CN204225919U - Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device - Google Patents
Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device Download PDFInfo
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- CN204225919U CN204225919U CN201420515239.8U CN201420515239U CN204225919U CN 204225919 U CN204225919 U CN 204225919U CN 201420515239 U CN201420515239 U CN 201420515239U CN 204225919 U CN204225919 U CN 204225919U
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Abstract
The utility model discloses a kind of Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device, comprise Mine-used I. S rescue and detection robot body, Mine-used I. S rescue terminal and several Mine-used I. S wireless routers; Described several wireless routers composition mining wireless multihop network; Described Mine-used I. S wireless router is for transmitting described robot body sensing detection device data and rescue terminal remote control command, the transmitting-receiving of described Mine-used I. S rescue terminal transmits data by router ad hoc deployed wireless networks, and described data are sent to Mine-used I. S rescue terminal by wireless network.The utility model has higher bandwidth, its remote control distance is far away, by Remote commander coal mine rescue detection robot, it is made to arrive order ground smoothly, pass detection scene of the accident gas concentration data message back command centre, not only can reduce the danger that rescue personnel detects to deathtrap, and can be coalmine rescue decision-making foundation and guidance are provided.
Description
Technical field
The utility model relates to a kind of robot communication system, particularly a kind of Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device.
Background technology
In recent years, rapidly, national coal production 36.8 hundred million tons in 2013, coal is the basic energy resource of China, is also the foundation stone of national energy security, in China's primary energy production and consumption, account for about 70% all the time in China coal industry development.But China is again the country that colliery major accident frequently occurs, cause great casualties, create bad social influence.After coal mining accident occurs, Minepit environment is very complicated, the situation that down-hole is extremely dangerous because calamity the wounded faces, need shift as soon as possible and give first aid to, but now rescue personnel enters down-hole and sues and labours, and is easy to run into the various unsafe conditions such as subsequent explosion thus the injures and deaths causing more personnel.Therefore the robot that research and development replace or part replaces rescue personnel to go deep in time, fast carrying out environment detection in mine disaster area is extremely important.In the fields such as dangerous complicated Mine Disaster Relief, use colliery sniffing robot flexibly, disaster area situation can be detected rapidly, for rescue and relief work provides decision support, be safe and efficient rescue in the urgent need to.Thisly producing thick smoke, the scene of the accident of toxic gas and high temperature, the ambient parameters such as the temperature at scene, gas station can detect by the gas sampling system entrained by sniffing robot, and pass data back command centre, thus greatly reduce the danger that staff detects to deathtrap.Therefore, the participation of sniffing robot effectively can improve the efficiency of rescue and reduce the injures and deaths of rescuer, and industry also gos deep in the urgent need to assisting or replace to rescue team member the distance type Intelligent mining intrinsic safety sniffing robot that deathtrap performs disaster searching simultaneously.
Current domestic and international mining rescue detection remote-controlled robot adopts wired and wireless operated mostly, but wired manipulation can increase the heavy burden of robot body, and the motion of robot is also subject to the yoke of signal of communication or power cable, affects it and move freely at down-hole disaster area environment and advance smoothly; Other adopts the mining robot of wireless remote control, most shortage travel distance feedback and display, and wireless communication transmissions bandwidth is little and transmission range is short, video definition is had a strong impact on, the robot body motion state of remote measurement or ambient parameter less, Fine motor control functions lacks or deficiency etc.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device.
The purpose of this utility model is achieved through the following technical solutions, a kind of Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device, is characterized in that: comprise Mine-used I. S rescue and detection robot body, Mine-used I. S rescue terminal (abbreviation beep box) and several Mine-used I. S wireless routers; Several Mine-used I. S wireless routers described form mining WIFI wireless Mesh netword; Described Mine-used I. S rescue and detection robot body is for gathering the sensing detection device data of himself motion and load and performing the telecommand of rescuing terminal and sending, described Mine-used I. S rescue terminal is responsible for receiving and dispatching the data transmitted by router ad hoc deployed wireless networks, and described telecommand is sent to Mine-used I. S rescue and detection robot body by wireless network.
Further, the sensing detection equipment of described Mine-used I. S rescue and detection robot body load comprises gas sampling and check processing device, robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head.
Further, described Mine-used I. S rescue and detection robot body comprises bluetooth and WIFI communication module; The data message that described gas sampling and check processing device collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless network by described communication module; The data message that described robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless Mesh netword by described WIFI communication module.
The beneficial effects of the utility model:
The utility model has higher bandwidth, its remote control distance is far away, by Remote commander colliery sniffing robot, it is made to arrive destination smoothly, then the data messages such as the scene of the accident gas concentration of detection are passed back command centre, not only can reduce the danger that rescue personnel detects to deathtrap, and can be coalmine rescue decision-making foundation and guidance are provided.
Accompanying drawing explanation
Fig. 1 is the utility model structured flowchart;
Fig. 2 is Robot remote's command system high-level schematic functional block diagram;
Fig. 3 is robot ambulation range data flow graph;
Fig. 4 is environment multi-parameters real-time monitoring inter-area traffic interarea block diagram;
Fig. 5 is sound monitoring and video monitoring data flow graph.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
As shown in Figure 1, a kind of Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device, is characterized in that: comprise Mine-used I. S rescue and detection robot body, Mine-used I. S rescue terminal (abbreviation beep box) and several Mine-used I. S wireless routers; Several Mine-used I. S wireless routers described form mining WIFI wireless Mesh netword (adopting chain or fishing net l network topological structure in the utility model); Described Mine-used I. S wireless router is for transmitting data and the rescue terminal remote control command of described robot body sensing detection equipment, described Mine-used I. S rescue terminal receives and dispatches the data transmitted by router ad hoc deployed wireless networks, and described data are sent to Mine-used I. S rescue terminal by wireless network.
Described sensing detection equipment comprises gas sampling and check processing device, robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head.
Described Mine-used I. S rescue and detection robot body comprises bluetooth and WIFI communication module; The data message that described gas sampling and check processing device collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless network by described communication module; The data message that described robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless Mesh netword by described WIFI communication module.
First Portable mining intrinsic safety rescue and detection robot wireless remote control command system device gathers environment multi-parameter real time data, audio, video data and travel distance data respectively by the sampling in robot and check processing device, sound pick-up/loudspeaker and camera, robot ambulation range sensor, then the wireless transmission of data is carried out by wireless Mesh netword, finally by rescue terminal log according to carrying out resolving, receive, show and storing.
As shown in Figure 2, in the present embodiment rescue robot function mainly comprise robot body motion control, environment multi-parameters real-time monitoring, gas sampling and check processing device, the sound monitor with video monitoring, obstacle detouring Schema control five part form.
Robot body motion control is mainly used for the motion of control machine human body, replaces people to enter into rescue personnel can not enter or be not suitable for the peril Minepit environment that enters, avoid obstruction, arrive destination smoothly with robot.Comprising the advance of robot, retrogressing, left-hand rotation, right-hand rotation, front adjusting microinching, rear adjusting microinching, left adjusting microinching, right adjusting microinching, stopping and travel distance.As shown in Figure 3, the acquisition of robot ambulation distance gathers robot ambulation distance by range sensor real time record, changes just transfer data to rescue terminal by WIFI communication module once travel distance.
As shown in Figure 4, the acquisition of environment multi-parameters real-time monitoring information, first the various gases in the environment of disaster area are extracted in the lifting controlling gas sampling and check processing device by serial ports, then the gas be drawn into shown in real time by environment multi-parameter monitoring alarm and reported to the police, finally adopting bluetooth to send in the information transmission collected to communication module.Environment multi-parameters real-time monitoring mainly samples the gas in the environment of disaster area by robot, for monitoring the real time environment parameter information under disaster environment, avoids rescue personnel to enter into hazardous environment, reduces casualty loss.It not only can detect and show the real-time condition of methane, carbon monoxide, temperature, oxygen, carbon dioxide five kinds of parameters continuously, but also has the various functions such as real-time data memory and inquiry warning.
