KR100885305B1 - Mobile Robot System Where The Composition Gas And Radiation Telemetering Are Possible - Google Patents

Abstract

The present invention further includes a composite gas and radiation measuring sensor in the mobile robot, and the composite gas and radiation telemetry which enables the mobile robot to be remotely controlled according to the result of receiving the measured data through wireless communication at a remote location. A mobile robot system.

The mobile robot system capable of remotely measuring the composite gas and the radiation of the present invention includes a mobile robot having a wireless communication modem and a remote control device for remotely controlling the mobile robot by performing wireless communication with the mobile robot. A robot system, wherein the mobile robot transmits a complex gas meter for detecting the amount of gas in the moving area, a radiation meter for detecting the gamma dose rate in the moving area, and a control signal for the complex gas meter and the radiation meter. Serial port multiple control module receiving the data detected from the composite gas meter and the radiation meter, and serial port multiple control module analyzing and processing the data input from the serial port multiple control module Subject to send to And a module, wherein the remote controller is configured to output a control signal and output a mobile robot control signal to analyze and process data received through wireless communication with the mobile robot and display the result on an external monitor. It is configured to include.

Composite gas, radiation, remote, mobile robot

Description

Mobile Robot System Where The Composition Gas And Radiation Telemetering Are Possible}

1 is a block diagram of a mobile robot system capable of measuring a composite gas and radiation telemetry in accordance with an embodiment of the present invention.

2 is a block diagram of a mobile robot system capable of measuring the composite gas and radiation telemetry according to another embodiment of the present invention.

3 is a view for explaining a switching control method using a serial port multiple control module 13 provided in the mobile robot of the present invention.

<Description of the symbols for the main parts of the drawings>

1: mobile robot

    11: composite gas meter

         111: gas sensor

         112: modulator

         113: input and output unit

    12: radiation meter

    13: Serial Port Multiple Control Module

    14: Main module

    15: wireless communication module

    16: thermal imaging camera

    17: speech processing unit

    18: location recognition module

    19: controller

2: remote control

     21: Main Module

     22: wireless communication module

     23: monitor

     24: speaker

The present invention relates to a mobile robot system, and more particularly, the mobile robot further includes a complex gas and radiation measuring sensor, and receives measured data through a wireless communication at a remote location and adjusts the mobile robot at a remote location according to the result. The present invention relates to a mobile robot system capable of complex gas and radiation telemetry.

In general, robots are designed to perform tasks in dangerous working environments, simple repetitive tasks, or tasks requiring large force on behalf of humans. It has been applied to the field, and in the future, highly intelligent robots with higher judgment will emerge, which will be an important technical issue of industrial development.

Most robots will be able to sense perception of themselves and their external state, cognition function to make judgments based on them, and movement function determined by such intelligence. By improving these functions more precisely and adding new functions and devices, highly intelligent robots will come in the near future, unlike simple robots that perform repetitive tasks.

In recent years, robots have been carrying out dangerous tasks on behalf of humans by being placed in hazardous areas and controlled by remote controls at remote locations.

On the other hand, areas where radiation or complex gas leaks due to war, terrorism, accidents, etc. are directly exposed to dangers, so that humans cannot be guaranteed safety. Measurements need to be performed instead of humans, but the technology for this is still a minor problem.

In addition, the existing robot is not able to measure the radiation or complex gas, so if a dangerous situation occurs during work, it is necessary to escape from the area, but there is a problem that the robot can be in danger because it does not escape from the dangerous situation.

The present invention is to solve the problems of the prior art, the mobile robot further comprises a radiation meter, a combined gas meter and a thermal imaging camera, and wirelessly receive the results measured by the mobile robot and remotely control the mobile robot Multi-gas and radiation remote to monitor the status of the hazardous area in real time remotely, to quickly save lives, and to protect the robot by remotely moving the robot out of danger. To provide a robot that can measure.

The mobile robot system capable of measuring the composite gas and radiation telemetry of the present invention for solving the above technical problem is a remote control device for remotely controlling a mobile robot by performing wireless communication with the mobile robot having a wireless communication modem and the mobile robot. A mobile robot system comprising: a composite gas measuring unit for detecting a combined gas amount in a moving region, a radiation measuring unit detecting a gamma dose rate in the moving region, and a combined gas measuring unit and a radiation measuring instrument control signal Serial port multiple control module for receiving the detected data from the composite gas meter and the radiation meter by transmitting a; and analyzes and processes data input from the serial port multiple control module and serializes the composite gas meter and radiation meter control signals Port multiple control And a main controller module for transmitting to the module, wherein the remote control device outputs a control signal to analyze and process data received through wireless communication with the mobile robot and displays the result on an external monitor, and the mobile robot control signal. It is configured to include a main module that outputs.

Here, the mobile robot further includes a thermal image camera for capturing an image of a corresponding area, and a voice processing device for obtaining a voice signal for the corresponding area, and the remote control device includes the thermal image camera and a voice processing device. By receiving the data obtained in the analysis and processing it can control the operation of the mobile robot.

The mobile robot may further include a location recognition module to perform a function of searching for location information of the yaw rescuer.

The invention will become more apparent through the preferred embodiments described below with reference to the accompanying drawings. Hereinafter will be described in detail to enable those skilled in the art to easily understand and reproduce through embodiments of the present invention.

1 is a block diagram of a mobile robot system capable of measuring the composite gas and radiation telemetry according to an embodiment of the present invention, the present invention is a mobile robot (1) and a mobile robot (1) having a wireless communication modem (15) The present invention relates to a mobile robot system comprising a remote control device (2) for performing wireless communication with and controlling a mobile robot (1) remotely.

According to a characteristic aspect of the present invention, the mobile robot 1 includes a complex gas meter 11 for detecting the amount of complex gas in an area, a radiation meter 12 for detecting a gamma dose rate in the moving area, and the complex gas meter. (11) and a serial port multiple control module 13 for receiving data detected from the radiation meter 12, the remote control device 2 is the gamma dose rate and gas amount measured by the mobile robot (1) After receiving through the wireless communication to analyze the results and to control the mobile robot (1) remotely.

To this end, the mobile robot 1 includes a main module 14 for analyzing and processing data input from the serial port multiple control module 13 and a wireless communication module for performing wireless communication with the remote control device 2 ( It is preferred to have 15).

In addition, the remote control device 2 analyzes and processes the wireless communication module 22 for performing wireless communication with the mobile robot 1 and the data received through the wireless communication module 22 and monitors the result of the external monitoring. And a main control module 21 for outputting a control signal for display at 23.

The monitor 23 displays all the situation information of the corresponding area such as the signal output from the main control module 21, for example, the data result measured by the combined gas meter and the radiation meter, and the movement route and the location information of the requester. .

In addition, the mobile robot 1 receives a remote control signal transmitted from the main module 21 of the remote control device 2 through the wireless communication module 15, and operates according to the control signal.

Here, since it is obvious that the remote control device 2 should have an input device such as a joystick or a keyboard for receiving an operation signal of an administrator, the illustration on the drawings will be omitted.

Here, the composite gas detector 11 may include a gas sensor 111 for measuring the amount of gas for each type of the corresponding area in which the mobile robot 1 is located, and a modulator for modulating the analog signal measured from the gas sensor 111 into a digital signal ( 112 and the modulator 112 outputs the signal modulated to the serial port multiple control module 13 and comprises an input / output unit 113 for receiving a control signal from the serial port multiple control module 13.

In this case, the complex gas measuring instrument 11 may measure harmful gases or dangerous substances, and a gas detection method using a gas sensor is already known, so a detailed description thereof will be omitted.

In addition, the radiation measuring device 12 is a device capable of determining a gamma dose rate by measuring a gamma dose rate, which is a radioactive material, a radiation sensor 121 measuring a gamma dose rate of a corresponding area where a mobile robot is located, and the radiation sensor 121. A modulator 122 for modulating the analog signal measured by the digital signal into a digital signal, and an input / output unit 123 for outputting the modulated signal from the modulator to the serial port multiple control module and receiving a control signal from the serial port multiple control module. It is configured to include).

At this time, since the detection method of the radiation amount using the radiation sensor is already known technology, a detailed description thereof will be omitted.

As described above, the mobile robot system capable of remotely measuring the complex gas and the radiation according to the present invention measures the gas state and the radiation state of the area in which the mobile robot 1 is located, analyzes the measurement data, and then moves in the remote place according to the analysis result. By controlling the operation of the robot (1) it is possible to remotely control the mobile robot at the same time to measure the state of the area in the remote.

FIG. 2 is a block diagram of a mobile robot system capable of performing a composite gas and radiation telemetry according to another embodiment of the present invention, and detailed description of the same components and operations as those of FIG. 1 will be omitted.

According to another embodiment of the present invention, the mobile robot 1 further includes a thermal imaging camera 16 for searching the position of the yaw rescuer and a voice processing device 17 for obtaining a voice signal for the corresponding area. In addition, the remote control device 2 is configured to receive the data obtained from the thermal imaging camera 16 and the voice processing device 17 to analyze and process it to control the operation of the mobile robot 1. .

