CN205633027U - Multiaxis rotor is robot system in pit - Google Patents
Multiaxis rotor is robot system in pit Download PDFInfo
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- CN205633027U CN205633027U CN201620141951.5U CN201620141951U CN205633027U CN 205633027 U CN205633027 U CN 205633027U CN 201620141951 U CN201620141951 U CN 201620141951U CN 205633027 U CN205633027 U CN 205633027U
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Abstract
The utility model discloses a multiaxis rotor is robot system in pit, this system be applied to patrol and examine in the pit with accident rescue, mine when the specially adapted takes place accident such as gas explosion and conflagration, the robot can arrive that first -aid staff is unable to arrive relevant region in the pit. The system has solved under the unable condition about using of original wireless communication system in the mine, in the pit robot and controlgear's the limited problem of radio communication distance. The system mainly includes robot, robot control equipment, core routing equipment and routing equipment in the pit, the robot has wireless communication module, gyroscope sensor, routing equipment and puts in device, video acquisition equipment, microphone and speaker in the pit, on jumping wireless network technology's basis more, radio communication distance that this system can make robot in the pit along with the robot advance and constantly growth.
Description
Technical field
This utility model relates to a kind of multiaxis rotor pit robot system, and this system relates to radio communication and the field such as video, audio collection.
Background technology
Along with the raising of mechanization, informationization and the automaticity of all kinds of shaft production, China's mine safety production situation takes a turn for the better year by year, and all kinds of accident rate and mortality rate all decline to a great extent.But downhole production circumstance complication, or inevitably there are all kinds of accidents, after accident occurs, grasp down-hole accident field condition in time, be correct, effectively rescue, reduce the key of casualties.The accidents such as fire damp blast and fire, can produce a large amount of CO, CO2, CH4Deng toxic and harmful, consume a large amount of O2.As scene of the accident toxic and harmful concentration superelevation, O2When content is relatively low, search, rescue personnel is difficult to arrive relevant region and carries out scouting, search and rescuing.Pit robot in addition to for the disaster relief it can also be used to field is patrolled and examined in down-hole.Therefore the technology that, research pit robot is relevant is the most necessary.Owing to the access device of current underground radio communication needs electric power system and communications optical cable or cable to connect, during so accident occurs, in tunnel, original wireless communication system cannot use, and pit robot must carry communication system and communicate.The robot advanced in wheeled, crawler type, the ground such as snakelike can be communicated by wire communication mode and control equipment, the robot using flight traveling mode then should use communication, but wireless communication distance is affected by launching the factor such as power and space stop, directly affects the operating distance of pit robot.So needing new communication mode and system to ensure the communication distance of pit robot.
Utility model content
This utility model purpose is to provide a kind of multiaxis rotor pit robot system, and system specifically includes that pit robot, Robert controller, core routing device and routing device；Pit robot has wireless communication module, gyro sensor, route delivery device, video capture device, mike and speaker；Pit robot uses multi-hop wireless network and Robert controller communication, and route delivery device is for throwing in routing device in pit robot traveling process, and the coverage of cordless communication network constantly advances with the increase of the traveling distance of pit robot；The video capture device that Robert controller is carried by pit robot gathers video or view data；The voice collecting element that Robert controller is carried by pit robot gathers voice signal, and speech data is reduced to voice signal by the voice multiplying arrangement carried by pit robot.System mainly includes pit robot, Robert controller, cordless communication network；Rotor, motor, sensor storehouse, antenna, panel storehouse, battery compartment, mike, digital camera, routing device delivery device is included outside pit robot；Sensor storehouse is for placing data acquisition equipment and the sensor assembly relevant to underground site environmental monitoring；Panel storehouse built-in unmanned aerial vehicle (UAV) control plate；Routing device delivery device is thrown in for routing device；Pit robot uses multi-hop wireless network and Robert controller communication, and route delivery device is for throwing in routing device in pit robot traveling process, and the coverage of cordless communication network constantly advances with the increase of the traveling distance of pit robot；The digital camera that Robert controller is carried by pit robot gathers video or view data；The mike that Robert controller is carried by pit robot gathers voice signal, and speech data is reduced to voice signal by the speaker carried by pit robot.
Described pit robot system still further comprises following characteristics:
1. pit robot includes the robot using four axles or multiaxis rotor flying to move.
2. Robert controller can be deployed in and aboveground also can be deployed in down-hole, and pit robot can control from aboveground mobile to down-hole by equipment robotically controlled.
3. pit robot monitors nearest fixed wireless routing device signal intensity during advancing, measure the traveling distance length with nearest fixed wireless routing device as starting point simultaneously, when meeting signal intensity and reaching to set threshold value less than the path length setting threshold value or traveling, new fixed wireless routing device is then thrown in current location, repeat above monitoring and launch process, make the increase of the traveling distance of the coverage random device people of cordless communication network constantly advance.
4. on unmanned aerial vehicle (UAV) control plate, include core processor, memory element, power supply and clock unit, the electric-motor drive unit of attitude transducer；Unmanned aerial vehicle (UAV) control plate by all kinds of interface connecting plates outside route delivery device, digital camera, mike, speaker, wireless communication module and data acquisition equipment.
5. data acquisition equipment uses modular construction, has standard communication interface, and for carrying all kinds of sensor assembly relevant to underground site environmental monitoring, gathered data are transmitted to Robert controller by multi-hop wireless network.
6. the sensor that pit robot carries includes: temperature, carbon monoxide, carbon dioxide, methane oxygen sensor.
7. routing device delivery device includes steering wheel, routing device storage compartment and rotating disk, and steering wheel drives rotating disk rotation to go to below routing device by input window, and routing device leaves storage compartment under gravity.
Accompanying drawing explanation
Fig. 1 system implements schematic diagram.
Fig. 2 tetra-axle rotor pit robot structural representation.
Fig. 3 router delivery device schematic diagram.
Fig. 4 router delivery device upward view.
Fig. 5 tetra-axle rotor pit robot master control borad structural representation.
Fig. 6 tetra-axle rotor pit robot data acquisition board structural representation.
Detailed description of the invention
The detailed description of the invention 1 of described communication control system is as it is shown in figure 1, composition includes:
1. Robert controller (101), are responsible for controlling pit robot, receive, by multi-hop wireless network, the Various types of data that pit robot is uploaded, including video or view data, various kinds of sensors data, speech data；Send control data and speech data by multi-hop wireless network to pit robot simultaneously.
2. pit robot (102), can use rotor flying robot, carry multiple routing device (106), arrange net for throwing in traveling.
3. core routing device (103), are responsible for foundation and the management of multi-hop wireless network, receive and forward the data of all routing devices, have wireline interface for connecting Robert controller (101).
4. routing device (104), access and the wireless network of being responsible for wireless terminal device continue, battery-powered, small in volume, it is simple to pit robot carries.
This example uses four axle rotor pit robots, robot architecture as shown in Figure 2:
1. rotor (201), make air move downward generation lift by rotation, make robot be suspended in the air.
2. motor (202), are responsible for rotor and provide power, panel control rotating speed, realize different motion direction and the attitude of robot by each rotor different rotating speeds.
3. sensor storehouse (203) are for placing the various types of sensor assembly relevant to underground site environmental monitoring.
4. antenna (204) sends for wireless signal and receives.
5. panel storehouse (205) built-in unmanned aerial vehicle (UAV) control plate, is used for fly control, data acquisition and radio communication etc..
6. battery compartment (206) is used for battery storing, powers for rotor, panel and each sensor assembly.
7. mike (207) is used for speech signal collection, when rescuing unmanned plane and arriving the stranded place of underground work personnel, can be gathered the voice signal of trapped personnel by mike, and by wireless network and Ethernet, speech data is sent to control equipment.
8. video camera (208) is used for analog video signal collection, panel by analogsimulation video signal digitization and compress, by wireless network and Ethernet, video or view data are sent to control equipment.
9. steering wheel (211) provides power for routing device delivery device, panel the pulse signal sent controls, and rotates special angle according to pulse signal.
10. routing device storage compartment (209) is deposited for routing device.
11. rotating disks (210) are thrown in for routing device.
Routing device delivery device structure as shown in Figure 3 and Figure 4, mainly includes steering wheel (211), routing device storage compartment (209) and rotating disk (210)；Routing device storage compartment (309) is on top, bottom is with the rotating disk throwing in window, the power transmission shaft of steering wheel (211) is connected steering wheel (212) and is connected on rotating disk (210) by rotating disk connecting hole (217) and screw, steering wheel drives rotating disk to rotate and input window (214) is gone to routing device (104) lower section, and routing device leaves storage compartment under gravity.
It is illustrated in figure 5 the main control unit of robot, including:
1. master control borad (501), are the core components of robot control, and on plate, element includes core processor, memory element, power supply and clock unit, the electric-motor drive unit of attitude transducer；Master control borad also by all kinds of interface connecting plates outside each module or function device.
2. core processor (502), use Samsung S3C2440 processor, and S3C2440 is microprocessor based on ARM920T kernel, has 3 UART interface, 2 SPI interface, 2 USB interface, 1 IIC-BUS interface；Carry linux system.
3. memory element (503)；Including 256M NAND Flash, a piece of 4M NOR Flash, 128M SDRAM, the EEPROM of a piece of IIC-BUS interface.
