CN205310239U - A search for and rescue sniffing robot for petrochemical industry hazardous environment - Google Patents
A search for and rescue sniffing robot for petrochemical industry hazardous environment Download PDFInfo
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- CN205310239U CN205310239U CN201521137842.8U CN201521137842U CN205310239U CN 205310239 U CN205310239 U CN 205310239U CN 201521137842 U CN201521137842 U CN 201521137842U CN 205310239 U CN205310239 U CN 205310239U
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- human body
- petrochemical industry
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- robot
- collecting module
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Abstract
The utility model provides a search for and rescue sniffing robot for petrochemical industry hazardous environment, relates to remote thermal imaging infrared detection and wireless sensing control technical field, including walking the robot, walking the robot also has sensor -based environmental data collection module (4), image collection module, 6 -degree of freedom centre gripping arm (17) and the main control panel (11), install respectively on walking the robot sensor -based environmental data collection module (4), image collection module, 6 -degree of freedom centre gripping arm (17) and the main control panel (11), the utility model discloses a remote infrared detection of high accuracy and infrared camera constitute remote hot imaging detection system to network deployment between the multirobot forms multisensor wireless network, realizes surveying the multi -azimuth of environment, and the network deployment passes through the passback of video image network, forms the environment real time monitoring of multi -angle, and stranded personnel's discovery and search and rescue in time play an important role.
Description
Technical field
This utility model relates to remote thermal imaging infrared acquisition and wireless sensing controls technical field, is specifically related to a kind of searching and detecting robot for petrochemical industry hazardous environment.
Background technology
At present, under industrial operations environment, being all have High Temperature High Pressure, or there is corrosivity, occurring when there is accident, rescue worker's entered environment is searched and rescued, and rescue worker exists the threat of life security. Replace rescue worker to enter hazardous environment search and rescue utilization with robot to detect on a large scale, improve efficiency and the safety of protection rescue worker.
Utility model content
The purpose of this utility model is contemplated to overcome under high-risk environment rescue worker and there is the problem of life and health security threat, and provides a kind of searching and detecting robot for petrochemical industry hazardous environment.
This utility model includes running machine human body, described running machine human body also has sensor-based environmental data collecting module, image collecting module, six degree of freedom clamping machine mechanical arm and master board, described sensor-based environmental data collecting module, image collecting module, six degree of freedom clamping machine mechanical arm and master board are separately mounted on running machine human body, sensor-based environmental data collecting module and image collecting module are connected by communication with master board respectively, described master board controls the action of the walking mechanism of six degree of freedom clamping machine mechanical arm and running machine human body respectively.
Described sensor-based environmental data collecting module is made up of temperature sensor, gas sensor and ultrasonic sensor.
Described image collecting module is made up of remote infrared detection module and high accuracy infrared camera, described remote infrared detection module and high accuracy infrared camera are arranged on running machine human body respectively through support, and are connected by communication with master board respectively.
Also having the goods and materials storage box for depositing emergency article, described goods and materials storage box is placed on running machine human body.
Also having high-gain aerial and control terminal, described high-gain aerial is arranged on running machine human body, and described control terminal is connected with master board wireless telecommunications by high-gain aerial.
The core of described master board is ArduinoYun plate.
Described six degree of freedom clamping machine mechanical arm is arranged on the front end of running machine human body.
This utility model has the advantage that this utility model adopts high accuracy remote infrared acquisition, remote thermal imaging detection system is formed with infrared camera, and networking between multirobot, forms multisensor wireless network, it is achieved the multi-faceted detection to environment; And networking is returned by video image network, forming the environment monitor in real time of multi-angle, discovery and the search and rescue of timely trapped personnel play an important role.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation.
In figure: 4, sensor-based environmental data collecting module; 5, high-gain aerial; 9, remote infrared detection module; 10, high accuracy infrared camera; 11, master board; 12, goods and materials storage box; 17, six degree of freedom clamping machine mechanical arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described further.
As shown in Figure 1, this utility model includes running machine human body, described running machine human body also has sensor-based environmental data collecting module 4, image collecting module, six degree of freedom clamping machine mechanical arm 17 and master board 11, described sensor-based environmental data collecting module 4, image collecting module, six degree of freedom clamping machine mechanical arm 17 and master board 11 are separately mounted on running machine human body, sensor-based environmental data collecting module 4 and image collecting module are connected by communication with master board 11 respectively, described master board 11 controls the action of the walking mechanism of six degree of freedom clamping machine mechanical arm 17 and running machine human body respectively.
Described sensor-based environmental data collecting module 4 is made up of temperature sensor, gas sensor and ultrasonic sensor.
Described image collecting module is made up of remote infrared detection module 9 and high accuracy infrared camera 10, described remote infrared detection module 9 and high accuracy infrared camera 10 are arranged on running machine human body respectively through support, and are connected by communication with master board 11 respectively.
Also having the goods and materials storage box 12 for depositing emergency article, described goods and materials storage box 12 is placed on running machine human body.
Also having high-gain aerial 5 and control terminal, described high-gain aerial 5 is arranged on running machine human body, and described control terminal is connected with master board 11 wireless telecommunications by high-gain aerial 5.
The core of described master board 11 is ArduinoYun plate.
Described six degree of freedom clamping machine mechanical arm 17 is arranged on the front end of running machine human body.
