CN204331465U - A kind of machine system carrying out complex environment detection - Google Patents
A kind of machine system carrying out complex environment detection Download PDFInfo
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- CN204331465U CN204331465U CN201420819230.6U CN201420819230U CN204331465U CN 204331465 U CN204331465 U CN 204331465U CN 201420819230 U CN201420819230 U CN 201420819230U CN 204331465 U CN204331465 U CN 204331465U
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- environment detection
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- complex environment
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Abstract
The utility model provides a kind of machine system carrying out complex environment detection.Solve existing detector range of control and award limit, walk dumb, the problems such as function imperfection.Walking robot of the present utility model comprises lower box and upper box, the both sides of lower box arrange creeper truck wheels, the front end of creeper truck wheels arranges front swing arm, in lower box, accumulator is set, obstacle detouring motor and driving stem, obstacle detouring motor connects driving stem, the end of driving stem is stretched out lower box and is connected above-mentioned front swing arm, upper box is hinged with camera and mechanical arm, arrange in upper box and control mainboard and sensor component, camera, mechanical arm, creeper truck wheels, obstacle detouring motor and sensor component are all by circuit connection control mainboard, control signal transceiver mainboard arranged for contacting background server, accumulator is by circuit connecting band track wheel group, obstacle detouring motor, camera, mechanical arm and sensor component.The utility model facilitates Long-distance Control, and multiple functional.
Description
Technical field
The utility model belongs to detection machine technical field, relates to a kind of remote controlled rescue robot, particularly a kind of machine system carrying out complex environment detection.
Background technology
China is one of country of frequent natural calamity generation in the world.Earthquake, fire, and various human accident, as Oil spills, pipe explosion etc. happen occasionally, the production that serious harm people are daily and life.Especially in nearest several years, China is disaster-ridden concurrent, and various disaster comes one after another, and intensity is large, and scope is wide, injures and deaths weight, and loss is large, to the country and people with the massive losses that cannot retrieve.At present, in various disaster, only rely on existing equipment and technical equipment to lag far behind, emergency relief work is too impatient to wait.After disaster, field condition is complicated, rescue personnel is subject to the infringement of the harmful gases such as nuisance, dust, carbon monoxide and is difficult to the scene that enters and carries out rescue work, and in addition, landform complicated in ruins and the small space formed also make rescue personnel to enter.For environment detection, the environment detection especially in accident can play very large effect for rescue work.As used industrial computer as its robot carrier core control system, although can use in rugged environment, its data security is low, store selectivity little, and price is higher, its use value is reduced, need further development.
Recognize that existing sniffing robot functionally has the following disadvantages by investigating us in a large number:
1. the information that the sensor such as harmful gas, temperature, humidity gathers the scene of the accident is difficult to be sent to non-accident area, causes great inconvenience to carrying out personnel rescuing.Such as: ZL:20100514583.1 is with optical-fibre communications, although speed is very fast, but there is certain restriction for transmission range, like this for some special occasions as down-hole, or have a large amount of harmful gas and other staff can not close when, optical-fibre communications has certain defect to exist.
2. a lot of rescue robot self obstacle climbing ability is limited, and causing also has a lot of requirements to the geographical environment of rescue environment, and the practicality detected is on the spot not high.Such as: ZL:201210011981.0 has the function of controlled in wireless robot, but keep away barrier for the movement of robot and obstacle detouring is short of to some extent, this just causes the range of application of robot and environment to have significant limitation.
3., in existing sniffing robot, although large multipotency obtains detection data accurately, due to the position of robot cannot be determined, make rescue work add very large difficulty.Such as: ZL:201310247123.0 has the transmission video information of disaster scene and the function of voice messaging, let us can have a clear understanding of the situation of disaster scene, but because it does not have positioning function, causing us cannot determine concrete orientation when carrying out rescue, rescue speed can not be promoted.
Utility model content
The purpose of this utility model there are the problems referred to above for existing technology, proposes strong, the remote information wireless transmission of a kind of obstacle climbing ability, accurate positioning, the machine system carrying out complex environment detection of existing effect rescue in fact.
