CN206816296U - A kind of mine Disaster Relief Robot control system - Google Patents
A kind of mine Disaster Relief Robot control system Download PDFInfo
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- CN206816296U CN206816296U CN201720718099.8U CN201720718099U CN206816296U CN 206816296 U CN206816296 U CN 206816296U CN 201720718099 U CN201720718099 U CN 201720718099U CN 206816296 U CN206816296 U CN 206816296U
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- industrial computer
- disaster relief
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Abstract
The utility model discloses a kind of mine Disaster Relief Robot control system, including industrial computer, industrial computer with power supply module is two-way electrically connects, the output end of industrial computer electrically connects with the input of wireless data transfer module, the output end of wireless data transfer module and the input end signal of host computer connect, the input of industrial computer electrically connects with the output end of information acquisition module, and the output end of industrial computer electrically connects with the input of CAN module.The slave computer of Disaster Relief Robot is using industrial computer as master control core, it has stronger processing computing capability and sufficient control interface, be mainly used to complete independent control, the collection of multiple sensor informations and the fusion treatment of four wheels motor, the computing of navigation algorithm and with the function such as the communication of host computer, host computer carries out remote operating by wireless data transmission module to Disaster Relief Robot, the data message that each sensor gathers is merged, so as to construct the positional information of underground complex environment information and trapped personnel.
Description
Technical field
Robotic technology field is the utility model is related to, specially a kind of mine Disaster Relief Robot control system.
Background technology
Mine refers to the pit shaft dug by sensible subterranean deposit or tunnel, can therefrom be adopted with excavation or other recovery methods
Go out underground mine, people are oblique during mine underground is opened up sometimes typically to natural resources such as acquisition ore, jewel or coals
Well, vertical shaft and footrill etc. are also referred to as mine, and the developing of mine can be divided into shaft development, slope development, be opened up by adits and integrate
Developing.
It is higher to be engaged in mine work risk factor, the dangerous disaster such as landslide easily occurs for mine, because situation is answered under mine
Miscellaneous, when occurring dangerous, rescue personnel is difficult to be directly entered, and because ore deposit underworkings is rugged, so being also not easy to artificial
Search, thus explored using robot it is not only more efficient, while be also to rescue worker one kind protect.
Utility model content
（One）The technical problem of solution
In view of the shortcomings of the prior art, the utility model provides a kind of mine Disaster Relief Robot control system, solves
The problem of rescue is inconvenient is searched and rescued when mine disaster occurs.
（Two）Technical scheme
To achieve the above object, the utility model provides following technical scheme：A kind of mine Disaster Relief Robot control system,
Including industrial computer, the industrial computer with power supply module is two-way electrically connects, output end and the wireless data transmission mould of the industrial computer
The input electrical connection of block, the output end of the wireless data transfer module and the input end signal of host computer connect, the work
The input of control machine electrically connects with the output end of information acquisition module, the output end of the industrial computer and the input of CAN module
Electrical connection, the output end of the CAN module are connected with the input end signal of four-wheel drive module.
The four-wheel drive module includes the driver of four parallel distributions, and output end and the drag cup of driver have brush to watch
The input electrical connection of motor is taken, the input of the driver electrically connects with the output end of incremental encoder.
Preferably, described information acquisition module includes firedamp sensor, life detection sensor, gyroscope, laser ranging
Instrument, infrared sensor and anti-collision sensor.
Preferably, the power supply module includes lithium battery.
Preferably, the concrete model of the firedamp sensor is GYW25/50.
Preferably, the life detection sensor is infrared thermal imagery survey meter.
Preferably, the laser range finder uses model DLE70 laser range finder.
（Three）Beneficial effect
The utility model provides a kind of mine Disaster Relief Robot control system.Possesses following beneficial effect：
Using industrial computer as master control core, it has stronger processing computing capability and filled the slave computer of Disaster Relief Robot
Foot control interface, be mainly used to complete four wheels motor independent control, multiple sensor informations collection and fusion treatment,
The computing of navigation algorithm and Disaster Relief Robot is carried out by wireless data transmission module with the function such as the communication of host computer, host computer
Remote operating, the data message that each sensor gathers is merged, so as to construct underground complex environment information and be stranded
The positional information of personnel.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model block diagram.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
As shown in figure 1, the utility model provides a kind of technical scheme：A kind of mine Disaster Relief Robot control system, including
Industrial computer, industrial computer with power supply module is two-way electrically connects, power supply module includes lithium battery, the output end and wireless data of industrial computer
The input electrical connection of transport module, the output end of wireless data transfer module and the input end signal of host computer connect, industry control
The input of machine electrically connects with the output end of information acquisition module, and information acquisition module includes firedamp sensor, life detection passes
Sensor, gyroscope, laser range finder, infrared sensor and anti-collision sensor, the concrete model of firedamp sensor is GYW25/
50, life detection sensor is infrared thermal imagery survey meter, and laser range finder uses model DLE70 laser range finder, industry control
The output end of machine electrically connects with the input of CAN module, and the output end of CAN module connects with the input end signal of four-wheel drive module
Connect.