Working method and principle: this utility model is platform based on the searching and detecting robot under petrochemical industry hazardous environment, robot can tackle petrochemical industry high-risk environment well, environment is searched and rescued when entering, available large-scale radio sensing network, environment is tentatively detected, multimachine takes concerted action, can effectively detect any one position, find trapped personnel in time, the first-aid medicine of load can give the carrying out of also self-care ability and simply give treatment to, multimachine networking detects, the multi-faceted real-time map of constructing environment, find out the path of optimum, rescue personnel is allowed to arrive trapped personnel position with the fastest speed, and treatment is withdrawn as early as possible.
First robot is started, the ArduinoYun that robot carries builds a radio sensing network, distance is made to be greatly improved by high-gain aerial, the computer end coordinated or handheld device can be set up with robot and contact, the data of robot probe can be accepted in real time, temperature, gas concentration etc., and real-time video image passback.
During multimachine networking, when there is a radio sensing network, other robot can be switched to auxiliary mode, is connected automatically to radio sensing network, it is achieved data sharing, data collection is arranged by main robot, pass back to main control end, process and image processing techniques according to the data of Linux, construct a real-time environmental map, robot carries out searching and rescuing detection in the environment, constantly carries out data renewal.
When running into barrier, robot attempts utilizing mechanical arm to carry out barrier-breaking, barrier is moved, or destroys.
Mechanical arm can promote, clamping, weight. If cannot be carried out barrier-breaking, according to the environmental map built, optimum compensation path can be found, in order to save the time, improves efficiency.
When finding trapped personnel, robot can send alarm, and simultaneously in environmental map subscript out position, with limit priority, grid bearing (robot is equipped with GPS alignment system) is sent to control end. Notify that rescue personnel marches into the arena treatment. And lead rescue personnel to enter into trapped personnel position, then assist to withdraw.
Search and rescue task terminates, and when robot receives END instruction, robot will carry out last comprehensive pan again, it is to avoid the generation of gaps and omissions. Pan terminates, and server data uploaded preserves, in order to secondary is checked. Robot bands together and exits rescue spot, staff recycling machine people.
Embodiment of above is merely to illustrate this utility model; and be not limitation of the utility model; those of ordinary skill about technical field; when without departing from spirit and scope of the present utility model; can also make a variety of changes and modification; therefore all equivalent technical schemes fall within category of the present utility model, and scope of patent protection of the present utility model should be defined by the claims.
Claims (7)
1. the searching and detecting robot for petrochemical industry hazardous environment, including running machine human body, it is characterized in that described running machine human body also has sensor-based environmental data collecting module (4), image collecting module, six degree of freedom clamping machine mechanical arm (17) and master board (11), described sensor-based environmental data collecting module (4), image collecting module, six degree of freedom clamping machine mechanical arm (17) and master board (11) are separately mounted on running machine human body, sensor-based environmental data collecting module (4) and image collecting module are connected by communication with master board (11) respectively, described master board (11) controls the action of the walking mechanism of six degree of freedom clamping machine mechanical arm (17) and running machine human body respectively.
2. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterised in that described sensor-based environmental data collecting module (4) is made up of temperature sensor, gas sensor and ultrasonic sensor.
3. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterized in that described image collecting module is made up of remote infrared detection module (9) and high accuracy infrared camera (10), described remote infrared detection module (9) and high accuracy infrared camera (10) are arranged on running machine human body respectively through support, and are connected by communication with master board (11) respectively.
4. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterized in that described goods and materials storage box (12) is placed on running machine human body also for depositing the goods and materials storage box (12) of emergency article.
5. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterized in that also high-gain aerial (5) and control terminal, described high-gain aerial (5) is arranged on running machine human body, and described control terminal is connected with master board (11) wireless telecommunications by high-gain aerial (5).
6. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterised in that the core of described master board (11) is ArduinoYun plate.
7. a kind of searching and detecting robot for petrochemical industry hazardous environment according to claim 1, it is characterised in that described six degree of freedom clamping machine mechanical arm (17) is arranged on the front end of running machine human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521137842.8U CN205310239U (en) | 2015-12-30 | 2015-12-30 | A search for and rescue sniffing robot for petrochemical industry hazardous environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521137842.8U CN205310239U (en) | 2015-12-30 | 2015-12-30 | A search for and rescue sniffing robot for petrochemical industry hazardous environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205310239U true CN205310239U (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521137842.8U Expired - Fee Related CN205310239U (en) | 2015-12-30 | 2015-12-30 | A search for and rescue sniffing robot for petrochemical industry hazardous environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205310239U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107261374A (en) * | 2017-06-30 | 2017-10-20 | 魏涵潇 | A kind of multi-functional wear-type intelligent fire-pretection system and its control method |
| CN108062051A (en) * | 2017-12-15 | 2018-05-22 | 长沙志唯电子科技有限公司 | A kind of fly able multi-function robot of disaster field |
-
2015
- 2015-12-30 CN CN201521137842.8U patent/CN205310239U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107261374A (en) * | 2017-06-30 | 2017-10-20 | 魏涵潇 | A kind of multi-functional wear-type intelligent fire-pretection system and its control method |
| CN107261374B (en) * | 2017-06-30 | 2022-03-11 | 魏涵潇 | Multifunctional head-mounted intelligent fire fighting system and control method thereof |
| CN108062051A (en) * | 2017-12-15 | 2018-05-22 | 长沙志唯电子科技有限公司 | A kind of fly able multi-function robot of disaster field |
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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 |
Granted publication date: 20160615 Termination date: 20161230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |