the robot map position is lost.
进一步的，所述消防机器人系统包括子地图模块，Further, the fire robot system includes a sub-map module,
用于构建机器人待命所处区域的地图以及执行任务所处区域的地图。Used to build a map of the area where the robot is ready to go and a map of the area where the mission will be performed.
进一步的，所述消防机器人系统包括实时位置信息模块，Further, the fire robot system includes a real-time location information module,
用于实时标记机器人所处全地图位置、子地图位置以及行进路径的位置；其中全地图是指机器人被设定的可活动的全部区域地图，子地图是指机器人待命区域或任务所处区域的地图。It is used to mark the position of the robot in the full map, sub-map and travel path in real time; the full map refers to the map of all areas where the robot is set to be active, and the sub-map refers to the area where the robot is on standby or where the task is located. map.
进一步的，所述消防机器人系统包括配置信息模块，Further, the fire robot system includes a configuration information module,
用于获取机器人的型号、尺寸、重量、行进速度、负载能力、防水等级、防爆等级、水炮流量、喷射距离。Used to obtain the model, size, weight, travel speed, load capacity, waterproof level, explosion-proof level, water cannon flow, and spray distance of the robot.
进一步的，所述消防机器人系统包括视频信息模块，Further, the fire robot system includes a video information module,
用于基于多个高清红外摄像头获取多路视频源，通过RosBridge通信系统发送至地面监控系统。It is used to obtain multiple video sources based on multiple high-definition infrared cameras, and send them to the ground monitoring system through the RosBridge communication system.
进一步的，所述消防机器人系统包括关节信息模块，Further, the fire robot system includes a joint information module,
用于获取消防机器人的机械臂实时的关节信息、水炮仰射/俯射角度、水平方位角度。It is used to obtain the real-time joint information of the mechanical arm of the fire fighting robot, the angle of upward/lowward firing of the water cannon, and the horizontal azimuth angle.
本发明所达到的有益效果：The beneficial effect that the present invention reaches:
通过RosBridge通信系统，实现非ros的系统使用指定数据内容的基于JSON格式的网络请求来调用ROS的功能，包括话题订阅，消息发布，服务调用，参数设置和获取，图片信息的传递，实现地面监控系统和消防机器人的ROS的解耦合；有效提升消防机器人数据通信、实时监视与控制、作业任务管理、联动作业、远程管控、人机交互和调试维护等技术与功能的智能化与可靠性水平。Through the RosBridge communication system, non-ros systems use JSON-based network requests with specified data content to call ROS functions, including topic subscription, message publishing, service invocation, parameter setting and acquisition, image information transfer, and ground monitoring The decoupling of the system and the ROS of the fire-fighting robot; effectively improve the intelligence and reliability of the technologies and functions of the fire-fighting robot, such as data communication, real-time monitoring and control, task management, linkage operations, remote control, human-computer interaction, and debugging and maintenance.
附图说明Description of drawings
图1是本发明一种自主通信的消防机器人地面监控系统的结构图。Fig. 1 is a structural diagram of a fire-fighting robot ground monitoring system with autonomous communication according to the present invention.
具体实施方式detailed description
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
如图1所示，一种自主通信的消防机器人地面监控系统，包括地面监控系统、RosBridge通信系统、消防机器人系统；As shown in Figure 1, a fire-fighting robot ground monitoring system with autonomous communication, including a ground monitoring system, a RosBridge communication system, and a fire-fighting robot system;
上述RosBridge通信系统基于QT的WebSocket模块开发，采用注册回调的方式来实现RosBridge底层通信功能，通过封装好的RosBridge通信包，可以用于订阅消防机器人的状态信息及告警信息、子地图信息、视频配置信息、机器人实时位置信息；同时可以通过远程服务调用，获取子地图的覆盖物、实现对消防机器人及消防炮的控制、以及对消防机器人的作业管理。The above-mentioned RosBridge communication system is developed based on QT's WebSocket module, and uses registration and callback methods to realize the underlying communication function of RosBridge. Through the packaged RosBridge communication package, it can be used to subscribe to the status information and alarm information, sub-map information, and video configuration of firefighting robots. Information, real-time location information of the robot; at the same time, through remote service calls, the coverage of the sub-map can be obtained, the control of the fire-fighting robot and fire cannon, and the operation management of the fire-fighting robot can be realized.