Gas sampling and check processing device control mainly according to the hazardous gas distribution situation of underground coal mine, the unlatching of control wireway, closedown, stopping, elongation and shortening, get the distribution of gas situation of differing heights, thus provide more true, effective data for the commanding and decision-making of rescue personnel.
As shown in Figure 5, the acquisition of sound monitoring and video monitoring information gathers acoustic information and video image information respectively by sound pick-up/loudspeaker and video frequency pick-up head, then transfers data to rescue terminal by WIFI communication module.The real-time movement of robot, obtains the live video image of disaster area environment, is not only conducive to the locomitivity improving robot, and is conducive to the real-time rescue situations grasping robot.
The obstacle climbing ability of obstacle detouring Schema control mainly control, is divided into normal mode and special pattern.Namely obstruction is less in the normal mode, robot can directly quickly through, movement velocity is very fast; Namely obstruction is more in a special mode, and robot needs slowly to regulate the gait of self to go to be suitable for Minepit environment complicated and changeable, and movement velocity is slower.Therefore, rescue personnel can select obstacle detouring pattern according to the actual environment under mine.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (3)
1. a Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device, is characterized in that: comprise Mine-used I. S rescue and detection robot body, Mine-used I. S rescue terminal and several Mine-used I. S wireless routers; Several Mine-used I. S wireless routers described form mining WIFI wireless Mesh netword; Described Mine-used I. S wireless router is for transmitting data and the rescue terminal remote control command of described robot body sensing detection equipment, described Mine-used I. S rescue terminal receives and dispatches the data transmitted by router ad hoc deployed wireless networks, and described data are sent to Mine-used I. S rescue terminal by wireless network.
2. Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device according to claim 1, is characterized in that: described sensing equipment comprises the multi-parameter gas collections such as methane and checkout gear, robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head.
3. Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device according to claim 2, is characterized in that: described Mine-used I. S rescue and detection robot body comprises bluetooth and WIFI communication module; The data message that described gas sampling and check processing device collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless Mesh netword by described WIFI communication module; The data message that described robot ambulation range sensor, sound pick-up/loudspeaker and video frequency pick-up head collect is by Bluetooth transmission to WIFI communication module, and the information received is sent to Mine-used I. S rescue terminal by wireless Mesh netword by described WIFI communication module.
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| CN201420515239.8U CN204225919U (en) | 2014-08-14 | 2014-09-09 | Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device |
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| CN201420458641 | 2014-08-14 | ||
| CN201420515239.8U CN204225919U (en) | 2014-08-14 | 2014-09-09 | Portable mining intrinsic safety rescue and detection robot wireless remote control command communications system device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Wireless remote control command communication system device of portable mining intrinsic safety rescue detecting robot |
| CN107299841A (en) * | 2017-06-20 | 2017-10-27 | 煤科集团沈阳研究院有限公司 | A kind of mine intrinsic safety Wearable rescue and safety in production inspection Internet of Things device |
| CN108468563A (en) * | 2016-09-29 | 2018-08-31 | 西安科技大学 | Mine drilling rescue life method for detecting based on combinations of detectors |
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2014
- 2014-09-09 CN CN201420515239.8U patent/CN204225919U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265358A (en) * | 2014-08-14 | 2015-01-07 | 中煤科工集团重庆研究院有限公司 | Wireless remote control command communication system device of portable mining intrinsic safety rescue detecting robot |
| CN108468563A (en) * | 2016-09-29 | 2018-08-31 | 西安科技大学 | Mine drilling rescue life method for detecting based on combinations of detectors |
| CN107299841A (en) * | 2017-06-20 | 2017-10-27 | 煤科集团沈阳研究院有限公司 | A kind of mine intrinsic safety Wearable rescue and safety in production inspection Internet of Things device |
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