Four-wheel drive module includes the driver of four parallel distributions, and output end and the drag cup of driver have brush servo electric
The input electrical connection of machine, the input of driver electrically connect with the output end of incremental encoder.
In use, during work, by gyroscope, laser range finder, infrared sensor and anti-collision sensor to underground
Reason environment is detected, and detection data are transferred into host computer by industrial computer, and subsurface environment structure is carried out by the data of detection
Build, so as to navigate to Disaster Relief Robot, and be used for detecting underground watt by firedamp sensor and life detection sensor
This content, and disaster affected people position.
It can to sum up obtain, for the slave computer of Disaster Relief Robot using industrial computer as master control core, it has stronger processing meter
Calculation ability and sufficient control interface, it is mainly used to complete the independent control of four wheels motor, the collection of multiple sensor informations
With fusion treatment, navigation algorithm computing and with the function such as the communication of host computer, host computer is by wireless data transmission module to rescuing
Calamity robot carries out remote operating, and the data message that each sensor gathers is merged, so as to construct the complicated ring in underground
The positional information of environment information and trapped personnel.
The correlation module being related in the system is hardware system module or is prior art Computer Software journey
The functional module that sequence or agreement are combined with hardware, computer software programs or agreement involved by the functional module itself
The technology being well known to those skilled in the art, it is not the improvements of the system；The system is improved between each module
Interaction relationship or annexation, as the overall construction of system is improved, solved to solve the system
Relevant art problem.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence " including a reference structure ", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of mine Disaster Relief Robot control system, including industrial computer, it is characterised in that：The industrial computer is double with power supply module
To electrical connection, the output end of the industrial computer electrically connects with the input of wireless data transfer module, the wireless data transmission
The output end of module and the input end signal of host computer connect, the input of the industrial computer and the output end of information acquisition module
Electrical connection, the output end of the industrial computer electrically connect with the input of CAN module, and output end and the four-wheel of the CAN module drive
The input end signal connection of dynamic model block；
The four-wheel drive module includes the driver of four parallel distributions, and output end and the drag cup of driver have brush servo electric
The input electrical connection of machine, the input of the driver electrically connect with the output end of incremental encoder.
A kind of 2. mine Disaster Relief Robot control system according to claim 1, it is characterised in that：Described information gathers mould
Block includes firedamp sensor, life detection sensor, gyroscope, laser range finder, infrared sensor and anti-collision sensor.
A kind of 3. mine Disaster Relief Robot control system according to claim 1, it is characterised in that：The power supply module bag
Include lithium battery.
A kind of 4. mine Disaster Relief Robot control system according to claim 2, it is characterised in that：The firedamp sensor
Concrete model be GYW25/50.
A kind of 5. mine Disaster Relief Robot control system according to claim 2, it is characterised in that：The life detection passes
Sensor is infrared thermal imagery survey meter.
A kind of 6. mine Disaster Relief Robot control system according to claim 2, it is characterised in that：The laser range finder
Using model DLE70 laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720718099.8U CN206816296U (en) | 2017-06-20 | 2017-06-20 | A kind of mine Disaster Relief Robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720718099.8U CN206816296U (en) | 2017-06-20 | 2017-06-20 | A kind of mine Disaster Relief Robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206816296U true CN206816296U (en) | 2017-12-29 |
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ID=60760991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720718099.8U Expired - Fee Related CN206816296U (en) | 2017-06-20 | 2017-06-20 | A kind of mine Disaster Relief Robot control system |
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| Country | Link |
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| CN (1) | CN206816296U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109215328A (en) * | 2018-10-25 | 2019-01-15 | 成都戴瑞斯智控科技有限公司 | A method of line transmission system and realization system configuration for model cootrol |
-
2017
- 2017-06-20 CN CN201720718099.8U patent/CN206816296U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109215328A (en) * | 2018-10-25 | 2019-01-15 | 成都戴瑞斯智控科技有限公司 | A method of line transmission system and realization system configuration for model cootrol |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20180620 |
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| CF01 | Termination of patent right due to non-payment of annual fee |