CN208239887U - A kind of fire-fighting robot redundancy communication system - Google Patents
A kind of fire-fighting robot redundancy communication system Download PDFInfo
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- CN208239887U CN208239887U CN201820893878.6U CN201820893878U CN208239887U CN 208239887 U CN208239887 U CN 208239887U CN 201820893878 U CN201820893878 U CN 201820893878U CN 208239887 U CN208239887 U CN 208239887U
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Abstract
The utility model discloses a kind of fire-fighting robot redundancy communication system.The redundancy communication system includes: Motorized lift device, signal transmitting apparatus and console device；Motorized lift device includes: push-rod electric machine, gearbox, push rod, flexible threading chain；Push-rod electric machine is connect with gearbox, and push rod lower end is connect with gearbox, push rod upper end and flexible threading chain link；Signal transmitting apparatus is installed on the upper end of push rod, and signal transmitting apparatus includes: microwave antenna, 4G antenna, telecontrol antenna and circuit control unit；Console device includes: computer or tablet computer, microwave treater, 4G network processing unit, remote control hair/receipts unit, remote controler and remote control display screen；Microwave treater and 4G network processing unit are connect with computer or tablet computer.The utility model redundancy communication system improves convenience, the reliability, advance of signal transmission of the fire-fighting robot under remote control, complex environment, extends the use scope of fire-fighting robot.
Description
Technical field
The utility model relates to fire-fighting robot fields, more particularly to a kind of fire-fighting robot redundancy communication system.
Background technique
It is taken now with the high speed development of China's science and technology in fire protection sector field, especially fire-fighting robot field
Great development was obtained, gradually replaces external imported product, current China's independent research, the fire-fighting robot of production are big
Amount is provided to fire brigade.
The fire-fighting robot of China's production no matter from the production of robot chassis design, to all taking in driving and basic configuration
Significant progress was obtained, substantially can satisfy the functions such as the scouting, fire extinguishing, smoke evacuation of disaster field.But in fire-fighting robot
The transmission of remote control, various kinds of sensors signal have following defects that
Remote controller operation is unable to transmitted in both directions, various kinds of sensors signal cannot be timely fed back to rear station, effectively control
Making can only accomplish that 600m, the safety that large scale disasters are rescued cannot be fully ensured that apart from best.Audio-video signal is more
Using 455MHz low-frequency transmission, transmission range is close, transmission delay amount second rank (seriously affecting manipulation reliability), cannot
Transmitted in both directions can only play the role of monitoring disaster field, and long-range effective, precisely manipulation cannot be carried out to robot.There is part to disappear
Although anti-robot also assembles bidirectional redundancy communication system, compositional model is；4G network+455MHz low-frequency transmission or microwave are single-phase
Transmission+435MHz wireless remote control, this mode is feasible in theory, but is not often had since disaster field environment is intricate
Have 4G network signal, once fire-fighting robot far from rear console (more than the distance of wireless remote control), cannot be to robot
Effectively manipulated, the reason is that in the market microwave transmission system first is that can only one direction transmit audio-video signal, second is that wavelength
Short (micron), the characteristic of frequency height (5.8G) prevent it from directly transmitting to control signal (digital or simulation).So
And the dangerous threat of disaster field is not safety outside 500~700m, and such as: large-scale oil depot fire, dangerous goods store
Explosion, the disaster etc. of subterranean tunnel, the range of dangerous threat is farther out.
Utility model content
The purpose of the utility model is to provide a kind of fire-fighting robot redundancy communication systems, are disliking fire-fighting robot extremely
(no network signal, overlength distance etc.) remains to effectively reliable Manipulation of the machine people under bad environment, widens application field, is promoted to rescuing
Help the class of safety protection of personnel.
To achieve the above object, the utility model provides following scheme:
A kind of fire-fighting robot redundancy communication system, the redundancy communication system include: Motorized lift device, signal transmission
Device and console device；
The Motorized lift device includes: push-rod electric machine, gearbox, push rod, flexible threading chain；The push-rod electric machine and institute
Gearbox connection is stated, the push rod lower end is connect with the gearbox, the push rod upper end and the flexible threading chain link；
The signal transmitting apparatus is installed on the upper end of the push rod, and the signal transmitting apparatus includes: microwave antenna, 4G
Antenna, telecontrol antenna and circuit control unit；
The console device is located at staff's control terminal, the console device include: computer or tablet computer,
First microwave treater, the first 4G network processing unit, first remote control hair/receipts unit, remote controler and remote control display screen；Described first
Microwave treater and the first 4G network processing unit are connect with the computer or tablet computer；
Between first microwave treater and the circuit control unit, the double of microwave signal are realized by microwave antenna
To transmission；Between the first 4G network processing unit and the circuit control unit, 4G network signal is realized by 4G antenna
Transmitted in both directions；The first remote control hair/between receipts unit and the circuit control unit, remote signal is realized by telecontrol antenna
Transmitted in both directions, the transmitted in both directions of the remote signal include: the remote controler remote signal by it is described first remote control hair/
It receives unit and reaches the first of the circuit control unit to transmission, further include the remote signal of the circuit control unit by institute
It states the first remote control and sends out/receive unit and reach the second of the remote control display screen to transmission.
Optionally, the circuit control unit include: central processing unit, router, interchanger, the second microwave treater,
2nd 4G network processing unit, the second remote control transmit/receive unit, remote control CAN bus and robot PLC control unit；
The central processing unit is bi-directionally connected with the router, and the router and second microwave treater are two-way
Connection, the input terminal of the central processing unit also connect with the output end of the interchanger, the input terminal of the interchanger with disappear
The audio-video equipment of anti-robot connects；The audio-video signal of the audio-video equipment acquisition is transmitted to the central processing unit,
The central processing unit passes sequentially through the router, second microwave treater and first microwave treater will be described
Audio-video signal is transmitted to the computer or tablet computer, to realize the microwave transmission of the audio-video signal；
The output end of the central processing unit is also connect with the input control end of the robot PLC control unit, described
The output end of robot PLC control unit is connect with the environmental sensor of the fire-fighting robot, the computer or plate electricity
The parameter control signal of environmental sensor is passed sequentially through first microwave treater, second microwave treater, institute by brain
It states router and the central processing unit is transmitted to the robot PLC control unit, to realize the number of the environmental sensor
It is controlled according to the microwave of acquisition；
The robot PLC control unit is also bi-directionally connected between the remote control CAN bus, the remote control CAN bus
Unit is transmitted/received with second remote control to be bi-directionally connected；The remote controler passes sequentially through the parameter control signal of environmental sensor
The first remote control hair/receipts unit, second remote control transmits/receives unit, the remote control CAN bus is transmitted to the robot
PLC control unit, to realize the remote control of the data acquisition of the environmental sensor；
The input terminal of the robot PLC control unit is also connect with the environmental sensor of the fire-fighting robot, described
Environmental sensor is by the sensor data transmission of acquisition to the robot PLC control unit, the robot PLC control unit
By the sensing data pass sequentially through the remote control CAN bus, it is described second remote control transmit/receive unit, it is described first remote control hair/
It receives unit and is transmitted to the remote control display screen, to realize that the remote control of the sensing data is shown；
The central processing unit is also bi-directionally connected with the 2nd 4G network processing unit, and the central processing unit passes through described
The audio-video signal is transmitted to the computer or plate by the 2nd 4G network processing unit and the first 4G network processing unit
Computer, to realize the 4G transmission of the audio-video signal；The computer or tablet computer are by the state modulator of environmental sensor
Signal passes sequentially through the first 4G network processing unit, the 2nd 4G network processing unit and the central processing unit and is transmitted to institute
Robot PLC control unit is stated, to realize the 4G control of the data acquisition of the environmental sensor.
Optionally, the console device further include: the first microwave transmitted in both directions unit, the first 4G network transmitting unit and
First remote control transmitted in both directions unit；The circuit control unit further include: the second microwave transmitted in both directions unit, the 2nd 4G network pass
Defeated unit and the second remote control transmitted in both directions unit；
Between first microwave treater and second microwave treater, pass through the first microwave transmitted in both directions list
Member, microwave antenna and the second microwave transmitted in both directions unit realize the transmitted in both directions of microwave signal；
Between the first 4G network processing unit and the 2nd 4G network processing unit, pass through the first 4G network transmission
Unit, 4G antenna and the 2nd 4G network transmitting unit realize the transmitted in both directions of 4G signal；
The first remote control hair/receipts unit and second remote control transmit/receive between unit, two-way by first remote control
Transmission unit, the telecontrol antenna and the second remote control transmitted in both directions unit realize the transmitted in both directions of remote signal.
Optionally, the frequency of the first remote control transmitted in both directions unit and the second remote control transmitted in both directions unit is
433MHz。
Optionally, the signal transmitting apparatus further include: microwave relay antenna, the microwave relay antenna is for described the
The relay connection of microwave communication between one microwave treater and the circuit control unit.
Optionally, the microwave antenna is 4 microwave antennas, and 4 antenna uniform rings are around being distributed on the push rod
End.
Optionally, the fire-fighting robot includes firefighting robot, reconnaissance robot, smoke robot and lighting machine
People.
Optionally, the audio-video equipment includes: 360 degree of video cameras, holder+video camera and audio processor.
According to specific embodiment provided by the utility model, the utility model discloses following technical effects:
The fire-fighting robot of the utility model realizes bidirectional redundancy communication process: realizing microwave letter by technological innovation
Number transmitted in both directions and the Signal Matching that the keyboard control signals of computer or PAD and microwave can be transmitted, carry out
Effectively transmission, manipulates robot body.More importantly the utility model has thoroughly overturned 433MHz contactless transmission
Can only one-way transmission traditional concept, creative develops remote control system bidirectional transmission system, the motor of fire-fighting robot
Driving parameter, various sensor parameters are successfully shown on the remote control display screen of rear console by being remotely controlled CAN bus, are made
Rear operator can timely and accurately grasp front robot working condition itself and disaster field situation, so that field rescue
Much sooner, accurately.The utility model is the once practical new with epoch-making innovation of fire-fighting robot Communication Control field
Type.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without any creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the schematic perspective view of the utility model fire-fighting robot redundancy communication system；
Fig. 2 is the schematic top plan view of the utility model fire-fighting robot redundancy communication system；
Fig. 3 is the schematic side view of the utility model fire-fighting robot redundancy communication system；
Fig. 4 is the structural schematic diagram of console device in the utility model fire-fighting robot redundancy communication system；
Fig. 5 is the structural schematic diagram of circuit control unit in the utility model fire-fighting robot redundancy communication system.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The utility model provides a kind of fire-fighting robot redundancy communication system, and the redundancy communication system is installed on fire tower
On device human agent's upper sealing plate, remain to fire-fighting robot under extreme environment (no network signal, overlength distance etc.) effectively
Reliable Manipulation of the machine people, widens application field, promotes the class of safety protection to rescue personnel.The fire-fighting robot includes
Firefighting robot, reconnaissance robot, smoke robot and lighting robot etc., therefore, the redundancy communication system of the utility model
It can be applied to various fire-fighting robots.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing and have
Body embodiment is described in further detail the utility model.
Fig. 1 is the schematic perspective view of the utility model fire-fighting robot redundancy communication system；Fig. 2 is the utility model
The schematic top plan view of fire-fighting robot redundancy communication system；Fig. 3 is the side of the utility model fire-fighting robot redundancy communication system
Depending on schematic diagram.As shown in Figure 1-Figure 3, the redundancy communication system includes: Motorized lift device, signal transmitting apparatus and console
Device three parts, are below specifically described three parts.
The Motorized lift device includes: push-rod electric machine 1, gearbox 2, push rod 3, flexible threading chain 7；The push-rod electric machine
1 connect with the gearbox 2, and 3 lower end of push rod is connect with the gearbox 2,3 upper end of push rod and the flexible threading
Chain 7 connects.The use of above-mentioned Motorized lift device, so that system communication antenna integrally promotes 1.8m or more, and in robot
Robot whole height < 1m in storage, transportational process, the whole of communication antenna are promoted so that robot effective communication distance exists
Increase by 1.5 times or so on original base.As follows to the specific test data of this system: microwave communication distance is increased to by 1000m
1500m (does not use microwave relay), and effective remote-control communication distance increases to 1200m by 700m, and it is long-range to improve fire-fighting robot
Manipulation, embodies practicability, safety at monitoring capacity.
The signal transmitting apparatus is installed on the upper end of the push rod 3, the signal transmitting apparatus include: microwave antenna 4,
Telecontrol antenna 5,4G antenna 6 and circuit control unit 8；The circuit control unit 8 respectively with microwave antenna 4, telecontrol antenna 5,
4G antenna 6 connects.Wherein, the microwave antenna 4 is made of 4 tunnels, and 4 microwave antenna uniform rings are around being distributed on the push rod 3
End, forms comprehensive transmitting-receiving.
The signal transmitting apparatus further include: microwave relay antenna 9, the microwave relay antenna 9 play rear console
The relaying action that the microwave transmission of device and the microwave electric wire above robot communicate with each other, it and front microwave transmission structure,
Working principle is almost the same, and effect is in overlength distance (2000m or more), underground garage, subway station, tunnel, larger hydrocarbon
It being capable of normal use under the communication conditions extreme environment such as library.