The purpose of this utility model realizes by following technical proposal: a kind of machine system carrying out complex environment detection, comprise walking robot, described walking robot is by background server Long-distance Control, it is characterized in that, described walking robot comprises lower box and upper box, the both sides of described lower box arrange creeper truck wheels, the front end of described creeper truck wheels arranges front swing arm, in described lower box, accumulator is set, obstacle detouring motor and driving stem, described obstacle detouring motor connects driving stem, the end of described driving stem is stretched out lower box and is connected above-mentioned front swing arm, described upper box is hinged with camera and mechanical arm, arrange in described upper box and control mainboard and sensor component, described camera, mechanical arm, creeper truck wheels, obstacle detouring motor and sensor component are all by circuit connection control mainboard, described control mainboard is arranged the signal transceiver for contacting background server, described accumulator is by circuit connecting band track wheel group, obstacle detouring motor, camera, mechanical arm and sensor component.
Originally the machine system carrying out complex environment detection adopts master slave control mode, namely the control end (PC) of background server is given an order, given by wireless communication transmissions and control mainboard (ARM), CPU (central processing unit) drive motor drives, sensor assembly is started working, the program write before utilization, timing outwards sends the Distance geometry course information of walking robot movement.The information that each road sensor collects wirelessly is transmitted, and is finally presented on background server, makes non-at-scene staff grasp on-the-spot information to reach.Simultaneously by the operation of background server, control movable motor advance, retrogressing, left/right rotation and obstacle detouring action, also can control mechanical arm and carry out actions such as capturing, move.
Carry out in the machine system of complex environment detection above-mentioned, described sensor component comprises alcohol sensor, CO sensor, temperature sensor, humidity sensor, liquefied gas sensor, harmful gas sensor, smog gas sensor and ultrasonic sensor.Every sensor in sensor component is in one line.
Carry out in the machine system of complex environment detection above-mentioned, described creeper truck wheels comprise the movable motor being positioned at lower box, described movable motor drives connected row to walk wheels, the periphery socket crawler belt of described walking wheels, described movable motor connects above-mentioned control mainboard and accumulator by circuit.
Carry out in the machine system of complex environment detection above-mentioned, described upper box is arranged arm hinged seat, described mechanical arm comprises the first armed lever, the second armed lever and gripper, the bottom of described first armed lever is hinged on arm hinged seat, the top of described first armed lever and the bottom of the second armed lever are hinged, and described gripper is positioned on the top of the second armed lever.Hinged by the many bodies of rod, and then realize the actions such as stretching, extension, bending, with the dirigibility of elevating gear arm, complete crawl, move operations such as putting.
In the machine system of complex environment detection, described upper box is arranged shooting hinged seat above-mentioned carrying out, described camera is hinged on shooting hinged seat.Realize rotating, to control its camera angle and then expanded field of vision flexibly by the hinged camera that makes.
In the machine system of complex environment detection, arrange verbal system in described upper box above-mentioned carrying out, described verbal system connects above-mentioned control mainboard and accumulator by circuit.This verbal system specifically refers to microphone, can realize the voice call of off-site personnel and on-the-spot rescue worker or trapped personnel.
In the machine system of complex environment detection, arrange positioning equipment in described upper box above-mentioned carrying out, described positioning equipment connects above-mentioned control mainboard and accumulator by circuit.Accurately can be learnt the particular location of walking robot by positioning equipment, so that tracing control, realize detection and rescue measure accurately.
In the machine system of complex environment detection, arrange odometer and ultrasonic range finder above-mentioned carrying out in described upper box, described odometer and ultrasonic range finder are all connected above-mentioned control mainboard and accumulator by circuit.
In the machine system of complex environment detection, in described upper box, storage chamber is set, described storage chamber upper cover case lid above-mentioned carrying out.Can relief goods be placed in storage chamber, provide basic material supply to indicator of trapped personnel thus.Storage chamber is arranged on the rear of sensor component, facilitates the grasping movement of mechanical arm thus.
Compared with prior art, the machine system originally carrying out complex environment detection has following characteristics:
1. front swing arm obstacle detouring: front swing arm auxiliary under, the locomotivity of robot improves greatly, can cross comparatively boulder or barrier, for the detection of robot under complex environment provides guarantee.
2. location technology: the utility model adopts the nodal information of wireless sensor network to set up network map, and obtain robot body position in conjunction with the image information that camera in robot obtains, provide accurate information for operating personnel understand prospecting environment.
3. information acquisition module: the information that each road sensor gathers adopts the mode of wireless transmission, even if staff is not in disaster scene like this, still can obtains the data of disaster scene the very first time and be presented on remote monitoring platform.
4. mechanical arm: in detection operations, run into the food that we can be placed on when being rescued personnel in robot casing, medical supplies are thrown to being rescued personnel by capturing, master slave control makes the motion of mechanical arm more flexible, for being provided simple relief by the personnel of rescuing, both can extend their life, again striven for search-and-rescue work the time.
Accompanying drawing explanation
Fig. 1 is the structural representation of walking robot in the machine system originally carrying out complex environment detection.
Fig. 2 is the sensing control planning figure of the machine system originally carrying out complex environment detection.
In figure, 1, mechanical arm; 2, camera; 3, upper box; 4, lower box; 5, front swing arm; 6, creeper truck wheels.
Embodiment
Be below specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiments.
As illustrated in fig. 1 and 2, the machine system originally carrying out complex environment detection comprises walking robot, and walking robot is by background server Long-distance Control.
Walking robot comprises lower box 4 and upper box 3, and lower box 4 and upper box 3 are separable, all adopts the materials such as aluminium alloy to make cuboid, not only firm but also light, realizes car body and runs flexibly.Wherein lower box 4 has certain altitude apart from ground, makes casing higher than wheel body.
The both sides of lower box 4 arrange creeper truck wheels 6, and the creeper truck wheels 6 of every side comprise the movable motor being positioned at lower box 4, and movable motor drives connected row to walk wheels, the periphery socket crawler belt of walking wheels.Movable motor is specially direct current generator, and the motion controlling the right and left walking wheels is responsible for respectively by two direct current generators thus.
The front end of creeper truck wheels 6 arranges front swing arm 5, arranges obstacle detouring motor and driving stem in lower box 4, and obstacle detouring motor connects driving stem, and the both ends of driving stem are stretched out lower box 4 and respectively connected a front swing arm 5.When walking robot runs into the barrier of large volume, obstacle detouring motor orders about driving stem and rotates, and then drives the front swing arm 5 at two ends to overturn, and the first half health supporting walking robot thus surmounts obstacles, coordinate creeper truck wheels 6 to advance again to promote, final leaping over obstacles moves on.
Upper box 3 is hinged with camera 2 and mechanical arm 1, arranges in upper box 3 and control mainboard and sensor component.Camera 2, mechanical arm 1, movable motor, obstacle detouring motor and sensor component, all by circuit connection control mainboard, control signal transceiver mainboard arranged for contacting background server.Also arrange accumulator in lower box 4, this accumulator connects movable motor, obstacle detouring motor, camera 2, mechanical arm 1 and sensor component by circuit.
Sensor component comprises alcohol sensor, CO sensor, temperature sensor, humidity sensor, liquefied gas sensor, harmful gas sensor, smog gas sensor and ultrasonic sensor.Every sensor in sensor component is in one line.The rear being positioned at sensor component in upper box 3 arranges storage chamber, and this storage chamber upper cover case lid, facilitates the grasping movement of mechanical arm 1 thus.Can relief goods be placed in storage chamber, provide basic material supply to indicator of trapped personnel thus.
Arrange verbal system in casing, this verbal system is by circuit connection control mainboard and accumulator.This verbal system specifically refers to microphone, can realize the voice call of off-site personnel and on-the-spot rescue worker or trapped personnel.Arrange positioning equipment in upper box 3, this positioning equipment connects above-mentioned control mainboard and accumulator by circuit.Accurately can be learnt the particular location of walking robot by positioning equipment, so that tracing control, realize detection and rescue measure accurately.
Upper box 3 is arranged arm hinged seat, mechanical arm 1 comprises the first armed lever, the second armed lever and gripper, the bottom of the first armed lever is hinged on arm hinged seat, and the top of the first armed lever and the bottom of the second armed lever are hinged, and gripper is positioned on the top of the second armed lever.Hinged by the many bodies of rod, and then realize the actions such as stretching, extension, bending, with the dirigibility of elevating gear arm 1, complete crawl, move operations such as putting.
Upper box 3 is arranged shooting hinged seat, camera 2 is hinged on shooting hinged seat.Realize rotating, to control its camera angle and then expanded field of vision flexibly by the hinged camera 2 that makes.