4. power supply and clock module (504) include voltage conversion and Clock management element, and D/C voltage conversion all uses MAX1724 series of power chip, for all chip power supplies；Select 12MHz crystal oscillator.
5. attitude transducer (505), use the MPU9150 of invensense company, this sensor internal comprises three-axis gyroscope, three axis accelerometer and the MEMS of an AK8975 three axis magnetometer, there is encapsulation volume little, read-write configures convenient advantage, has carried the A/D of 16, the analog quantity measured inside MPU-9150 respectively, it is converted into exportable digital quantity, uses IIC-BUS bus to communicate with core processor.
6. electric-motor drive unit (506) uses the DC motor Driver chip L6234 of ST to be power amplification and the drive circuit that core carries out motor, the pwm signal that core processor exports is carried out power amplification rear drive motor (202) through drive circuit, realizes the control to rotor different rotating speeds by the distinct pulse widths of pwm signal；Each motor needs 3 pwm control signals and 3 enable signal totally 6 interfaces, and 4 motors need 24 I/O interfaces altogether.
7. data acquisition board (507), for carrying the sensor assembly that various underground site environmental monitoring is relevant, gather conversion by analogue signal I/O of sensor assembly, and by UART interface, data are sent to master control borad.
8. steering wheel (211) is directly driven control by an I/O interface, realizes the control to steering wheel rotational angle by the pulse signal of the different pulse width of output.
9. digital camera (208), use the USB port digital camera with compression of digital video function of automatic light source, and USB port connects master control borad, Linux and device driver provide and support.
10. mike (207) connects the Mic interface of master control borad, is used for gathering voice signal.
11. speakers (508) connect the Phone interface of master control borad, amplify output for voice signal.
12. wireless communication modules (509), use USB interface wireless network card, Linux and device driver provide and support, use external antenna (204).
Data acquisition board uses modularized design, and all the sensors is module, has pricking with needle interface, is connected with collection plate by pricking with needle socket, it is thus achieved that power supply is powered, and is supported by the analog signal output gathered to processor on A/D conversion I/O interface.Fig. 6 is the structural representation of the data acquisition board of robot, specifically includes that
1. processor (601), select the MSP430F147 single-chip microcomputer of TI company, and this model is 16 risc architectures, has 32k Flash, 1kRAM.MSP430 can work under 1.8～3.6V low-voltages, and system uses 3.3V running voltage.The built-in precision of MSP430F147 is the A/D converter of 12 200kps, and MSP430F147 has 5 kinds of low-power consumption modes, and when using LPM4 pattern, lowest power consumption can be down to 0.1uA.
2. temperature sensor (602), uses DS18B20 temperature sensor module, range ability-55 degrees Celsius to+125 degrees Celsius.
3. methane transducer (603), use MQ-4 methane transducer module, range ability 300 to 10000ppm.
4. power supply and clock module (604), including voltage conversion and Clock management element, D/C voltage conversion all uses MAX1724 series of power chip, for processor and all the sensors module for power supply；Select 8MHz crystal oscillator；Use a road A/D converter for battery voltage detection.
5. carbon monoxide transducer (605), use ME2-C0 carbon monoxide transducer module, range ability 0 to 1000ppm.
6. carbon dioxide sensor (606), use MG811 carbon dioxide gas sensor module, range ability 0 to 10000ppm.
7. oxygen sensor (607), use ME3-02 oxygen sensor module, range ability 0 to 30%.
Claims (7)
1. a multiaxis rotor pit robot system, it is characterised in that: system mainly includes pit robot, Robert controller, cordless communication network；Rotor, motor, sensor storehouse, antenna, panel storehouse, battery compartment, mike, digital camera, routing device delivery device is included outside pit robot；Sensor storehouse is for placing data acquisition equipment and the sensor assembly relevant to underground site environmental monitoring；Panel storehouse built-in unmanned aerial vehicle (UAV) control plate；Routing device delivery device is thrown in for routing device；Pit robot uses multi-hop wireless network and Robert controller communication, and route delivery device is for throwing in routing device in pit robot traveling process, and the coverage of cordless communication network constantly advances with the increase of the traveling distance of pit robot；The digital camera that Robert controller is carried by pit robot gathers video or view data；The mike that Robert controller is carried by pit robot gathers voice signal, and speech data is reduced to voice signal by the speaker carried by pit robot.
2. pit robot system as claimed in claim 1, it is characterised in that: pit robot includes the robot using four axles or multiaxis rotor flying to move.
3. pit robot system as claimed in claim 1, it is characterised in that: Robert controller can be deployed in and aboveground also can be deployed in down-hole, and pit robot can control from aboveground mobile to down-hole by equipment robotically controlled.