The console device is located at staff's control terminal, the console device include: computer or tablet computer,
First microwave treater, the first 4G network processing unit, first remote control hair/receipts unit, remote controler and remote control display screen；Described first
Microwave treater and the first 4G network processing unit are connect with the computer or tablet computer；
Between first microwave treater and the circuit control unit, microwave signal is realized by microwave antenna 4
Transmitted in both directions；Between the first 4G network processing unit and the circuit control unit, 4G network signal is realized by 4G antenna 6
Transmitted in both directions；The first remote control hair/between receipts unit and the circuit control unit, realized and be remotely controlled by telecontrol antenna 5
The transmitted in both directions of signal, the transmitted in both directions of the remote signal include: that the remote signal of the remote controler is distant by described first
Control hair/receipts unit reaches the first of the circuit control unit to transmission, further includes the remote signal of the circuit control unit
The second of the remote control display screen is reached to transmission by the first remote control hair/receipts unit.
Specifically, Fig. 4 is the structural schematic diagram of console device in the utility model fire-fighting robot redundancy communication system.
As shown in figure 4, the console device includes: that computer or tablet computer 401, the first microwave treater 402, the first microwave are double
It is double to transmission unit 403, the first 4G network processing unit 404, the first 4G network transmitting unit 405, the remote control of remote controler 406, first
Hair/receipts unit 408, remote control display screen 409 are remotely controlled to transmission unit 407, first.Wherein the first microwave treater 402 and described
First 4G network processing unit 404 is connect with the computer or tablet computer.
First remote control hair/receipts unit 408 is integrated in together with remote control display screen 409 in console device, can be with
Remote controler 406 is also integrated, remote control CAN bus is contained in inside.Operator can observe fire-fighting robot at any time
The environment at working condition and scene has practicability, advance to formulate effective rescue method.
When console device operates remote keying, i.e., when being controlled using remote control mode robot, robot
The functions such as various movements, the movement of holder, the operation of fire water monitor, the start and stop of lamps and lanterns are named first, each key
Corresponding different operation code, forms volume of data code, is transmitted to the first remote control by the first remote control transmitted in both directions unit 407
Hair/receipts unit 408, then by the telecontrol antenna transmitting in first remote control hair/receipts unit 408.Remote control day on push rod
After line receives signal, it is decoded distribution inside remote control CAN bus, robot PLC control unit is sent to, is controlled by PLC
Unit converts signal, forms different control signals and goes to control each executing agency, the formation of this mechanism is by right
PLC is programmed realization, has uniqueness, creative.
Fig. 5 is the structural schematic diagram of circuit control unit in the utility model fire-fighting robot redundancy communication system.Such as Fig. 5
Shown, the circuit control unit includes: central processing unit 501, router 502, the second microwave treater 503, the second microwave
Transmitted in both directions unit 504, interchanger 505, robot PLC control unit 510, the remote control remote control of CAN bus 511, second transmit/receive list
First 512, the 2nd 4G network processing unit 513, the 2nd 4G network transmitting unit 514.
The central processing unit 501 is bi-directionally connected with the router 502, the router 502 and second microwave
Processor 503 is bi-directionally connected, and the second microwave treater 503 is bi-directionally connected with the second microwave transmitted in both directions unit 504, realizes microwave
The transmitted in both directions of signal.
The input terminal of the central processing unit 501 is also connect with the output end of the interchanger 505, the interchanger 505
Input terminal and fire-fighting robot audio-video equipment connect.The audio-video equipment includes hard disk video recorder 506, holder+take the photograph
Camera 507,360 degree of video cameras, audio processor 509.The audio-video signal of above-mentioned audio-video equipment acquisition passes through interchanger 505
It is transmitted to the central processing unit 501, the central processing unit 501 passes sequentially through the router 502, at second microwave
Reason device 503 and the second microwave transmitted in both directions unit 504 send audio-video signal with microwave form.
The output end of the central processing unit 501 also connects with the input control end of the robot PLC control unit 510
It connects, the output end of the robot PLC control unit 510 is connect with the environmental sensor of the fire-fighting robot.The machine
People's PLC control unit is also bi-directionally connected between the remote control CAN bus 511, the remote control CAN bus 511 and described second
Remote control transmits/receives unit 512 and is bi-directionally connected.
The input terminal of the robot PLC control unit 510 is also connect with the environmental sensor of the fire-fighting robot, institute
Environmental sensor is stated by the sensor data transmission of acquisition to the robot PLC control unit 510, the robot PLC control
The sensing data is passed sequentially through the remote control CAN bus 511 to unit 510 processed and second remote control transmits/receives unit 512
Sensing data is sent with remote control mode.
The central processing unit 501 is also bi-directionally connected with the 2nd 4G network processing unit 513, the central processing unit
501 by the 2nd 4G network processing unit 513 and the 2nd 4G network transmission by the audio-video signal with 4G network shape
Formula is sent.
Circuit control unit inner machine people PLC control unit 510 is all kinds of environmental sensor signals in robot (containing drive
Every kinematic parameter of dynamic motor: temperature, revolving speed, consistency, overcurrent etc., barrier, environment temperature, humidity, light, solenoid valve
And harmful gas sensor: greater than 6 kind or more, wind speed etc.) be acquired processing be sent to remote control CAN bus 511, pass through remote control
CAN bus 511 carries out integration to signal and is processed into burst of data code, and numeric data code is then sent to the second remote control and transmits/receives unit
512, unit 512 is transmitted/received by the second remote control and is sent, unlike signal corresponds to different data code, and remote control CAN bus 511 has
Have that numeric data code capacity is big, transmission rate is fast, high reliablity feature.Second remote control, which transmits/receives unit 512, to be customized by special designing
Adaptation remote control CAN bus 511 communication have transmission-receiving function unit, signal by telecontrol antenna transmitting.Second remote control transmits/receives
Unit 512 have it is small in size, capacity is big, receive transmitting range it is remote, the feature that power is small, high-efficient, be adapted to individual soldier's shoulder-mounted behaviour
Make.
Below in terms of microwave signal transmission, remote signal transmission and 4G signal transmit three, to the utility model redundancy
The transmitted in both directions of communication system is further elaborated:
First, microwave transmitted in both directions
Realize microwave transmitted in both directions simply receive, transmitting terminal is not installed a set of R-T unit respectively and is realized, this
Kind of infrastructure cost is high, volume is big, debugging difficulty is big, and transmits/receives signal and cannot reach the synchronism of system requirements, consistency.
The total solution of this system is the sound that the microwave signal control signal and needs that receive are sent using microwave treater
Video signal conversion is able to carry out the signal transmitted/received at microwave carrier and carries out transmitted in both directions as needed.
By taking PAD hair/receipts as an example, when console device is as transmitting terminal, when circuit control unit is as receiving end, operation
Soft-key button on PAD removes control front fire-fighting robot, and PAD controls signal and is sent to the first microwave treater for signal by network interface
It is encoded, being transformed into string code signal that one group can carry microwave carrier, by the first microwave treater to be sent to the first microwave double
Into transmission unit, different coding correspond to corresponding signal, can be accurately judged to signal characteristic, content and need emit or connect
It receives, is needed to carry out real-time transmission to transmission signal according to manipulation.First microwave transmitted in both directions unit is by microwave antenna PAD's
Control signal launches outward.The second microwave transmitted in both directions unit and the second microwave treater, which are used as, on fire-fighting robot ontology connects
Receiving end uses, and console device (PAD) the string code signal containing various operational orders issued is decoded reduction by it, then
Signal is sent into central processing unit by router and is formatted processing, forms the identifiable control of robot PLC control unit
Signal, and then all kinds of environmental sensors are controlled with other parameters.The above technological means makes control signal pass through microwave
Transmission, control are possibly realized, creative, advanced.
When console device is as receiving end, when circuit control unit is as transmitting terminal, working principle and above-mentioned basic
Unanimously, except that the microwave transmission system of circuit control unit only needs to transmit from 360 ° of video cameras, holder+camera shooting
The transmission of the audio-video signal of machine, audio processor, this signal is the basic function of microwave transmission, it is easier to it realizes, as
The microwave transmission system of the console device of receiving end only needs to restore the audio-video signal of transmitting terminal on PAD.Specifically, each
The audio-video signal of class audio-video equipment acquisition successively passes through the interchanger of circuit control unit, central processing unit, router, the
Two microwave treaters and the second microwave transmitted in both directions unit launch outward；Console device passes through the first microwave transmitted in both directions list
Audio-video signal is successively transmitted to PAD by member, the first microwave treater.
Computer or PAD in console device are mounted with the application program of software development by creator, programming,
Program has been internally integrated audio-video processing, and the contents such as picture and selecting and segmentation, soft-key button encode, creative, uniqueness.
Here it is the intermediate portions that the utility model can carry out transmitted in both directions, realize the communication of fire-fighting robot bidirectional redundancy.
The microwave transmitted in both directions of the utility model is made of 4 autonomous systems, (being received and dispatched by 4 microwave antennas) its purpose
It is the extremely strong directivity requirement in order to solve microwave signal in transmission, (its microwave covering surface is less than 100 °) are solved from basic
No matter fire-fighting robot in any workplace can reliably transmit/receive information, and 360 ° omni-directional transmits/receives no dead angle.By place
4 tunnel microwave signals of reason are uniformly sent in router carry out integration processing after be sent to central processing unit, collection inside central processing unit
At multiple units such as signal identification, classification processing, memory storage, realize that control signal, audio-video signal are assigned to as needed
Corresponding working cell, so that route actually uses more convenient brief introduction, reliable.
Second, it is remotely controlled transmitted in both directions
Console device is as transmitting terminal, and when circuit control unit is as receiving end, remote controler receives pressing for staff
Key, key command is launched by the first remote control transmitted in both directions unit, first remote control hair/receipts unit, in circuit control unit
Second remote control transmits/receives unit and receives key command, is transmitted to robot PLC control unit, and then basis by being remotely controlled CAN bus
Key command carries out corresponding operation.
When circuit control unit is as transmitting terminal, when console device is as receiving end, robot PLC control unit is received
Sensing data is transmitted/received unit and is launched by the sensing data of acquisition by remote control CAN bus, the second remote control, console
First remote control hair/receipts unit receiving sensor data in device, and send data to remote control display screen and shown.First is distant
The frequency for controlling transmitted in both directions unit and the second remote control transmitted in both directions unit is 433MHz.
The bidirectional transmission system of above-mentioned remote signal fundamentally solves remote signal and is difficult to reliably carry out transmitted in both directions
Problem because remote control carrier frequency it is low, wavelength is long, signal be usually pass through simple code or 485, etc. modes transmit, this
Kind mode is only carrying out to use reluctantly in the case that one-way communication is close, how to carry out transmitted in both directions due to coding
Quantity is big, and along with distance is remote, carrier signal is by various frequency interferences, even if coding can not be believed using high-power transmitting-receiving
Number accurate delivery carries out two-way remote transmission in the remote signal that general field still could not solve 433MHz carrier wave at present
(presently preferred is 300m or so).The transmitted in both directions mode of the utility model remote signal, remote control, which transmits/receives unit, to be had simultaneously
Transmitting-receiving bidirectional communication function, is remotely controlled effective distance > 700m, open field 1200m, and high anti-interference function is able to achieve medium and long distance
Highly-reliable transmission.For the utility model using CAN bus as top level structure, J1939 is bottom communication agreement, that is, CAN-LAY-2
Following sub-protocol makes full use of CAN bus high capacity, high reliability, high anti-interference ability and inherently supports two-way superfluous
The characteristics such as remaining communication, are applied in the utility model by Innovative design.
Third, 4G transmitted in both directions
By taking PAD as an example, console device is as transmitting terminal, when circuit control unit is as receiving end, passes with microwave signal
It is defeated consistent, operate the soft-key button on PAD, PAD control signal by network interface be sent to the first microwave treater signal encoded,
It is transformed into the string code signal that one group can carry microwave carrier and the first 4G network transmission list is sent to by the first 4G network processing unit
In member, needed to carry out real-time transmission to transmission signal according to manipulation.The control that first 4G network transmitting unit passes through 4G days bundle of lines PAD
Signal processed launches outward.2nd 4G network transmitting unit receives control signal, and is sent into center by the 2nd 4G network processing unit
Processor is formatted processing, forms the identifiable control signal of robot PLC control unit, and then to all kinds of environmentally sensitives
Device is controlled with other parameters.
When console device is as receiving end, when circuit control unit is as transmitting terminal, with microwave signal transmission mode one
It causes, the audio-video signal of all kinds of audio-video equipment acquisitions successively passes through the interchanger of circuit control unit, central processing unit, second
4G network processing unit and the 2nd 4G network transmitting unit launch outward；Console device passes through the first 4G network transmitting unit, the
Audio-video signal is successively transmitted to PAD by one 4G network processing unit.
The audio-video equipment of fire-fighting robot installation is for the comprehensive and systematic grasp disaster of rear console, scene of fire
The case where, so as to remote control robot, field rescue scheme is formulated for commander, foundation is provided.Wherein, 360 ° of video cameras
It is made of 2 groups of high definition cameras, 2 groups of high-definition cameras, is separately mounted to 4 directions of robot, can clearly show
Ambient conditions within the scope of robot surrounding 30m, (including round the clock), in order to meet the utility model remote control
It needs.In < 500m, can by teleoperated vehicle, at this time operator can with observer robot surrounding enviroment, when
When needing remote control, first is that contactless transmission is not achieved, second is that work on the spot environment can not be observed, using 360 ° of video cameras
Fundamentally solves the above problem, long-range 4G network-control and microwave control are possibly realized.
In conclusion the redundancy communication system of the utility model solves the problems, such as that universal communication exists at present, realizes
Once some technological break-throughs:
1, the two-way parameter of microwave is realized, and microwave is allow to transmit the digital or analog signal exported by key.
2, it solves the remote control carrier wave of 433MHz and is to carry out two-way biography mini-system (referring to hand-held or shoulder straddle type)
It is defeated, the reliability of transmission is on the one hand improved using CAN bus technology, furthermore such that various kinds of sensors signal is in remote control display screen
Upper display.
3, it ensure that the reliability of remote control using the video monitoring means of diversification.
The hardware such as PLC controller unit, central processing unit, interchanger, bidirectional transmit-receive module are utilized again in whole system
Exploitation, CAN bus technology, microwave transmitted in both directions, remote control bidirectional transmit-receive organically merge into each other, solve mutual communication, increase
The operating function for having added soft-key button, simplifies the structure of system, that is, has expanded system application field, in turn simplifies system structure drop
Low cost, the reliability for largely improving whole system.It is a with uniqueness, advance, science, creativeness
Design.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Specific case used herein is expounded the principles of the present invention and embodiment, above embodiments
Explanation be merely used to help understand the method and its core concept of the utility model；Meanwhile for the general technology of this field
Personnel, based on the idea of the present invention, there will be changes in the specific implementation manner and application range.In conclusion
The content of the present specification should not be construed as a limitation of the present invention.
Claims (8)
1. a kind of fire-fighting robot redundancy communication system, which is characterized in that the redundancy communication system includes: electric up-down dress
It sets, signal transmitting apparatus and console device；
The Motorized lift device includes: push-rod electric machine, gearbox, push rod, flexible threading chain；The push-rod electric machine and the change
Fast case connection, the push rod lower end are connect with the gearbox, the push rod upper end and the flexible threading chain link；
The signal transmitting apparatus is installed on the upper end of the push rod, and the signal transmitting apparatus includes: microwave antenna, 4G days
Line, telecontrol antenna and circuit control unit；
The console device is located at staff's control terminal, and the console device includes: computer or tablet computer, first
Microwave treater, the first 4G network processing unit, first remote control hair/receipts unit, remote controler and remote control display screen；First microwave
Processor and the first 4G network processing unit are connect with the computer or tablet computer；
Between first microwave treater and the circuit control unit, the two-way biography of microwave signal is realized by microwave antenna
It is defeated；Between the first 4G network processing unit and the circuit control unit, the two-way of 4G network signal is realized by 4G antenna
Transmission；The first remote control hair/between receipts unit and the circuit control unit, the double of remote signal are realized by telecontrol antenna
To transmission, the transmitted in both directions of the remote signal includes: the remote signal of the remote controler by the first remote control hair/receipts list
Member reaches the first of the circuit control unit to transmission, further includes the remote signal of the circuit control unit by described the
One remote control hair/receipts unit reaches the second of the remote control display screen to transmission.
2. redundancy communication system according to claim 1, which is characterized in that the circuit control unit includes: centre
Reason device, router, interchanger, the second microwave treater, the 2nd 4G network processing unit, the second remote control transmit/receive unit, remote control CAN
Bus and robot PLC control unit；
The central processing unit is bi-directionally connected with the router, the router and the two-way company of the second microwave treater
It connects, the input terminal of the central processing unit is also connect with the output end of the interchanger, the input terminal of the interchanger and fire-fighting
The audio-video equipment of robot connects；The audio-video signal of the audio-video equipment acquisition is transmitted to the central processing unit, institute
It states central processing unit and passes sequentially through the router, second microwave treater and first microwave treater for the sound
Video signal transmission is to the computer or tablet computer, to realize the microwave transmission of the audio-video signal；
The output end of the central processing unit is also connect with the input control end of the robot PLC control unit, the machine
The output end of people's PLC control unit is connect with the environmental sensor of the fire-fighting robot, and the computer or tablet computer will
The parameter control signal of environmental sensor passes sequentially through first microwave treater, second microwave treater, the road
The robot PLC control unit is transmitted to by device and the central processing unit, to realize that the data of the environmental sensor are adopted
The microwave of collection controls；
The robot PLC control unit is also bi-directionally connected between the remote control CAN bus, the remote control CAN bus and institute
It states the second remote control and transmits/receives unit and be bi-directionally connected；The remote controler passes sequentially through the parameter control signal of environmental sensor described
First remote control hair/receipts unit, second remote control transmit/receive unit, the remote control CAN bus is transmitted to the robot PLC control
Unit processed, to realize the remote control of the data acquisition of the environmental sensor；
The input terminal of the robot PLC control unit is also connect with the environmental sensor of the fire-fighting robot, the environment
Sensor is by the sensor data transmission of acquisition to the robot PLC control unit, and the robot PLC control unit is by institute
State sensing data pass sequentially through the remote control CAN bus, it is described second remote control transmit/receive unit, it is described first remote control hair/receipts list
Member is transmitted to the remote control display screen, to realize that the remote control of the sensing data is shown；
The central processing unit is also bi-directionally connected with the 2nd 4G network processing unit, and the central processing unit passes through described second
The audio-video signal is transmitted to the computer or tablet computer by 4G network processing unit and the first 4G network processing unit,
To realize the 4G transmission of the audio-video signal；The computer or tablet computer by the parameter control signal of environmental sensor according to
It is secondary that the machine is transmitted to by the first 4G network processing unit, the 2nd 4G network processing unit and the central processing unit
People's PLC control unit, to realize the 4G control of the data acquisition of the environmental sensor.
3. redundancy communication system according to claim 2, which is characterized in that the console device further include: first is micro-
Wave transmitted in both directions unit, the first 4G network transmitting unit and the first remote control transmitted in both directions unit；The circuit control unit is also wrapped
It includes: the second microwave transmitted in both directions unit, the 2nd 4G network transmitting unit and the second remote control transmitted in both directions unit；
Between first microwave treater and second microwave treater, by the first microwave transmitted in both directions unit,
Microwave antenna and the second microwave transmitted in both directions unit realize the transmitted in both directions of microwave signal；
Between the first 4G network processing unit and the 2nd 4G network processing unit, pass through the first 4G network transmission list
Member, 4G antenna and the 2nd 4G network transmitting unit realize the transmitted in both directions of 4G signal；
The first remote control hair/receipts unit and second remote control transmit/receive between unit, pass through the first remote control transmitted in both directions
Unit, the telecontrol antenna and the second remote control transmitted in both directions unit realize the transmitted in both directions of remote signal.
4. redundancy communication system according to claim 3, which is characterized in that the first remote control transmitted in both directions unit and institute
The frequency for stating the second remote control transmitted in both directions unit is 433MHz.
5. redundancy communication system according to claim 3, which is characterized in that the signal transmitting apparatus further include: microwave
Relay antenna, the microwave relay antenna are used for microwave communication between first microwave treater and the circuit control unit
Relay connection.
6. redundancy communication system according to claim 3, which is characterized in that the microwave antenna is 4 microwave antennas, institute
4 antenna uniform rings are stated around being distributed in the push rod upper end.
7. redundancy communication system according to claim 3, which is characterized in that the fire-fighting robot includes fire extinguishing machine
People, reconnaissance robot, smoke robot and lighting robot.
8. redundancy communication system according to claim 3, which is characterized in that the audio-video equipment includes: 360 degree of camera shootings
Machine, holder+video camera and audio processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820893878.6U CN208239887U (en) | 2018-06-11 | 2018-06-11 | A kind of fire-fighting robot redundancy communication system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820893878.6U CN208239887U (en) | 2018-06-11 | 2018-06-11 | A kind of fire-fighting robot redundancy communication system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614546A (en) * | 2018-06-11 | 2018-10-02 | 上海博灿信号设备有限公司 | A kind of robot redundancy communication system |
| CN108614546B (en) * | 2018-06-11 | 2024-06-07 | 上海博灿信号设备有限公司 | Redundant communication system of robot |
-
2018
- 2018-06-11 CN CN201820893878.6U patent/CN208239887U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614546A (en) * | 2018-06-11 | 2018-10-02 | 上海博灿信号设备有限公司 | A kind of robot redundancy communication system |
| CN108614546B (en) * | 2018-06-11 | 2024-06-07 | 上海博灿信号设备有限公司 | Redundant communication system of robot |
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