CN203712709U - Control system for anti-explosion robot - Google Patents
Control system for anti-explosion robot Download PDFInfo
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- CN203712709U CN203712709U CN201320681618.XU CN201320681618U CN203712709U CN 203712709 U CN203712709 U CN 203712709U CN 201320681618 U CN201320681618 U CN 201320681618U CN 203712709 U CN203712709 U CN 203712709U
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Abstract
The utility model relates to a control system for an anti-explosion robot. The control system comprises an upper computer remote-control platform (1) and a lower computer control platform (2). The control system is characterized in that the upper computer remote-control platform (1) comprises a computer (11), a server (13), an upper computer wireless radio frequency module (12) and a network base station (14), wherein the upper computer wireless radio frequency module (12) is connected with a lower computer wireless radio frequency module (21) through wireless radio frequency signals. The control system has the obvious effects that modules are connected via communication lines, errors are easily checked in the process of development due to the modularized system, and if an error appears, the module with the error can be directly changed. The size of the robot is miniaturized, so that more spaces can be utilized. The layout of a hardware system is rationalized, so that accidents that the robot rolls over and the like are not easy to happen when the robot is operated. The operating precision of a movement module is high, the performance is stable, the wireless radio frequency transmitting distance is moderate, and a plurality of computers can be used for monitoring or remote monitoring at the same time.
Description
Technical field
The utility model relates to explosive-removal robot field, specifically, is a kind of explosive-removal robot control system.
Background technology
Increasingly serious along with global anti-terrorism situation, the attack of terrorism at home and abroad occurs again and again, and the armed forces of various countries and security protection department are huge to the demand of explosive-removal robot.The explosive-removal robot product cost that domestic and international market is released is at present higher, is unfavorable for promoting on a large scale.
Explosive-removal robot belongs to the ground mobile robot category under non-structure environment, abroad to its research starting early.The American-European capitalist countries such as Britain, France, Germany, the U.S. have successively been launched the technical research to explosive-removal robot.Explosive-removal robot the earliest applies to military use mostly.Along with the development in epoch, a lot of products are civil nature all, is active in the numerous areas such as security protection, mine, chemical industry, dangerous goods production.At present the research emphasis of explosive-removal robot technology is, allows robot have more autonomic function, and finally developing can image processor, detection, explosive, enemy and we's identification, automatically attack the intelligent explosive-removal robot of unfriendly target.
Britain becomes the country that takes the lead in researching and developing explosive-removal robot." handcart " by AB Electronic Products Corporation, produced is one of crawler type explosive-removal robot the earliest, becomes the pioneer of explosive-removal robot.The control system of " handcart " is comprised of host computer and slave computer two parts, between long cable by 100 meters carry out communication.Host computer is furnished with the button of controlling, and can control each joint action of robot.For various reasons, explosive-removal robot is started late, and technical merit is obvious to fall behind and western developed country in China.Recent years, country strengthened the research and development support dynamics to explosive-removal robot, and some colleges and universities and enterprise have successively carried out the research work to explosive-removal robot key technology, logical accumulation in a few years, and more existing technology reach and have even surmounted international most advanced level.
Two problems that exist in conjunction with the explosive-removal robot of releasing both at home and abroad:
1. explosive-removal robot makes complex structure for a large amount of equipments is installed, bulky.Under the environment of special narrow space, explosive-removal robot can not well maybe can not be finished the work.
2. the cost of explosive-removal robot is too high, and the price of low-end product also, more than 200,000 RMB, can not be equipped because cost is too high in a large number, causes a large amount of uses manually explosive, has so just increased explosive staff's danger.
And the shortcoming existing for explosive-removal robot control system aspect can be summarized as: build is huge, and cost is high, hardware configuration disperses, and layout is unbalance.
Utility model content
In order to address the above problem, the utility model proposes the explosive-removal robot control system of a kind of hardware modularity, volume miniaturization, rationally distributedization.
For achieving the above object, the concrete technical scheme that the utility model adopts is as follows:
An explosive-removal robot control system, comprises host computer remote control platform and slave computer control platform, and described host computer remote control platform comprises computer, server, host computer wireless radio frequency modules and network base station; Computer is connected with host computer wireless radio frequency modules, and computer is connected with server by Internet network, and server is received and dispatched 3G signal by network base station; Described slave computer is controlled platform and is comprised slave computer wireless radio frequency modules, controller, motion module, 3G network interface card, image processor and camera; Motion module is controlled by controller, and controller is connected with slave computer wireless radio frequency modules, and camera is connected with image processor, and image processor is by 3G network interface card transmitting-receiving 3G network signal; Host computer wireless radio frequency modules is connected by radio frequency signal with slave computer wireless radio frequency modules.
Adopt said structure, between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module just.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of hardware system and reasonably installation.Any computer can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server by network, facilitates multiple computers to monitor or remote monitoring simultaneously.
Further technical scheme is host computer wireless radio frequency modules and slave computer wireless radio frequency modules, all adopts same 433mhz wireless radio frequency modules, by radiofrequency signal transmission of information.
This module communication protocol is simple, easy programming.433mhz wireless radio frequency modules transmission range be 1500 meters effectively, after tested wide place 433mhz wireless radio frequency modules 1200 meters of left and right effective transmission command.In building, can penetrate 300 meters of left and right distances of three, four layers of wall transmission, can meet the user demand of explosive-removal robot.
Further technical scheme is that image processor comprises ARM11-S3C6410 chip.
ARM11-S3C6410 chip has outstanding hardware configuration and 32 bit processors in Video processing.
Further technical scheme is that the USB interface of image processor is connected with 3G network interface card and camera, and image processor is by 5V Power supply.
Further technical scheme is that described controller comprises MSP430F149 chip, is connected with PWM generator and segmentation device on MSP430F149 chip.
The low-power scm that control module MSP430F149 ShiTI company releases, its feature is its power consumption mode to be set by programming.For the Master control chip of explosive-removal robot, only need the minimum system of MSP430F149, used the resources such as two serial ports, timer, the counter of MSP430F149,10 IO mouths, external interrupt here.Select this chip can improve the running precision of motion module.
The motor of motion module is by direct drive, and the signal of direct drive comes from the MSP430F149 chip of controller.
Remarkable result of the present utility model is: between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module just.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of hardware system and reasonably installation.The running precision of motion module is high, stable performance, and wireless radio frequency transmission distance is moderate.Any computer can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server by network, facilitates multiple computers to monitor or remote monitoring simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the image processing circuit connection diagram that the utility model one embodiment slave computer is controlled platform;
Fig. 3 is the control treatment circuit connection diagram that the utility model one embodiment slave computer is controlled platform.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model and operation principle are described in further detail.
As shown in Figure 1, Fig. 1 is structural representation of the present utility model, an explosive-removal robot control system, comprises host computer remote control platform 1 and slave computer control platform 2, and described host computer remote control platform 1 comprises computer 11, server 13, host computer wireless radio frequency modules 12 and network base station 14; Computer 11 is connected with host computer wireless radio frequency modules 12, and computer 11 is connected with server 13 by Internet network, and server 13 is by network base station 14 transmitting-receiving 3G signals; Described slave computer is controlled platform 2 and is comprised slave computer wireless radio frequency modules 21, controller 22, motion module 23,3G network interface card 24, image processor 25 and camera 26; Motion module 23 is controlled by controller 22, and controller 22 is connected with slave computer wireless radio frequency modules 21, and camera 26 is connected with image processor 25, and image processor 25 is by 3G network interface card 24 transmitting-receiving 3G network signals; Host computer wireless radio frequency modules 12 is connected by radio frequency signal with slave computer wireless radio frequency modules 21.Adopt said structure, between module, with communication line, connect, so modular system easily checks mistake on stream, if there is mistake, can directly change this module just.Miniaturization is to have more spaces to utilize or can be according to the module of miniaturization, changing of the volume adequacy of explosive-removal robot is little for Rang Gai robot.Rationalization is that robot is difficult for occurring the accidents such as rollover when operating like this by the rational layout of hardware system and reasonably installation.
Host computer wireless radio frequency modules 12 and slave computer wireless radio frequency modules 21, all adopt same 433mhz wireless radio frequency modules, by radiofrequency signal transmission of information.This module communication protocol is simple, easy programming.433mhz wireless radio frequency modules transmission range be 1500 meters effectively, after tested wide place 433mhz wireless radio frequency modules 1200 meters of left and right effective transmission command.In building, can penetrate 300 meters of left and right distances of three, four layers of wall transmission, can meet the user demand of explosive-removal robot.Any computer can collect the vision signal that slave computer is controlled platform that comes from host computer remote control platform server by network, facilitates multiple computers to monitor or remote monitoring simultaneously.
As shown in Figure 2, Fig. 2 is the image processing circuit connection diagram that the utility model one embodiment slave computer is controlled platform, and described controller 22 comprises MSP430F149 chip, is connected with PWM generator and segmentation device on MSP430F149 chip.The low-power scm that control module MSP430F149 ShiTI company releases, its feature is its power consumption mode to be set by programming.For the Master control chip of explosive-removal robot, only need the minimum system of MSP430F149, used the resources such as two serial ports, timer, the counter of MSP430F149,10 IO mouths, external interrupt here.Select this chip can improve the running precision of motion module.The motor of motion module 23 is by direct drive, and the signal of direct drive comes from the MSP430F149 chip of controller.
As shown in Figure 3, Fig. 3 is the control treatment circuit connection diagram that the utility model one embodiment slave computer is controlled platform, and further technical scheme is that image processor 25 comprises ARM11-S3C6410 chip.ARM11-S3C6410 chip has outstanding hardware configuration and 32 bit processors in Video processing.The USB interface of image processor 25 is connected with 3G network interface card 24 and camera 26, and image processor 25 is by 5V Power supply.
An embodiment operation principle of the present utility model is as follows:
Start host computer remote control platform and slave computer and control all power supplys of platform;
Monitoring shooting.Camera is passed to server by 3G network interface card after image processor is processed, and opens computer by network reception server signal, the signal arriving by computer monitoring camera collection;
Control motion, allows computer signal transmission to host computer wireless radio frequency modules as required, by radio frequency signal, passes to slave computer wireless radio frequency modules, and through controller conversion, the running of controlled motion module, makes robot motion.
Above embodiment is only with explanation the technical solution of the utility model, be not intended to limit, although the utility model is had been described in detail with reference to above-described embodiment, those of ordinary skills are to be understood that, its technical scheme that still can record above-described embodiment is modified, or part technical characterictic is wherein equal to replacement, and these modifications or replacement, does not make the essence of corresponding technical scheme depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (6)
1. an explosive-removal robot control system, comprise host computer remote control platform (1) and slave computer control platform (2), it is characterized in that: described host computer remote control platform (1) comprises computer (11), server (13), host computer wireless radio frequency modules (12) and network base station (14); Computer (11) is connected with host computer wireless radio frequency modules (12), and computer (11) is connected with server (13) by Internet network, and server (13) is by network base station (14) transmitting-receiving 3G signal; Described slave computer is controlled platform (2) and is comprised slave computer wireless radio frequency modules (21), controller (22), motion module (23), 3G network interface card (24), image processor (25) and camera (26); Motion module (23) is controlled by controller (22), and controller (22) is connected with slave computer wireless radio frequency modules (21), and camera (26) is connected with image processor (25), and image processor (25) is by 3G network interface card (24) transmitting-receiving 3G network signal; Host computer wireless radio frequency modules (12) is connected by radio frequency signal with slave computer wireless radio frequency modules (21).
2. explosive-removal robot control system according to claim 1, is characterized in that, described host computer wireless radio frequency modules (12) and slave computer wireless radio frequency modules (21), all adopt same 433mhz wireless radio frequency modules, by radiofrequency signal transmission of information.
3. explosive-removal robot control system according to claim 1, is characterized in that, described image processor (25) comprises ARM11-S3C6410 chip.
4. according to explosive-removal robot control system described in claim 1 or 3, it is characterized in that, the USB interface of described image processor (25) is connected with 3G network interface card (24) and camera (26), and image processor (25) is by 5V Power supply.
5. explosive-removal robot control system according to claim 1, is characterized in that, described controller (22) comprises MSP430F149 chip, is connected with PWM generator and segmentation device on MSP430F149 chip.
6. explosive-removal robot control system according to claim 1, is characterized in that, the motor of described motion module (23) is by direct drive, and the signal of direct drive comes from the MSP430F149 chip of controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320681618.XU CN203712709U (en) | 2013-10-30 | 2013-10-30 | Control system for anti-explosion robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320681618.XU CN203712709U (en) | 2013-10-30 | 2013-10-30 | Control system for anti-explosion robot |
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| Publication Number | Publication Date |
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| CN203712709U true CN203712709U (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320681618.XU Expired - Fee Related CN203712709U (en) | 2013-10-30 | 2013-10-30 | Control system for anti-explosion robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182970A (en) * | 2015-08-14 | 2015-12-23 | 北京大基康明医疗设备有限公司 | Transport robot wireless radio frequency control system and control method thereof |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN109656247A (en) * | 2018-11-02 | 2019-04-19 | 北理慧动（常熟）车辆科技有限公司 | A kind of hand-held backpack remote driving instrument of mine-clearing vehicle |
| CN110602714A (en) * | 2019-07-29 | 2019-12-20 | 广东工业大学 | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot |
-
2013
- 2013-10-30 CN CN201320681618.XU patent/CN203712709U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182970A (en) * | 2015-08-14 | 2015-12-23 | 北京大基康明医疗设备有限公司 | Transport robot wireless radio frequency control system and control method thereof |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN109656247A (en) * | 2018-11-02 | 2019-04-19 | 北理慧动（常熟）车辆科技有限公司 | A kind of hand-held backpack remote driving instrument of mine-clearing vehicle |
| CN109656247B (en) * | 2018-11-02 | 2022-05-17 | 北理慧动（常熟）车辆科技有限公司 | Handheld backpack remote control pilot of mine sweeper |
| CN110602714A (en) * | 2019-07-29 | 2019-12-20 | 广东工业大学 | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot |
| CN110602714B (en) * | 2019-07-29 | 2022-06-14 | 广东工业大学 | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 Termination date: 20191030 |