CN203738800U - Robot rescue system - Google Patents
Robot rescue system Download PDFInfo
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- CN203738800U CN203738800U CN201320705601.3U CN201320705601U CN203738800U CN 203738800 U CN203738800 U CN 203738800U CN 201320705601 U CN201320705601 U CN 201320705601U CN 203738800 U CN203738800 U CN 203738800U
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Abstract
The utility model discloses a robot rescue system. The robot rescue system comprises an investigation robot, bridging robots, manipulator robots, an upper computer and an RFID matrix site, wherein the investigation robot, the bridging robots and the manipulator robots each comprise a camera, sensor modules, a main control chip and a wireless communication module; the investigation robot further comprises a crawler-type vehicle frame, a carrying platform positioned at the top of an investigation robot body and a DC motor for driving crawler belts. The robot rescue system is easy to control, is feasible and practical, and is simple to operate, stable in performance and high in rescue efficiency. The utility model provides a design idea for the mechanical structure, of a multi-robot rescue device, which is high in adaptability, can be constructed in a combined manner, and works coordinately; the robot rescue system has a good effect for promoting the development of the field of multi-robot rescue systems.
Description
Technical field
The utility model relates to robot control field, particularly relates to a kind of rescuing robot system.
Background technology
Along with robot application scope also constantly expansion, market also constantly expands the demand of robot, and the operation in harsh occasion utilizes robot to complete when increasing.Individual machine people information obtain, process and control aspect ability be all limited, make environment for job task and the harsh operation of more complicated, single robot can not meet the demands.The operation that the multi-robot system being made up of multiple robots cannot or be difficult to by entirety, single robot that cooperated, particularly people cannot enter or exist in the scene of the accident of major safety risks, and it is particularly important that the application that multirobot is rescued seems.
Utility model content
The purpose of this utility model is to provide a kind of rescuing robot system, makes that it is easy to control, practical, simple to operate, stable performance, to rescue efficiency high, thereby overcomes the deficiencies in the prior art.
For solving the problems of the technologies described above, a kind of rescuing robot system of the utility model, comprises Detecting Robot, bridging robot, manipulator robot, host computer and RFID matrix place;
Described Detecting Robot, bridging robot and manipulator robot comprise respectively camera, sensor assembly, main control chip and wireless communication module, described wireless communication module, camera, sensor assembly are connected with main control chip, and described camera, sensor assembly are by wireless communication module and the communication connection of described host computer;
Described Detecting Robot also comprise be positioned at vehicle body both sides crawler belt form crawler type vehicle frame, be positioned at the carrying platform at described Detecting Robot vehicle frame top and be arranged on vehicle frame for driving the direct current generator of crawler belt;
Described bridging robot also comprises the crawler type vehicle frame that is positioned at the crawler belt of vehicle body both sides and forms, is positioned at the lifting skewback on described bridging robot vehicle frame top and is arranged on the lifting stepper motor on vehicle frame, and described lifting stepper motor regulates the distance on lifting skewback and ground by hinge;
Described manipulator robot also comprises the crawler type vehicle frame that is positioned at the crawler belt of vehicle body both sides and forms, is arranged on the motor on vehicle frame and is positioned at the five degree of freedom manipulator of robot vehicle frame front portion;
Described host computer by wireless communication module respectively with described Detecting Robot, described bridging robot and described manipulator robot control connection;
Described RFID matrix fields adopts RFID radio-frequency card to lay and forms, all data storings in described RFID radio-frequency card are in described Detecting Robot, described bridging robot, described manipulator robot and host computer, the coordinate of corresponding rescue coordinates of targets and robot shift position, by data corresponding to RFID radio-frequency card, is found by described Detecting Robot, described bridging robot and described manipulator robot.