4. pit robot system as claimed in claim 1, it is characterised in that: include core processor, memory element, power supply and clock unit, the electric-motor drive unit of attitude transducer on unmanned aerial vehicle (UAV) control plate；Unmanned aerial vehicle (UAV) control plate by all kinds of interface connecting plates outside route delivery device, digital camera, mike, speaker, wireless communication module and data acquisition equipment.
5. pit robot system as claimed in claim 4, it is characterized in that: data acquisition equipment uses modular construction, there is standard communication interface, for carrying all kinds of sensor assembly relevant to underground site environmental monitoring, gathered data are transmitted to Robert controller by multi-hop wireless network.
6. pit robot system as claimed in claim 5, it is characterised in that: the sensor that pit robot carries includes: temperature, carbon monoxide, carbon dioxide, methane oxygen sensor.
7. pit robot system as claimed in claim 1, it is characterized in that: routing device delivery device includes steering wheel, routing device storage compartment and rotating disk, steering wheel drives rotating disk rotation to go to below routing device by input window, and routing device leaves storage compartment under gravity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620141951.5U CN205633027U (en) | 2016-02-25 | 2016-02-25 | Multiaxis rotor is robot system in pit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620141951.5U CN205633027U (en) | 2016-02-25 | 2016-02-25 | Multiaxis rotor is robot system in pit |
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| CN205633027U true CN205633027U (en) | 2016-10-12 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107313800A (en) * | 2017-08-19 | 2017-11-03 | 中国矿业大学 | A kind of mine detects aircraft flight lane identification system |
| CN107554785A (en) * | 2017-08-19 | 2018-01-09 | 中国矿业大学 | The morphing aircraft control system and method that mine is detected after a kind of calamity |
| CN107554786A (en) * | 2017-08-19 | 2018-01-09 | 中国矿业大学 | A kind of handset of mine detecting aircraft starts control device and control method |
| CN107605537A (en) * | 2017-11-09 | 2018-01-19 | 河南理工大学 | Coal and gas prominent tunnel the condition of a disaster intelligent detecting system and detection method |
| CN107816368A (en) * | 2017-11-09 | 2018-03-20 | 河南理工大学 | Mine fire the condition of a disaster UAV Intelligent detection system and detection method |
| CN107882593A (en) * | 2017-11-09 | 2018-04-06 | 河南理工大学 | Mine water disaster the condition of a disaster UAV Intelligent detection system and detection method |
| CN107905835A (en) * | 2017-12-22 | 2018-04-13 | 中国矿业大学 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| CN109533334A (en) * | 2018-12-29 | 2019-03-29 | 成都紫瑞青云航空宇航技术有限公司 | Launch sensor conveying device and application method in high-altitude |
| CN111959793A (en) * | 2020-07-02 | 2020-11-20 | 西安工业大学 | Mining rescue unmanned aerial vehicle |
| CN112041225A (en) * | 2018-04-24 | 2020-12-04 | 沙特阿拉伯石油公司 | Underground unmanned aerial vehicle for oil field well |
-
2016
- 2016-02-25 CN CN201620141951.5U patent/CN205633027U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107313800A (en) * | 2017-08-19 | 2017-11-03 | 中国矿业大学 | A kind of mine detects aircraft flight lane identification system |
| CN107554785A (en) * | 2017-08-19 | 2018-01-09 | 中国矿业大学 | The morphing aircraft control system and method that mine is detected after a kind of calamity |
| CN107554786A (en) * | 2017-08-19 | 2018-01-09 | 中国矿业大学 | A kind of handset of mine detecting aircraft starts control device and control method |
| CN107605537A (en) * | 2017-11-09 | 2018-01-19 | 河南理工大学 | Coal and gas prominent tunnel the condition of a disaster intelligent detecting system and detection method |
| CN107816368A (en) * | 2017-11-09 | 2018-03-20 | 河南理工大学 | Mine fire the condition of a disaster UAV Intelligent detection system and detection method |
| CN107882593A (en) * | 2017-11-09 | 2018-04-06 | 河南理工大学 | Mine water disaster the condition of a disaster UAV Intelligent detection system and detection method |
| CN107905835A (en) * | 2017-12-22 | 2018-04-13 | 中国矿业大学 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| CN112041225A (en) * | 2018-04-24 | 2020-12-04 | 沙特阿拉伯石油公司 | Underground unmanned aerial vehicle for oil field well |
| CN109533334A (en) * | 2018-12-29 | 2019-03-29 | 成都紫瑞青云航空宇航技术有限公司 | Launch sensor conveying device and application method in high-altitude |
| CN111959793A (en) * | 2020-07-02 | 2020-11-20 | 西安工业大学 | Mining rescue unmanned aerial vehicle |
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