Originally the machine system carrying out complex environment detection adopts master slave control mode, namely the control end (PC) of background server is given an order, given by wireless communication transmissions and control mainboard (ARM), CPU (central processing unit) drive motor drives, sensor assembly is started working, the program write before utilization, timing outwards sends the Distance geometry course information of walking robot movement.The information that each road sensor collects wirelessly is transmitted, and is finally presented on background server, makes non-at-scene staff grasp on-the-spot information to reach.All information is all analyzed by control mainboard (ARM), and assigns next step instruction, controls the electric system that mainboard (ARM) controls this walking robot simultaneously, and namely the direction of motion of control keeps away barrier with mobile.And assistant controller single-chip microcomputer is mainly connected with mechanical arm 1, assign instruction by analysis to after single-chip microcomputer by controlling mainboard (ARM), the motor of Single-chip Controlling mechanical arm 1 completes the actions such as crawl.
The PC end of background server is transmitted by radio node, most Zhongdao robotic end, controls mainboard (ARM) end according to order, control motor and perform corresponding command action after giving an order.Meanwhile, the information collected also is transferred to PC end by radio node by every sensor, and by labview software platform, demonstrates corresponding data.This transmission mode be more applicable for place that some rescue workers are inconvenient to pass in and out as high temperature, toxic gas and other have the place of life threat to people.
Originally the location technology that the machine system carrying out complex environment detection adopts is the wireless location technology based on ZigBee-network, and known node here and mobile node adopt the chip with autonomous transmission-receiving function respectively, all supports RSSI technology.Wherein known node places it in test environment by the mechanical arm 1 of walking robot, records node location simultaneously, and unknown mobile node sensor is then placed on running machine human body.Position fixing process is: the chip known using position builds a Zigbee wireless network as with reference to node, another kind of chip is utilized to broadcast as location node timed sending RSSI, after the reference mode chip of known location receives coordinate information, send together with self coordinate the RSSI value detected to location node.Location node is according to the relation of RSSI and distance, obtain the data of the distance between three groups and above and reference mode, trilateration or Maximum Likelihood Estimation Method is adopted to calculate the position coordinates of self, and this coordinate information is transferred to PC by the radio network gateway be connected with user's PC, by the supervisory system run on PC, realize the monitoring to mobile node and inquiry, calculate current location information according to initial coordinate information accumulation, and outwards send to PC.And often through after a period of time, select the coordinate of Zigbee wireless location to carry out the initial coordinate of positions calculations next time as it, such control end just can obtain two groups of walking robot coordinate datas, carries out filtering process, information fusion and parameter correction.Finally utilize electronic map database, in real time current environment map is loaded into the position that monitoring software obtains current line robot walking.
In order to make system have higher travelling speed, most sensor is connected with control mainboard (ARM), utilizes labview platform can show the real-time change of information.Camera 2 adds wireless-transmission network too, and the Audio and Video information collected is sent to PC end in real time.Information odometer and ultrasonic range finder collected carries out path planning, controls movable motor motion.For the control of mechanical arm 1, then the mode adopting vision camera 2 to match with remote tele-operation controls.
Each sensor and wireless sensor network analog input node is connected with electric wire, again node is connected to WSN gateway, gateway is connected the transmission of the information of realization with main control computer, the external information that sensor is obtained, as humiture, the information such as harmful gas, are shown on labview software platform by wireless transmission form in real time, monitor remote outer situation to facilitate.In message processing module, (SuSE) Linux OS is built in control mainboard (ARM), mainly uses multi-sensor information fusion technology to improve system performance.Robot wireless communication module is made up of wireless network card, AP via node, 485 buses.By WDS (wireless Distribution System) mode networking between each WAP (AP via node), except first AP node, all the other AP nodes are carried with by walking robot, control mechanical arm 1 along the every 300m of walking path and place one, wireless signal is converted into 485 bus signals by first AP node, be connected with PC monitor terminal on ground, walking robot self also carries a specific AP node, facilitate calculating location information, make positioning work easier.Stability and the reliability of network has effectively been ensured by this networking mode.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Although more employ mechanical arm 1 herein; Camera 2; Upper box 3; Lower box 4; Front swing arm 5; Term such as creeper truck wheels 6 grade, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present utility model more easily; The restriction that they are construed to any one additional is all contrary with the utility model spirit.
Claims (9)
1. one kind is carried out the machine system of complex environment detection, comprise walking robot, described walking robot is by background server Long-distance Control, it is characterized in that, described walking robot comprises lower box and upper box, the both sides of described lower box arrange creeper truck wheels, the front end of described creeper truck wheels arranges front swing arm, in described lower box, accumulator is set, obstacle detouring motor and driving stem, described obstacle detouring motor connects driving stem, the end of described driving stem is stretched out lower box and is connected above-mentioned front swing arm, described upper box is hinged with camera and mechanical arm, arrange in described upper box and control mainboard and sensor component, described camera, mechanical arm, creeper truck wheels, obstacle detouring motor and sensor component are all by circuit connection control mainboard, described control mainboard is arranged the signal transceiver for contacting background server, described accumulator is by circuit connecting band track wheel group, obstacle detouring motor, camera, mechanical arm and sensor component.
2. the machine system carrying out complex environment detection according to claim 1, it is characterized in that, described sensor component comprises alcohol sensor, CO sensor, temperature sensor, humidity sensor, liquefied gas sensor, harmful gas sensor, smog gas sensor and ultrasonic sensor.
3. the machine system carrying out complex environment detection according to claim 1, it is characterized in that, described creeper truck wheels comprise the movable motor being positioned at lower box, described movable motor drives connected row to walk wheels, the periphery socket crawler belt of described walking wheels, described movable motor connects above-mentioned control mainboard and accumulator by circuit.
4. the machine system carrying out complex environment detection according to claim 1, it is characterized in that, described upper box is arranged arm hinged seat, described mechanical arm comprises the first armed lever, the second armed lever and gripper, the bottom of described first armed lever is hinged on arm hinged seat, the top of described first armed lever and the bottom of the second armed lever are hinged, and described gripper is positioned on the top of the second armed lever.
5. the machine system carrying out complex environment detection according to claim 1, is characterized in that, described upper box is arranged shooting hinged seat, and described camera is hinged on shooting hinged seat.
6. the machine system carrying out complex environment detection according to any one of claim 1 to 5, is characterized in that, arranges verbal system in described upper box, and described verbal system connects above-mentioned control mainboard and accumulator by circuit.
7. the machine system carrying out complex environment detection according to any one of claim 1 to 5, is characterized in that, arranges positioning equipment in described upper box, and described positioning equipment connects above-mentioned control mainboard and accumulator by circuit.
8. the machine system carrying out complex environment detection according to any one of claim 1 to 5, it is characterized in that, arrange odometer and ultrasonic range finder in described upper box, described odometer and ultrasonic range finder are all connected above-mentioned control mainboard and accumulator by circuit.
9. the machine system carrying out complex environment detection according to any one of claim 1 to 5, is characterized in that, arranges storage chamber in described upper box, described storage chamber upper cover case lid.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420819230.6U CN204331465U (en) | 2014-12-19 | 2014-12-19 | A kind of machine system carrying out complex environment detection |
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| CN201420819230.6U CN204331465U (en) | 2014-12-19 | 2014-12-19 | A kind of machine system carrying out complex environment detection |
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| CN201420819230.6U Expired - Fee Related CN204331465U (en) | 2014-12-19 | 2014-12-19 | A kind of machine system carrying out complex environment detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104902232A (en) * | 2015-05-22 | 2015-09-09 | 广州杰赛科技股份有限公司 | Environment sensing device and environment sensing system |
| CN105807650A (en) * | 2016-02-25 | 2016-07-27 | 中国矿业大学(北京) | Underground robot radio communication control system |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional probe vehicle based on wireless control and video transmission |
| CN106567738A (en) * | 2016-11-01 | 2017-04-19 | 河池学院 | Mining detection robot |
-
2014
- 2014-12-19 CN CN201420819230.6U patent/CN204331465U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104902232A (en) * | 2015-05-22 | 2015-09-09 | 广州杰赛科技股份有限公司 | Environment sensing device and environment sensing system |
| CN104902232B (en) * | 2015-05-22 | 2018-07-06 | 广州杰赛科技股份有限公司 | Environment arrangement for detecting and environment detecting system |
| CN105807650A (en) * | 2016-02-25 | 2016-07-27 | 中国矿业大学(北京) | Underground robot radio communication control system |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional probe vehicle based on wireless control and video transmission |
| CN106567738A (en) * | 2016-11-01 | 2017-04-19 | 河池学院 | Mining detection robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20211219 |
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| CF01 | Termination of patent right due to non-payment of annual fee |