Further, described Detecting Robot, for searching and transporting and rescue target, rescue is when target, and robot is close with bridging, described bridging robot, one side and Detecting Robot are close, one side of its lifting skewback and the carrying platform of Detecting Robot are close, and opposite side approaches rescue target, assist mechanical mobile phone device people that need are rescued on the carrying platform that target is loaded into Detecting Robot;
Described manipulator robot, near bridging robot, by five degree of freedom manipulator, utilizes the lifting skewback of bridging robot, and rescue target is loaded on the carrying platform of Detecting Robot, completes the rescue to rescue target.
Described sensor assembly comprises compass sensor, ultrasonic sensor, nuclear radiation detector, Temperature Humidity Sensor, light intensity sensor and gyroscope, and described compass sensor, ultrasonic sensor, nuclear radiation detector, Temperature Humidity Sensor, light intensity sensor and gyroscope are connected with main control chip respectively.
Described camera Adoption Network wireless camera.
The magnitude setting of described Detecting Robot, described bridging robot and described manipulator robot is respectively more than two, when rescue target, two the above Detecting Robots are close side by side, two the above bridging robots are close near a rear side and Detecting Robot side by side, opposite side and rescue gtoal setting, two the above manipulator robots are side by side near rear and rescue gtoal setting.
Adopt after above design, the utility model has following beneficial effect compared with the prior art:
The utility model has adopted radio-frequency technique, wireless communication technology and automated control technology, uses host computer by each robot cooperated task of rescuing that completes of wireless communication module remote control, is easy to control, and has feasible practicality; Simple to operate, stable performance, to rescue efficiency high, and for the frame for movement of multirobot Rescue Device provides a kind of strong adaptability, capable of being combined building and the Design Thinking of co-ordination, the development of multirobot being rescued to field has good facilitation.The collaborative of each robot is good, in the individual machine people volume of executing the task or structure, can simplify, and place adaptability and the trafficability characteristic of accident landform and spatial distribution are more had superiority.Adopting each robot to rescue task can have and more rescue selection scheme in implementation process, has more flexibility.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Above-mentioned is only the general introduction of technical solutions of the utility model, and in order to better understand the utility model, below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.
Fig. 1 is the structure composition schematic diagram of the utility model rescuing robot system.
Fig. 2 is that the utility model is for realizing the method flow diagram of rescuing robot system.
Detailed description of the invention
Refer to shown in Fig. 1, a kind of rescuing robot system of the utility model, comprises Detecting Robot 10, bridging robot 20, manipulator robot 30, host computer and RFID matrix place 50.
Detecting Robot 10, bridging robot 20 and manipulator robot 30 comprise respectively camera, sensor assembly, main control chip and wireless communication module, wireless communication module, camera, sensor assembly are connected with main control chip, and camera, sensor assembly are by wireless communication module and host computer communication connection.
Wherein, sensor assembly comprises compass sensor, ultrasonic sensor, nuclear radiation detector, Temperature Humidity Sensor, light intensity sensor and gyroscope etc.Compass sensor is used for adjusting the robot direction of motion; Ultrasonic sensor, for robot avoiding obstacles; The sensors such as nuclear radiation detector, Temperature Humidity Sensor and gyroscope are for Real-time Collection site environment information.
Camera Adoption Network wireless camera, camera is used for gathering the environmental information in RFID matrix place 50, and by WiFi network, video content is transferred to host computer.
RFID matrix place 50, adopts RFID radio-frequency card to lay and forms, and radio-frequency card spacing is fixed, and therefore, the distribution of RFID radio-frequency card in 50 planes of RFID matrix place can be created as a coordinate points in plane by processing, and it can be used for robot motion place.
The environmental information of sensing data, RFID data and camera collection that host computer gathers according to the robot receiving, then by each robot cooperated task of rescuing that completes of wireless communication module remote control.
Reconnaissance robot 10 top lay top boards are as delivery plane platform 101, reconnaissance robot 10 is taking crawler type vehicle frame as base, and base top arranges metal framework, and ultrasonic sensor 102 is installed on metal framework wall, it is for avoiding obstacles, and reconnaissance robot uses deceleration direct current generator to drive.Reconnaissance robot 10 is searched and is transported rescuing target 40 in rescue task.
