CN213934633U - Autonomous mobile robot for investigation in building - Google Patents
Autonomous mobile robot for investigation in building Download PDFInfo
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- CN213934633U CN213934633U CN202120193391.9U CN202120193391U CN213934633U CN 213934633 U CN213934633 U CN 213934633U CN 202120193391 U CN202120193391 U CN 202120193391U CN 213934633 U CN213934633 U CN 213934633U
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Abstract
The utility model discloses an autonomous mobile robot for investigation in a building, which comprises a mobile platform, an operation unit and a control system, wherein the mobile platform comprises a circular chassis and a mobile wheel, a driving motor is installed at the lower part of the circular chassis, and a first installation area, a second installation area, a third installation area and a fourth installation area are arranged above the circular chassis; the operation unit comprises an operation controller, a life detection sensor and a label putting mechanism; the control system comprises an environmental data acquisition subsystem, a positioning navigation algorithm processing subsystem, a motion control subsystem, a data wireless transmission subsystem and a power supply subsystem, wherein the environmental data acquisition subsystem comprises a laser radar and an ultrasonic sensor, and the motion control subsystem comprises a motion controller, an IMU sensor and a motor driving circuit module. The utility model relates to a rationally, can effectively use in the interior environmental investigation operation before rescue action is carried out of building, the translation rate is fast, and is independently stable, excellent in use effect, convenient to popularize and use.
Description
Technical Field
The utility model belongs to the technical field of special work robot makes, concretely relates to investigation is with independently mobile robot in building.
Background
After the 21 st century, the manufacturing industry and artificial intelligence technology have been rapidly developed, and mobile robots in various occasions have been widely used. Meanwhile, with the rapid development of urbanization construction, the number of various buildings is increased, when a fire disaster occurs in the building and a large amount of dense smoke is generated or dangerous chemicals are leaked, the safety of rescuers is seriously threatened, and the rescue action is performed blindly under the condition that the environment in the building is not fully detected and analyzed, so that not only can an expected effect not be obtained, but also the innocent life of the rescuers is sacrificed.
At present, before carrying out rescue actions on disaster sites, fire fighting troops in China firstly send inspectors to carry out site investigation to know the specific conditions of the disaster sites, and the fire fighting and rescuing personnel can cause accidents such as poisoning, suffocation, smashing and the like in the disaster sites in buildings such as dense smoke, toxicity, radioactivity, easy collapse and the like; moreover, fire rescue personnel have limited residence time at the disaster site in the building.
Therefore, it is necessary to research an autonomous mobile robot capable of collecting environmental data of a disaster site in a building instead of fire rescue workers entering an unknown dangerous environment. The autonomous movement capability of the mobile robot has a decisive role in the rapid and efficient development of rescue and investigation tasks, and the positioning navigation is the bottom layer technology and is the key for constructing the whole mobile robot.
In the prior art, the positioning and navigation technology of a mobile robot mainly comprises visual navigation positioning, light reflection navigation positioning, GPS positioning and ultrasonic navigation positioning, wherein the visual navigation positioning is to perform optical processing on the environment around the robot, firstly, a camera is used for acquiring image information, the acquired information is compressed and then fed back to a learning subsystem formed by a neural network and a statistical method, and then the learning subsystem is used for linking the acquired image information with the actual position of the robot to complete the autonomous navigation positioning function of the robot; the light reflection navigation positioning adopts laser to carry out distance measurement positioning, the laser distance measurement has the advantages of narrow beam, good parallelism, small scattering, high resolution ratio of the distance measurement direction and the like, but the laser distance measurement is greatly interfered by environmental factors, and the laser distance measurement also has a blind area, so the navigation positioning by the laser is difficult to realize; GPS positioning adopts satellite signals for positioning, and is not suitable for indoor environment; the simple ultrasonic navigation positioning causes difficulty in sufficiently obtaining the information of the surrounding environment due to the defects of the ultrasonic sensor, such as specular reflection, limited beam angle and the like.
In addition, in order to adapt to a complex environment during movement of the post-disaster rescue robot in the prior art, a moving mechanism usually adopts a crawler-type or bionic structure, and although the movement is more flexible, the environment in a building and rescue requirements are not fully considered. The ground in the building is relatively flat, the environment in the building needs to be quickly and accurately detected and analyzed before the rescue action so as to avoid delaying the optimal rescue time, the moving mode of the crawler-type or bionic structure is complex to control, the moving speed is relatively slow, and the crawler-type or bionic structure cannot be well applied to detection operation before the rescue action in the building.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough among the above-mentioned prior art provides an interior investigation of building is with independently moving robot, its simple structure, reasonable in design, and it is convenient to realize, can effectively use in the interior environmental investigation operation before the rescue action is carried out of building, and moving speed is fast, independently stable, and the expansibility is strong, excellent in use effect, convenient to popularize and use.
In order to solve the technical problem, the utility model discloses a technical scheme is: an autonomous mobile robot for investigation in a building comprises a mobile platform for driving the robot to move, an operation unit arranged on the mobile platform, and a control system for controlling the mobile platform and the operation unit to work;
the movable platform comprises a circular chassis and movable wheels symmetrically arranged on two sides of the circular chassis, a driving motor for driving the movable wheels to rotate is mounted on the lower portion of the circular chassis, the movable wheels are connected with an output shaft of the driving motor, a first mounting plate, a second mounting plate and a third mounting plate are sequentially arranged above the circular chassis from bottom to top, a first mounting area is formed between the circular chassis and the first mounting plate, a second mounting area is formed between the first mounting plate and the second mounting plate, the upper portion of the second mounting plate is a third mounting area, and the upper portion of the third mounting plate is a fourth mounting area;
the operation unit comprises an operation controller, the input end of the operation controller is connected with a life detection sensor for detecting life bodies in disaster sites in the building, the output end of the operation controller is connected with a label releasing mechanism for releasing positioning labels to the detected life bodies, and the operation controller, the life detection sensor and the label releasing mechanism are all installed in a third installation area;
the control system comprises an environmental data acquisition subsystem, a positioning navigation algorithm processing subsystem, a motion control subsystem, a data wireless transmission subsystem and a power supply subsystem for supplying power to the operation unit and the control system; the environment data acquisition subsystem comprises a laser radar arranged in the fourth installation area and an ultrasonic sensor arranged in the first installation area; the positioning navigation algorithm processing subsystem comprises a microprocessor module arranged in a second mounting area, and the laser radar is connected with the microprocessor module; the motion control subsystem comprises a motion controller and an IMU sensor, the IMU sensor and the ultrasonic sensor are both connected with the input end of the motion controller, the output end of the motion controller is connected with a motor driving circuit module, and the driving motor is connected with the output end of the motor driving circuit module.
The autonomous mobile robot for in-building investigation is characterized in that the lower part of the circular chassis is provided with a supporting wheel, and the supporting wheel is arranged between the two mobile wheels as a driven wheel.
The autonomous mobile robot for investigation in the building is characterized in that the mobile wheels are high-temperature-resistant nylon wheels.
The autonomous mobile robot for in-building investigation is characterized in that the driving motor is a direct current speed reduction motor.
The autonomous mobile robot for investigation in the building is characterized in that the circular chassis is connected with the first mounting plate, the first mounting plate is connected with the second mounting plate, and the second mounting plate is connected with the third mounting plate through the supporting columns.
The autonomous mobile robot for in-building investigation, the operation controller and the motion controller both comprise an STM32F103RCT6 controller.
In the autonomous mobile robot for in-building investigation, the microprocessor module adopts a raspberry pi 4B control panel.
The autonomous mobile robot for investigation in the building comprises a base and a cover body, wherein a rotary disc connected to the base in a rotating mode is arranged in the cover body, a plurality of card holes used for placing label cards are annularly arranged on the rotary disc, a slide used for driving a rotary disc rotating steering engine and sliding out the label cards is arranged in the base, the card holes rotate along with the rotary disc to be communicated with the slide, the label cards in the card holes slide out through the slide, and the steering engine is connected with the output end of an operation controller.
The autonomous mobile robot for investigation in the building comprises a WiFi module and a 2.4G wireless module, wherein the WiFi module is connected with a microprocessor module, and the 2.4G wireless module is connected with a motion controller.
The power subsystem comprises a first power module, a second power module and a third power module which are mutually independent, the first power module supplies power for the operation unit, the second power module supplies power for the environment data acquisition subsystem, the positioning navigation algorithm processing subsystem and the data wireless transmission subsystem, the third power module supplies power for the motion control subsystem, and the first power module, the second power module and the third power module are all installed in the first installation area.
Compared with the prior art, the utility model has the following advantage:
1. the utility model discloses simple structure, reasonable in design, it is convenient to realize.
2. The utility model relates to a laser radar and ultrasonic sensor are as the in-building geographic environment detection sensor, design IMU sensor as the measuring internal sensor of robot position appearance, handle through microprocessor module's algorithm, can realize that the robot carries out autonomous movement and self location in unknown in-building environment, build incremental map.
3. The utility model discloses with double round differential drive mode, remove the wheel through two of driving motor drive to assist with the supporting wheel, the translation rate is fast and the mobility stability is good, can be applicable in the investigation operation before the rescue action in the building.
4. The utility model discloses a subregion design, through designing first installing zone, second installing zone, third installing zone and fourth installing zone, the wiring is easy, easily installs, and the maintenance in the later stage of being convenient for simultaneously is changed and the function upgrade, has reconsitution and modular advantage, and the expansibility is strong.
5. The utility model discloses a power subsystem designs mutually independent first power module, second power module and third power module, supplies power respectively to each subsystem, has reduced the mutual interference between the power, improves the power supply reliability, improves the operational reliability of measurement accuracy and robot; meanwhile, the first power supply module, the second power supply module and the third power supply module are all installed in the first installation area, the bottom weight of the robot is increased, and the moving stability of the robot is improved.
6. The utility model discloses a design label input mechanism, when the robot detects the life body in the calamity scene in the building, put in the location label card automatically, subsequent rescue action of being convenient for.
7. The utility model discloses can effectively use in the interior environmental investigation operation before the rescue action was carried out of building, the translation rate is fast, and is independently stable, and the expansibility is strong, excellent in use effect, convenient to popularize and use.
To sum up, the utility model discloses simple structure, reasonable in design realizes conveniently, can effectively use in the interior environmental investigation operation before rescue action carries out of building, and the translation rate is fast, and is independently stable, and the expansibility is strong, excellent in use effect, convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic block diagram of the present invention;
fig. 3 is the structure diagram of the label feeding mechanism of the present invention.
Description of reference numerals:
1-a circular chassis; 2-moving wheels; 3, driving a motor;
4-a first mounting plate; 5-a second mounting plate; 6-a third mounting plate;
7-a first mounting area; 8-a second mounting area; 9-a third mounting area;
10-a fourth mounting area; 11-job controller; 12-a life detection sensor;
13-a label delivery mechanism; 13-1-a base; 13-2-cover;
13-3-rotating disc; 13-4-tag card; 13-5-hole clamping;
13-6-steering engine; 13-7-a slide; 14-laser radar;
15-an ultrasonic sensor; 16-a microprocessor module; 17-a motion controller;
18-IMU sensor; 19-motor driving circuit module; 20-a support wheel;
21-a support column; 22-a WiFi module; 23-2.4G wireless module.
Detailed Description
As shown in fig. 1-2, the autonomous mobile robot for in-building investigation of the present invention comprises a mobile platform for driving the robot to move, an operation unit installed on the mobile platform, and a control system for controlling the mobile platform and the operation unit to work; the moving platform comprises a circular chassis 1 and moving wheels 2 symmetrically arranged on two sides of the circular chassis 1, a driving motor 3 for driving the moving wheels 2 to rotate is arranged on the lower portion of the circular chassis 1, the moving wheels 2 are connected with an output shaft of the driving motor 3, a first mounting plate 4, a second mounting plate 5 and a third mounting plate 6 are sequentially arranged above the circular chassis 1 from bottom to top, a first mounting area 7 is formed between the circular chassis 1 and the first mounting plate 4, a second mounting area 8 is formed between the first mounting plate 4 and the second mounting plate 5, a third mounting area 9 is arranged on the upper portion of the second mounting plate 5, and a fourth mounting area 10 is arranged on the upper portion of the third mounting plate 6; the operation unit comprises an operation controller 11, the input end of the operation controller 11 is connected with a life detection sensor 12 for detecting life bodies in a disaster site in a building, the output end of the operation controller 11 is connected with a label putting mechanism 13 for putting positioning labels on the detected life bodies, and the operation controller 11, the life detection sensor 12 and the label putting mechanism 13 are all installed in a third installation area 9; the control system comprises an environmental data acquisition subsystem, a positioning navigation algorithm processing subsystem, a motion control subsystem, a data wireless transmission subsystem and a power supply subsystem for supplying power to the operation unit and the control system; the environment data acquisition subsystem comprises a laser radar 14 arranged in the fourth installation area 10 and an ultrasonic sensor 15 arranged in the first installation area 7; the positioning navigation algorithm processing subsystem comprises a microprocessor module 16 arranged in the second mounting area 8, and the laser radar 14 is connected with the microprocessor module 16; the motion control subsystem comprises a motion controller 17 and an IMU sensor 18, the IMU sensor 18 and the ultrasonic sensor 15 are both connected with the input end of the motion controller 17, the output end of the motion controller 17 is connected with a motor driving circuit module 19, and the driving motor 3 is connected with the output end of the motor driving circuit module 19.
In this embodiment, the lower portion of the circular chassis 1 is provided with a support wheel 20, and the support wheel 20 is arranged as a driven wheel in the middle of the two side moving wheels 2.
In specific implementation, the supporting wheels 20 are universal wheels, and the supporting wheels 20 are arranged in the middle of the moving wheels 2 on the two sides, so that the moving stability of the robot is improved.
In this embodiment, the moving wheel 2 is a high temperature resistant nylon wheel.
During specific implementation, the high-temperature-resistant nylon wheel can be better suitable for the high-temperature environment of a disaster site.
In this embodiment, the driving motor 3 is a dc gear motor.
During specific implementation, the moving wheels 2 are driven by the direct-current speed reducing motor in a double-wheel differential mode, and therefore the robot can move quickly.
In this embodiment, the circular chassis 1 is connected with the first mounting plate 4, the first mounting plate 4 is connected with the second mounting plate 5, and the second mounting plate 5 is connected with the third mounting plate 6 through the supporting column 21.
In this embodiment, the job controller 11 and the motion controller 17 each include an STM32F103RCT6 controller.
In this embodiment, the microprocessor module 16 adopts a raspberry pi 4B control board.
In this embodiment, as shown in fig. 3, the label feeding mechanism 13 includes a base 13-1 and a cover 13-2, a rotary table 13-3 rotatably connected to the base 13-1 is disposed in the cover 13-2, a plurality of card holes 13-5 for placing the label cards 13-4 are annularly disposed on the rotary table 13-3, a steering engine 13-6 for driving the rotary table 13-3 to rotate and a slide 13-7 for sliding out the label cards 13-4 are disposed in the base 13-1, when the card holes 13-5 rotate along with the rotary table 13-3 to communicate with the slide 13-7, the label cards 13-4 slide out through the slide 13-7 in the card holes 13-5, and the steering engine 13-6 is connected to an output end of the operation controller 11.
When the life detection sensor 12 detects a life body in a building, the operation controller 11 controls the steering engine 13-6 to work to drive the rotary table 13-3 to rotate, and when the clamping hole 13-5 in the rotary table 13-3 rotates to correspond to the inlet position of the slide way 13-7 on the base 13-1, the label card 13-4 in the clamping hole 13-5 slides out through the slide way 13-7 to mark the position of the life body, so that subsequent rescue actions are facilitated.
In this embodiment, the data wireless transmission subsystem includes a WiFi module 22 and a 2.4G wireless module 23, the WiFi module 22 is connected to the microprocessor module 16, and the 2.4G wireless module 23 is connected to the motion controller 17.
In specific implementation, the acquired environmental data in the building can be wirelessly transmitted to a rescue command platform outside the building through the WiFi module 22; the remote control of the robot can be realized through the 2.4G wireless module 23.
In this embodiment, the power supply subsystem includes first power module, second power module and the third power module that mutual independent set up, first power module is the operation unit power supply, the second power module is environmental data acquisition subsystem, location navigation algorithm processing subsystem and the power supply of data wireless transmission subsystem, the third power module is the motion control subsystem power supply, first power module, second power module and third power module all install in first installing zone 7.
In specific implementation, the first power supply module, the second power supply module and the third power supply module which are independent of each other respectively supply power to each subsystem, so that mutual interference among power supplies is reduced, power supply reliability is improved, and measurement precision and running reliability of the robot are improved; meanwhile, the first power module, the second power module and the third power module are all installed in the first installation area 7, the bottom weight of the robot is increased, and the moving stability of the robot is improved.
The utility model discloses during the use, before carrying out the rescue action, this robot replaces the fire rescue personnel to get into unknown hazardous environment, carry out the investigation of calamity site environment in the building, laser radar 14 and ultrasonic sensor 15 are as the inside environment detection sensor in the building, IMU sensor 18 is as the inside sensor of robot position appearance measurement, algorithm processing and motion control 17's operation control through microprocessor module 16, realize the robot in unknown building internal environment, carry out autonomous movement and self-localization, and can build incremental map through microprocessor module 16, and then realize dangerous situation investigation, the building internal environment data wireless transmission who will survey the collection arrives the rescue command platform outside the building through wiFi module 22.
In the autonomous moving process of the robot, a life detection sensor 12 detects a life body in a disaster site environment in a building in real time, when the life detection sensor 12 detects the life body in the building, an operation controller 11 controls a steering engine 13-6 to work to drive a rotary table 13-3 to rotate, a clamping hole 13-5 in the rotary table 13-3 rotates to correspond to the inlet position of a slide 13-7 on a base 13-1, and a label card 13-4 in the clamping hole 13-5 slides out through the slide 13-7 to mark the position of the life body, so that subsequent rescue actions are facilitated.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (10)
1. An autonomous mobile robot for in-building investigation, characterized in that: the robot comprises a mobile platform for driving the robot to move, an operation unit arranged on the mobile platform, and a control system for controlling the mobile platform and the operation unit to work;
the moving platform comprises a circular chassis (1) and moving wheels (2) symmetrically arranged on two sides of the circular chassis (1), a driving motor (3) for driving the moving wheels (2) to rotate is mounted on the lower portion of the circular chassis (1), the moving wheels (2) are connected with output shafts of the driving motor (3), a first mounting plate (4), a second mounting plate (5) and a third mounting plate (6) are sequentially arranged above the circular chassis (1) from bottom to top, a first mounting area (7) is formed between the circular chassis (1) and the first mounting plate (4), a second mounting area (8) is formed between the first mounting plate (4) and the second mounting plate (5), a third mounting area (9) is arranged on the upper portion of the second mounting plate (5), and a fourth mounting area (10) is arranged on the upper portion of the third mounting plate (6);
the operation unit comprises an operation controller (11), the input end of the operation controller (11) is connected with a life detection sensor (12) used for detecting life bodies in disaster sites in the building, the output end of the operation controller (11) is connected with a label putting mechanism (13) used for putting positioning labels on the detected life bodies, and the operation controller (11), the life detection sensor (12) and the label putting mechanism (13) are all installed in a third installation area (9);
the control system comprises an environmental data acquisition subsystem, a positioning navigation algorithm processing subsystem, a motion control subsystem, a data wireless transmission subsystem and a power supply subsystem for supplying power to the operation unit and the control system; the environmental data acquisition subsystem comprises a laser radar (14) arranged in a fourth installation area (10) and an ultrasonic sensor (15) arranged in a first installation area (7); the positioning navigation algorithm processing subsystem comprises a microprocessor module (16) arranged in a second mounting area (8), and the laser radar (14) is connected with the microprocessor module (16); the motion control subsystem comprises a motion controller (17) and an IMU sensor (18), the IMU sensor (18) and the ultrasonic sensor (15) are connected with the input end of the motion controller (17), the output end of the motion controller (17) is connected with a motor driving circuit module (19), and the driving motor (3) is connected with the output end of the motor driving circuit module (19).
2. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the lower part of the round chassis (1) is provided with a supporting wheel (20), and the supporting wheel (20) is used as a driven wheel and is arranged in the middle of the moving wheels (2) at the two sides.
3. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the moving wheel (2) is a high-temperature-resistant nylon wheel.
4. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the driving motor (3) adopts a direct current speed reduction motor.
5. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the round chassis is characterized in that the round chassis (1) is connected with the first mounting plate (4), the first mounting plate (4) is connected with the second mounting plate (5), and the second mounting plate (5) is connected with the third mounting plate (6) through the supporting column (21).
6. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the job controller (11) and the motion controller (17) each comprise an STM32F103RCT6 controller.
7. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the microprocessor module (16) adopts a raspberry pi 4B control panel.
8. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the label releasing mechanism (13) comprises a base (13-1) and a cover body (13-2), a rotary disc (13-3) which is rotationally connected with the base (13-1) is arranged in the cover body (13-2), a plurality of card holes (13-5) for placing label cards (13-4) are annularly arranged on the rotary disc (13-3), a steering engine (13-6) for driving the rotary disc (13-3) to rotate and a slide way (13-7) for sliding out the tag card (13-4) are arranged in the base (13-1), when the clamping hole (13-5) rotates along with the rotary disc (13-3) to be communicated with the slide way (13-7), the tag card (13-4) in the card hole (13-5) slides out through the slideway (13-7), and the steering engine (13-6) is connected with the output end of the operation controller (11).
9. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the data wireless transmission subsystem comprises a WiFi module (22) and a 2.4G wireless module (23), the WiFi module (22) is connected with a microprocessor module (16), and the 2.4G wireless module (23) is connected with a motion controller (17).
10. An autonomous mobile robot for in-building investigation according to claim 1, characterized in that: the power supply subsystem comprises a first power supply module, a second power supply module and a third power supply module which are mutually independent, the first power supply module supplies power for the operation unit, the second power supply module supplies power for the environment data acquisition subsystem, the positioning navigation algorithm processing subsystem and the data wireless transmission subsystem, the third power supply module supplies power for the motion control subsystem, and the first power supply module, the second power supply module and the third power supply module are all installed in the first installation area (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120193391.9U CN213934633U (en) | 2021-01-25 | 2021-01-25 | Autonomous mobile robot for investigation in building |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120193391.9U CN213934633U (en) | 2021-01-25 | 2021-01-25 | Autonomous mobile robot for investigation in building |
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| Publication Number | Publication Date |
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| CN213934633U true CN213934633U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120193391.9U Expired - Fee Related CN213934633U (en) | 2021-01-25 | 2021-01-25 | Autonomous mobile robot for investigation in building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213934633U (en) |
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2021
- 2021-01-25 CN CN202120193391.9U patent/CN213934633U/en not_active Expired - Fee Related
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Granted publication date: 20210810 |