In addition, the remote control device 2 not only displays an image acquired through the mobile robot 1 through the monitor 23, but also outputs a voice signal obtained through the voice processing device through the speaker 24. Should allow you to check.

In addition, although not specifically illustrated, the voice processing device provided in the mobile robot 1 may include a microphone for acquiring a voice signal and a speaker for outputting voice transmitted from a remote control device to the outside.

In addition, the mobile robot of the mobile robot system of the present invention is a location recognition module for detecting the location of the requester in the event of a disaster or to provide the location information for the corresponding area to the remote control device during radiation measurement and complex gas measurement It is preferable to further provide (18).

In this case, as the location recognition method, a method using a GPS module or a method of using an inertial navigation by a gyro module and an acceleration sensor module may be used by switching to a design drawing of a corresponding building when entering a building.

On the other hand, since the existing CPU module is provided with a large number of serial ports, if more than the number of serial ports provided in the CPU module is needed, it can be extended using a serial USB converter, etc. Therefore, there is a problem that can not miniaturize the device. However, in the present invention, the serial port multiple control module 13 may use a plurality of serial ports.

3 is a view for explaining a switching control method using the serial port multiple control module 13 provided in the mobile robot of the present invention, the serial port multiple control module 13 is a serial input port 131 and serial switching control The circuit 132 and the serial output port 133 can be miniaturized by implementing a switching control method to receive data for each module so that a plurality of serial ports can be used for one serial port. .

Here, the serial switching control circuit synchronizes each serial port with one serial port of the main module in a predetermined interval so as to receive data, or automatically serially by using the digital IO port of the controller 19 (CAMA Controller). Can be synchronized or manually synchronized to only one device to receive data.

According to this configuration, the mobile robot system of the present invention obtains the location information and voice information of the yaw rescuer as well as the complex gas or radiation for the corresponding area in which the mobile robot is located, and transmits it from a remote location to detect the detection area through the transmitted data. By monitoring the robot to determine whether it is dangerous and controlling the mobile robot remotely according to the determination result, the robot can be rescued from the dangerous state to prevent the failure of the robot.

As described above, the present invention further includes a radiometer, a compound gas detector, and a thermal imaging camera in the mobile robot, and wirelessly receives the results measured by the mobile robot and remotely controls the mobile robot in a hazardous area. It is possible to protect the robot by remotely monitoring the status of the system in real time and quickly saving the life, and by remotely moving the robot out of the dangerous situation.

Although the present invention has been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that many different and obvious modifications are possible without departing from the scope of the invention from this description. Therefore, the scope of the invention should be construed by the claims described to include many such variations.

Claims (3)

In the mobile robot system comprising a mobile robot (1) having a wireless communication modem and a remote control device (2) for performing wireless communication with the mobile robot (1) to remotely control the mobile robot (1), The mobile robot (1) is; Transmitting a composite gas measuring device 11 for detecting the amount of complex gas in the moving area, a radiation measuring device 12 for detecting a gamma dose rate in the moving area, and a control signal for the complex gas measuring device 11 and the radiation measuring device 12. By analyzing the serial port multiple control module 13 and the data input from the serial port multiple control module 13 to receive the detected data from the composite gas meter 11 and the radiation meter 12 and the A main control module (14) for transmitting the combined gas meter (11) and the radiation meter (12) control signals to the serial port multiple control module (13), wherein the remote control device (2) comprises; And a main control module 21 for outputting a control signal and outputting a mobile robot control signal to analyze and process data received through wireless communication with the mobile robot 1 to display the result on an external monitor 23, , The serial port multiple control module 13 includes a serial input port 131, a serial switching control circuit 132, and a serial output port 133, and the serial switching control circuit 132 sequentially rotates each serial port at predetermined intervals. Synchronize with one serial port of main controller module to receive data, or use serial digital IO port of controller 19 to automatically synchronize serial ports or manually synchronize only one device to receive data. A mobile robotic system capable of telemetry of complex gas and radiation, characterized in that configured to enable The method of claim 1, The mobile robot (1) is; A thermal imaging camera 16 for detecting the position of the yaw rescuer, It is further provided with a speech processing device 17 for obtaining a speech signal for the area, The remote control device 2 receives the data obtained from the thermal imaging camera 16 and the voice processing device 17, analyzes and processes the mixed gas, and controls the operation of the mobile robot 1. And a mobile robotic system capable of radiometric telemetry. The method according to claim 1 or 2, The mobile robot (1) is; And a position recognition module (18) further comprising a composite gas and radiation telemetry system.

Images