CN205271990U - Special equipment scene of accident sniffing robot - Google Patents
Special equipment scene of accident sniffing robot Download PDFInfo
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- CN205271990U CN205271990U CN201521042092.6U CN201521042092U CN205271990U CN 205271990 U CN205271990 U CN 205271990U CN 201521042092 U CN201521042092 U CN 201521042092U CN 205271990 U CN205271990 U CN 205271990U
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Abstract
The utility model discloses a special equipment scene of accident sniffing robot, it is including the the robot who has the arm, the stereovision camera, the monitoring camera, communication module and power module, the last main control unit that is equipped with of the robot, the monitoring camera, communication module and power module electricity respectively connect main control unit, main control unit is connected to the monitoring camera, and the action of supervision robot, the surrounding environment image is gathered in real time to the stereovision camera of locating on the the robot, stereovision camera connect main control unit, the last demountable installation of the robot has at least one airborne sensor, the airborne sensor monitoring environment parameter, and export main control unit to, main control unit passes through communication module and distal end upper computer connection. The utility model discloses can fast, accurately rebuild on -the -spot three -dimensional map, obtain environmental parameter in real time, for special equipment accident emergency rescue provides decision support, improve rescue efficiency, reduce accident loss.
Description
Technical field
The utility model relates to robot field, particularly relates to special equipment scene of the accident detection robot.
Background technology
In recent years, along with the fast development of national economy, the special equipment quantity of China increases with the speed of average annual about 15%, and by the end of the year 2013, the whole nation is reaching 936.91 ten thousand with special equipment, rises 14.02% than 2012. Special equipment is because of the impact of equipment itself He externalities, it is easy to has an accident and easily causes personal injury and heavy economic losses. Only 2013, just there are special equipment accident totally 227, dead 289 people, injured 274 people in the whole nation, causes the direct economic loss of several hundred million unit and the environment of over ten billion to be in debt. Therefore, how to improve special equipment accident rescue speed and efficiency be one of urgent problem always.
Due to the singularity of special equipment, special equipment accident can cause the problems such as fire, blast and inflammable and explosive, toxic gas leakage usually, and the field monitoring before rescue and prospecting are just had higher requirement by this. The existing equipment for special equipment scene of the accident gas concentration inspect, can only detect pure gas mostly at present, and the compound test set for wind speed, temperature and hazardous gas concentration is in vacuum state substantially; Existing scene of the accident video monitoring equipment, also adopts picture or simple video type of transmission all mostly, not yet combines on-the-spot environmental parameter and comprehensively analyzes, can not be three-dimensional, react field condition intuitively.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that special equipment scene of the accident detection robot.
The technical solution adopted in the utility model is:
Special equipment scene of the accident detection robot, it comprises the robot body with mechanical arm, stereoscopic vision camera, surveillance camera, communication module and power supply module, robot body is provided with principal controller, described surveillance camera, communication module and power supply module are electrically connected principal controller respectively, the output terminal of described surveillance camera connects principal controller, and surveillance camera comprises the forward looking camera being located at robot body front end, the hand pawl pick up camera of being located on mechanical arm and the monopod video camera being located at robot body upper surface; Described stereoscopic vision camera is located on robot body, stereoscopic vision camera gathers the ambient image around robot body in real time, the output terminal of stereoscopic vision camera is connected with principal controller, described robot body can be dismantled more than one machine set sensor is installed, described machine set sensor monitoring of environmental parameter, the output terminal of machine set sensor is connected with principal controller, and principal controller is connected with the upper computer being positioned at far-end by the communication module being located in robot body.
Described robot body is wheeled or caterpillar type robot.
Described machine set sensor comprises temperature sensor and gas sensor.
Described surveillance camera is digital camera machine.
Described communication module comprises wireless ZigBee module, 3G/4G communication module and bluetooth module.
Described surveillance camera, communication module, sub-control device are all connected with principal controller by CAN
Described machine set sensor connects principal controller by serial line interface.
Described mechanical arm has the accident preprocessing function of roof-cut resistence, valve-off.
The image that stereoscopic vision camera is gathered by described main control carries out solid modelling.
The utility model adopts above technical scheme, determines necessary for monitoring environmental parameter according to accident pattern and practical situation, flexible selection machine set sensor; Staff passes through the motion of PC control rescue robot in the scene of the accident, the picture of rescue robot position, video, the locating information that obtained robot body by vision localization algorithm is gathered in real time by stereoscopic vision camera, and in conjunction with the environmental parameter that machine set sensor gathers, generate the three-dimensional map of the on-the-spot environment with relevant parameter by principal controller; The surveillance camera of the action monitoring robot is set, principal controller by relevant video image, three-dimensional map information etc. by communication module real-time Transmission to the upper computer being positioned at far-end, for the rescue of special equipment accident emergency provides decision support, thus improve rescue efficiency, minimizing accident causes loss, ensures the safety of life and property of the people better.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further details;
The structural representation of Fig. 1 the utility model special equipment scene of the accident detection robot.
Embodiment
As shown in Figure 1, the utility model comprises the robot body with mechanical arm, stereoscopic vision camera, surveillance camera, communication module and power supply module, robot body is provided with principal controller, described surveillance camera, communication module and power supply module are electrically connected principal controller respectively, the output terminal of described surveillance camera connects principal controller, and surveillance camera comprises the forward looking camera being located at robot body front end, the hand pawl pick up camera of being located on mechanical arm and the monopod video camera being located at robot body upper surface; Described stereoscopic vision camera is located on robot body, stereoscopic vision camera gathers the ambient image around robot body in real time, the output terminal of stereoscopic vision camera is connected with principal controller, described robot body can be dismantled more than one machine set sensor is installed, described machine set sensor monitoring of environmental parameter, the output terminal of machine set sensor is connected with principal controller, and principal controller is connected with the upper computer being positioned at far-end by the communication module being located in robot body.