上述地面监控系统包括机器人控制模块、机器人控制模块、实时监控模块。The above-mentioned ground monitoring system includes a robot control module, a robot control module, and a real-time monitoring module.
进一步地，上述机器人控制模块主要为了实现一个运维班组多台机器人之间的选择切换，其子功能包括站内所有机器人，选择一个机器人后其任务管理和实时监控两大模块均切换至对应机器人工作界面。Furthermore, the above-mentioned robot control module is mainly to realize the selection and switching between multiple robots in an operation and maintenance team. Its sub-functions include all robots in the station. After a robot is selected, its task management and real-time monitoring modules are switched to the corresponding robot. interface.
进一步地，上述机器人控制模块主要实现带电作业任务分析、任务编制、作业任务下发、任务执行管理、自定义任务、地图选点及任务展示等功能。Further, the above-mentioned robot control module mainly realizes functions such as live work task analysis, task preparation, task delivery, task execution management, custom task, map point selection, and task display.
进一步地，上述实时监控模块主要实现监视消防机器人作业任务执行的整个过程信息，并对机器人做相应的控制。主要包括视频图像监控、状态及告警信息监控、指令遥控、子地图交互、全局路径规划。Further, the above-mentioned real-time monitoring module mainly realizes the monitoring of the whole process information of the execution of the task of the fire-fighting robot, and performs corresponding control on the robot. It mainly includes video image monitoring, status and alarm information monitoring, command remote control, sub-map interaction, and global path planning.
上述消防机器人系统由状态信息模块、告警信息模块、子地图模块、实时位置信息模块、配置信息模块、视频信息模块、关节信息模块组成。The above-mentioned fire-fighting robot system is composed of a status information module, an alarm information module, a sub-map module, a real-time position information module, a configuration information module, a video information module, and a joint information module.
进一步地，状态信息模块包括机器人当前的工作模式、监控云台的状态、预警信息。Further, the status information module includes the current working mode of the robot, the status of the monitoring platform, and early warning information.
进一步地，告警信息模块分为一般告警、严重告警、危机告警，包括机器人内部温度过高、磁导航损坏、遇到障碍物、电池电压过低等。Furthermore, the alarm information module is divided into general alarms, serious alarms, and crisis alarms, including excessive internal temperature of the robot, damage to magnetic navigation, encountering obstacles, and low battery voltage.
进一步地，子地图模块用于构建机器人待命所处区域的地图以及执行任务所处区域的地图，以便完成路径规划以及导航功能。Further, the sub-map module is used to build a map of the area where the robot is on call and the area where the task is performed, so as to complete path planning and navigation functions.
进一步地，实时位置信息模块用于实时标记机器人所处全地图位置、子地图位置以及行进路径的位置。Further, the real-time location information module is used to mark the robot's full map location, sub-map location, and travel path location in real time.
进一步地，配置信息模块包含机器人的型号、尺寸、重量、行进速度、负载能力、防水等级、防爆等级、水炮流量、喷射距离等。Further, the configuration information module includes the robot model, size, weight, travel speed, load capacity, waterproof level, explosion-proof level, water cannon flow rate, spray distance, etc.
进一步地，视频信息模块基于多个高清红外摄像头形成多路视频源，推送至监控后台进行实时监视分析以及实时操作控制。Furthermore, the video information module forms multiple video sources based on multiple high-definition infrared cameras, and pushes them to the monitoring background for real-time monitoring analysis and real-time operation control.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110614881.6A CN115430091A (en) | 2021-06-02 | 2021-06-02 | Fire-fighting robot ground monitoring system capable of autonomous communication |
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Effective date of registration: 20230802 Address after: No. 19, Chengxin Avenue, Jiangning Economic and Technological Development Zone, Nanjing, Jiangsu 210006 Applicant after: NARI Group Corp. Applicant after: NARI NANJING CONTROL SYSTEM Co.,Ltd. Address before: No. 19, Jiangning District, Jiangning District, Nanjing, Jiangsu Applicant before: NARI Group Corp. Applicant before: NARI TECHNOLOGY Co.,Ltd. |
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Application publication date: 20221206 |