Bridging robot 20 is provided with lifting skewback, and bridging robot 20 is taking crawler type vehicle frame as base, and lifting skewback 201 is connected with vehicle frame front-end and back-end respectively with lifting stepper motor 203 by hinge 202.Thereby lifting stepper motor 203 makes lifting swash plate 201 regulate the distance of lifting skewback and bottom surface taking hinge 202 as axle center oscilaltion by rotation.Bridging robot 20 plays bridge lift-launch effect in the task of rescuing, convenient being loaded into rescuing target 40 on the delivery plane platform 101 of reconnaissance robot 10, and lifting skewback 201 width of bridging robot 20 are suitable with reconnaissance robot 10 length.
Manipulator robot 30 is provided with five degree of freedom manipulator 301, and manipulator robot 30 is taking crawler type vehicle frame as base, and five degree of freedom manipulator 301 is positioned at robot front portion.Manipulator robot 30 moves and captures rescuing target 40 in the task of rescuing.There are independence and cooperation relation in three kinds of robots in the enforcement process of rescuing.
Wireless communication module adopts the CC2530 ZigBee of TI company wireless module, and the wireless module of installing in each robot is route, and the wireless module that host computer connects is telegon.Master control chip in robot adopts the CY8C3866AXI chip of Sai Pulasi (Cypress) company.In each robot, Master control chip and CC2530 carry out transfer of data by serial communication, then carry out data transmission or reception by ZigBee networking and host computer.
Host computer adopts computer to be connected and to fetch realization with ZigBee telegon, and telegon is responsible for data between host computer and robot or the transmitting-receiving of instruction, and by Serial Port Line and compunlcation.Upper computer software adopts VC++ 6.0 development environments, uses MFC class library host computer.
Concretely, in the time that each robot executes the task in place, each robot and host computer form wireless network by wireless communication module, and the sensing data that each robot is read, RFID data and camera head monitor transfer of data are to host computer, host computer data and video data that according to robot, transmission comes, by wireless network control, robot completes the task of rescuing.Host computer is carried out and is rescued task in RFID matrix place 50 by each robot of wireless communication module control.Control reconnaissance robot 10 composition delivery plane platforms 101, lifting skewback 201 is built by bridging robot 20, then the five degree of freedom manipulator 301 of manipulator robot 30 is moved delivery plane platform 101 by the supporting role of lifting skewback 201 to rescuing target 40, and last reconnaissance robot 10 transports rescues target 40 and leave deathtrap.
Refer to shown in Fig. 2, the method that realizes above-mentioned rescuing robot system comprises the following steps:
Step S10, it is m that length and width are set, the RFID matrix place of n, for laying the radio-frequency card in RFID matrix place, its card number data are different.Manually read in order in advance all RFID radio-frequency card card number data in RFID matrix place.Then card number data are stored in robot Master control chip and host computer, process and build matrix map.
The RFID radio-frequency card that RFID matrix place 50 adopts is laid and is formed, and in RFID matrix place 50, RFID radio-frequency card is embedded in the spacing matrix form with 6cm in plastic plate and arranges.Each card number data is made up of 21 bit digital character strings.By manually in order RFID radio-frequency card data in RFID matrix place being read, card number data made in the character of latter 5 taking out in 21 bit digital characters before this, and five character numerals are different.Card number data are stored in to the control chip of robot, because the matrix form that RFID radio-frequency card is interval 6 cm distances is laid, so can use card number coordinate to set up matrix map at host computer.
Step S20, each robot reads position card number in 50 motion processes of RFID matrix place, obtains the coordinate in robot place map by processing, then coordinate is sent to host computer by wireless communication module.
Robot contrasts with the whole card numbers that leave in advance robot main control chip in after reading RFID radio-frequency card data, finds the data coordinates of position to be the coordinate of the position in RFID matrix place, robot place.And send to host computer by ZigBee wireless network, and host computer map interface is arranged to grating map, the corresponding card number data of each lattice, and therefore, available different color mark goes out each robot position.
Step S30, obtains and rescues after coordinates of targets, and host computer sends the coordinate (i, j) of rescuing target to each robot.
When there being machine people find to rescue target and the coordinate of rescuing target is sent to host computer or known coordinate of rescuing target location, host computer sends to each robot by wireless network the coordinate of rescuing target.
Step S40, each robot calculates orientation angles according to self coordinate (a, b) and the target (i, j) of rescuing received, and collects to rescuing target.
Each robot receives and rescues after coordinates of targets, according to self current coordinate (a, b) with rescue coordinates of targets (i, j) and calculate the angular separation θ that rescues target.By current goal and the computing formula that rescue target calculates angle theta be:
Then host computer obtains the deflection β of robot by the angle of the value of compass sensor and the reference edge in RFID matrix place, and calculating robot needs the angle δ of deflection to be:
δ=90
o-θ-β
Last robot is in conjunction with compass sensor calibration deflection δ degree, and the angle precision of compass is 1 degree.After robot deflection puts in place, advance to rescuing target direction.In traveling process, robot often reads a RFID radio-frequency card, carries out first power to rectification, progressively to rescuing gtoal setting.Robot utilizes ultrasonic sensor avoiding obstacles in traveling process simultaneously, collects to rescuing target.
In robot moving process, often read RFID radio frequency card number and all send to host computer, then upper computer software uses different colors to carry out correspondence markings to robot in map interface, the point of robot motion's process connects into line, therefore can see that each robot is to the track of rescuing target and collecting at host computer map interface.
Step S50, by showing by camera head monitor and host computer map robot orientation, by host computer wireless remote control, robot completes the task of rescuing.
The video displaying contents of returning by host computer map and camera transmission, robot, near rescuing after target, arranges remote control mode control by host computer, when system enters remote control mode, robot suspends autokinetic movement pattern, waits for PC control order.
First according to the distribution of shapes remote control bridging robot swash plate of rescuing target rest in opposite directions rescue target compared with long side surface, lifting stepper motor makes lifting skewback drop to skewback low side to contact with ground, a supporting oblique surface that area is larger of 2 bridging robots compositions.
Next reconnaissance robot side is leaned on mutually with the swash plate eminence of bridging robot front portion, and the front portion of a bridging robot has a reconnaissance robot to stop, delivery plane of 2 reconnaissance robots compositions.
Then manipulator robot rests in and rescues the opposite side of target with respect to bridging robot lifting skewback low side, capture and upwards push away toward lifting skewback rescuing target according to control instruction again, until the carrying platform of rescuing target and move to reconnaissance robot.
Last 2 reconnaissance robots of remote control synchronously transport and leave deathtrap rescuing target with identical direction, withdraw all robots, and the task of rescuing completes.
The above; it is only preferred embodiment of the present utility model; not the utility model is done to any pro forma restriction, those skilled in the art utilize the technology contents of above-mentioned announcement to make a little simple modification, equivalent variations or modification, all drop in protection domain of the present utility model.
Claims (5)
1. a rescuing robot system, is characterized in that comprising Detecting Robot, bridging robot, manipulator robot, host computer and RFID matrix place;
Described Detecting Robot, bridging robot and manipulator robot comprise respectively camera, sensor assembly, main control chip and wireless communication module, described wireless communication module, camera, sensor assembly are connected with main control chip, and described camera, sensor assembly are by wireless communication module and the communication connection of described host computer;
Described Detecting Robot also comprise be positioned at vehicle body both sides crawler belt form crawler type vehicle frame, be positioned at the carrying platform at described Detecting Robot vehicle frame top and be arranged on vehicle frame for driving the direct current generator of crawler belt;
Described bridging robot also comprises the crawler type vehicle frame that is positioned at the crawler belt of vehicle body both sides and forms, is positioned at the lifting skewback on described bridging robot vehicle frame top and is arranged on the lifting stepper motor on vehicle frame, and described lifting stepper motor regulates the distance on lifting skewback and ground by hinge;
Described manipulator robot also comprises the crawler type vehicle frame that is positioned at the crawler belt of vehicle body both sides and forms, is arranged on the motor on vehicle frame and is positioned at the five degree of freedom manipulator of robot vehicle frame front portion;
Described host computer by wireless communication module respectively with described Detecting Robot, described bridging robot and described manipulator robot control connection;
Described RFID matrix fields adopts RFID radio-frequency card to lay and forms, all data storings in described RFID radio-frequency card are in described Detecting Robot, described bridging robot, described manipulator robot and host computer, the coordinate of corresponding rescue coordinates of targets and robot shift position, by data corresponding to RFID radio-frequency card, is found by described Detecting Robot, described bridging robot and described manipulator robot.
2. a kind of rescuing robot system according to claim 1, is characterized in that:
Described Detecting Robot, for searching and transporting and rescue target, when rescue target, robot is close with bridging, described bridging robot, one side and Detecting Robot are close, and a side of its lifting skewback and the carrying platform of Detecting Robot are close, opposite side approaches rescue target, assists mechanical mobile phone device people that need are rescued on the carrying platform that target is loaded into Detecting Robot;
Described manipulator robot, near bridging robot, by five degree of freedom manipulator, utilizes the lifting skewback of bridging robot, and rescue target is loaded on the carrying platform of Detecting Robot, completes the rescue to rescue target.
3. a kind of rescuing robot system according to claim 1, is characterized in that:
Described sensor assembly comprises compass sensor, ultrasonic sensor, nuclear radiation detector, Temperature Humidity Sensor, light intensity sensor and gyroscope, and described compass sensor, ultrasonic sensor, nuclear radiation detector, Temperature Humidity Sensor, light intensity sensor and gyroscope are connected with main control chip respectively.
4. a kind of rescuing robot system according to claim 1, is characterized in that:
Described camera Adoption Network wireless camera.
5. a kind of rescuing robot system according to claim 1, is characterized in that:
The magnitude setting of described Detecting Robot, described bridging robot and described manipulator robot is respectively more than two, when rescue target, two the above Detecting Robots are close side by side, two the above bridging robots are close near a rear side and Detecting Robot side by side, opposite side and rescue gtoal setting, two the above manipulator robots are side by side near rear and rescue gtoal setting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320705601.3U CN203738800U (en) | 2013-11-11 | 2013-11-11 | Robot rescue system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320705601.3U CN203738800U (en) | 2013-11-11 | 2013-11-11 | Robot rescue system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659817B (en) * | 2013-11-11 | 2015-08-19 | 河池学院 | A kind of rescuing robot system and realize the method for this rescue system |
| CN105425805A (en) * | 2015-12-25 | 2016-03-23 | 河池学院 | Traffic rescue robot control system |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN107703938A (en) * | 2017-09-22 | 2018-02-16 | 北京机械设备研究所 | Active rfid indoor locating system and localization method for emergency command guiding |
| WO2018205380A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Elevating mechanism and obstacle system for robot match |
-
2013
- 2013-11-11 CN CN201320705601.3U patent/CN203738800U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659817B (en) * | 2013-11-11 | 2015-08-19 | 河池学院 | A kind of rescuing robot system and realize the method for this rescue system |
| CN105425805A (en) * | 2015-12-25 | 2016-03-23 | 河池学院 | Traffic rescue robot control system |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| WO2018205380A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Elevating mechanism and obstacle system for robot match |
| CN109890581A (en) * | 2017-05-08 | 2019-06-14 | 深圳市大疆创新科技有限公司 | Elevating mechanism and barricade system for robot match |
| CN107703938A (en) * | 2017-09-22 | 2018-02-16 | 北京机械设备研究所 | Active rfid indoor locating system and localization method for emergency command guiding |
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Granted publication date: 20140730 Effective date of abandoning: 20150819 |
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