Described robot body is wheeled or caterpillar type robot.
Described machine set sensor comprises temperature sensor and gas sensor.
Described surveillance camera is digital camera machine.
Described communication module comprises wireless ZigBee module, 3G/4G communication module and bluetooth module. When the transmission range of rescue robot and upper computer is not more than 1000m, rescue robot adopts ZigBee module to transmit; When the transmission range of rescue robot and upper computer is greater than 1000m, rescue robot exceeds the wireless communication range of ZigBee module, then activate 3G/4G communication module and carry out communication.
Described surveillance camera, communication module, sub-control device are all connected with principal controller by CAN
Described machine set sensor connects principal controller by serial line interface.
Described mechanical arm has the accident preprocessing function of roof-cut resistence, valve-off.
The image that stereoscopic vision camera is gathered by described main control carries out solid modelling.
The utility model adopts above technical scheme, determines necessary for monitoring environmental parameter according to accident pattern and practical situation, flexible selection machine set sensor; Staff passes through the motion of PC control rescue robot in the scene of the accident, the picture of rescue robot position, video, the locating information that obtained robot body by vision localization algorithm is gathered in real time by stereoscopic vision camera, and in conjunction with the environmental parameter that machine set sensor gathers, generate the three-dimensional map of the on-the-spot environment with relevant parameter by principal controller; The surveillance camera of the action monitoring robot is set, principal controller by relevant video image, three-dimensional map information etc. by communication module real-time Transmission to the upper computer being positioned at far-end, for the rescue of special equipment accident emergency provides decision support, if desired by mechanical arm roof-cut resistence or valve-off, thus improve rescue efficiency, minimizing accident causes loss, ensures the safety of life and property of the people better.
Claims (9)
1. special equipment scene of the accident detection robot, it is characterized in that: it comprises the robot body with mechanical arm, stereoscopic vision camera, surveillance camera, communication module and power supply module, robot body is provided with principal controller, described surveillance camera, communication module and power supply module are electrically connected principal controller respectively, the output terminal of described surveillance camera connects principal controller, and surveillance camera comprises the forward looking camera being located at robot body front end, the hand pawl pick up camera of being located on mechanical arm and the monopod video camera being located at robot body upper surface; Described stereoscopic vision camera is located on robot body, stereoscopic vision camera gathers the ambient image around robot body in real time, the output terminal of stereoscopic vision camera is connected with principal controller, described robot body can be dismantled more than one machine set sensor is installed, described machine set sensor monitoring of environmental parameter, the output terminal of machine set sensor is connected with principal controller, and principal controller is connected with the upper computer being positioned at far-end by the communication module being located in robot body.
2. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described robot body is wheeled or caterpillar type robot.
3. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described machine set sensor comprises temperature sensor and gas sensor.
4. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described surveillance camera is digital camera machine.
5. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described communication module comprises wireless ZigBee module, 3G/4G communication module and bluetooth module.
6. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described surveillance camera, communication module, sub-control device are all connected with principal controller by CAN.
7. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described machine set sensor connects principal controller by serial line interface.
8. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: described mechanical arm has the accident preprocessing function of roof-cut resistence, valve-off.
9. the special equipment scene of the accident detects robot according to claim 1, it is characterised in that: the image that stereoscopic vision camera is gathered by described principal controller carries out solid modelling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521042092.6U CN205271990U (en) | 2015-12-15 | 2015-12-15 | Special equipment scene of accident sniffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521042092.6U CN205271990U (en) | 2015-12-15 | 2015-12-15 | Special equipment scene of accident sniffing robot |
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| Publication Number | Publication Date |
|---|---|
| CN205271990U true CN205271990U (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521042092.6U Active CN205271990U (en) | 2015-12-15 | 2015-12-15 | Special equipment scene of accident sniffing robot |
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| CN (1) | CN205271990U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107505666A (en) * | 2017-10-13 | 2017-12-22 | 中信重工开诚智能装备有限公司 | A kind of rescue scouts monitoring device parameter testing and performance test instrument |
| CN107608354A (en) * | 2017-09-21 | 2018-01-19 | 深圳市鑫汇达机械设计有限公司 | A kind of intelligent security protection goes on patrol device |
| CN110047269A (en) * | 2019-04-08 | 2019-07-23 | 王飞跃 | Accident support system, accident support method, electronic device and storage medium |
-
2015
- 2015-12-15 CN CN201521042092.6U patent/CN205271990U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107608354A (en) * | 2017-09-21 | 2018-01-19 | 深圳市鑫汇达机械设计有限公司 | A kind of intelligent security protection goes on patrol device |
| CN107608354B (en) * | 2017-09-21 | 2020-09-25 | 西安科美格智能科技有限公司 | Intelligent security patrol device |
| CN107505666A (en) * | 2017-10-13 | 2017-12-22 | 中信重工开诚智能装备有限公司 | A kind of rescue scouts monitoring device parameter testing and performance test instrument |
| CN110047269A (en) * | 2019-04-08 | 2019-07-23 | 王飞跃 | Accident support system, accident support method, electronic device and storage medium |
| CN110047269B (en) * | 2019-04-08 | 2022-07-26 | 王飞跃 | Accident support system, accident support method, electronic device, and storage medium |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |