CN102990665A - Reconnaissance robot based on wireless communication - Google Patents
Reconnaissance robot based on wireless communication Download PDFInfo
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- CN102990665A CN102990665A CN2012105256250A CN201210525625A CN102990665A CN 102990665 A CN102990665 A CN 102990665A CN 2012105256250 A CN2012105256250 A CN 2012105256250A CN 201210525625 A CN201210525625 A CN 201210525625A CN 102990665 A CN102990665 A CN 102990665A
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Abstract
The invention discloses a reconnaissance robot based on wireless communication, which belongs to the technical field of wireless communication. A detection center of the reconnaissance robot comprises a wireless communication module 1; and the robot comprises a wireless communication module 2 and is in communication with the wireless communication module 1 of the detection center through the wireless communication module 2.
Description
Technical field
The present invention relates to a kind of reconnaissance robot based on radio communication, belong to wireless communication technology field.
Background technology
In recent years, along with the generation of many major accidents, fire-fighting is speedily carried out rescue work, and is explosion-proof, and the many tasks in the technical fields such as detection are comprising its accordingly danger, have been not suitable for people and have gone in person to finish these tasks.
In China, the casualty accident of coal industry, the frequent generation of especially particularly serious casualty accident, wherein the generation of such accident has 76% all to be because the blast of gas, fire causes approximately, and after accident occured, carbon monoxide and gas density in the coal mine down-hole tunnel were very high, smog is large, subsequent explosion also can occur in low visibility at any time, has brought very large difficulty and dangerous for rescue and investigation work.
For the problems referred to above, development and Design is a kind of to replace the people for occuring under the coal mine after the explosion accidents such as gas, dust, enters in time the scene of the accident, and real-time just becomes a kind of necessity with field data by the reconnaissance robot that wireless transmission sends to general headquarters.
Summary of the invention
The present invention is directed to the proposition of above problem, and develop a kind of reconnaissance robot based on radio communication.
The present invention is achieved by the following technical solutions:
The present invention includes robot and inspection center; Inspection center comprises wireless communication module one, and robot comprises wireless communication module two, and robot intercoms mutually by the wireless communication module one of wireless communication module two with inspection center.
Described inspection center comprises display, remote controller, and wireless communication module one intercoms mutually with remote controller, and remote controller is connected with display.
Described robot comprises the camera collection module, central processing control module, ultrasonic distance measuring module, electro-optical distance measurement module, robot mechanical body, motor control module, wireless communication module two; In the electro-optical distance measurement module photoelectric sensor is set, the robot mechanical body is equipped with motor control module with four limbs on the four limbs, and motor control module control drives the motion of vehicle body and four limbs; Described central processing control module receives and process information, and sends command information to modules; Described ultrasonic distance measuring module is used for range finding and input information is arrived central processing control module; The Information Monitoring of camera collection module, and with the signal data that collects by wireless transport module two transmitting terminals in the robot to wireless communication module one, in real time information is sent to the receiving terminal of the wireless module of central control system, the data communication device that receives is crossed central control system and is processed judgement, and the information after will receiving and process in real time shows in the display module of inspection center, remote controller mainly is by wireless module the central processing control module of Detecting Robot to be controlled, and remote controller is responsible for that Detecting Robot is sent instruction and is controlled.
The principle of the invention: utilize the camera collection module, by robot with the situation collection under the hazardous environment and by wireless module real-time image data is sent to inspection center, make the prospecting personnel understand in real time situation under the hazardous environment, and avoided the present staff's of picture on-the-spot investigation, reduced staff's life danger.Robot utilizes the ultrasound examination module, and the barrier before detection machine people travels is that robot implements avoiding barrier.
Beneficial effect of the present invention: reduce the staff enters site inspection after explosion of coal mines potential safety hazard; being conducive to the staff utilizes this robot remote communication to send on-the-spot a series of situations; check on-the-spot actual conditions, also protected staff's personal safety.
Description of drawings
Fig. 1 is overall structure block diagram of the present invention;
Fig. 2 (a) is optical sensor radiating circuit sketch of the present invention;
Fig. 2 (b) is optical sensor receiving circuit sketch of the present invention;
Fig. 3 (a) is ultrasonic wave transtation mission circuit sketch of the present invention;
Fig. 3 (b) is ultrasonic wave receiving circuit sketch of the present invention;
Fig. 4 is camera collection modular circuit principle sketch of the present invention;
Fig. 5 is the structure diagram of wireless communication module one of the present invention and wireless communication module two;
Fig. 6 is motor control module electrical schematic diagram of the present invention;
Fig. 7 is power module circuitry sketch of the present invention;
Fig. 8 is program software flow chart of the present invention;
Fig. 9 is structure diagram of the present invention.
The specific embodiment
As shown in Figure 1: a kind of reconnaissance robot based on radio communication comprises robot and inspection center; Inspection center comprises wireless communication module one, and robot comprises wireless communication module two, and robot intercoms mutually by the wireless communication module one of wireless communication module two with inspection center.
Inspection center comprises wireless communication module one, display, and remote controller, wireless communication module one intercoms mutually with remote controller, and remote controller is connected with display.
Robot comprises the camera collection module, central processing control module, ultrasonic distance measuring module, robot mechanical body, motor control module, wireless communication module two; The robot mechanical body is equipped with motor control module with four limbs on the four limbs, motor control module control drives the motion of vehicle body and four limbs; Described central processing control module receives and process information, and sends command information to modules; Described ultrasonic distance measuring module is used for range finding and input information is arrived central processing control module; The Information Monitoring of camera collection module, and with the signal data that collects by wireless transport module two transmitting terminals in the robot to wireless communication module one, in real time information is sent to the receiving terminal of the wireless module of central control system, the data communication device that receives is crossed central control system and is processed judgement, and the information after will receiving and process in real time shows in the display module of inspection center, remote controller mainly is by wireless module the central processing control module of Detecting Robot to be controlled, and remote controller is responsible for that Detecting Robot is sent instruction and is controlled.
As shown in Figure 2: the circuit chip model as shown in the figure.In order to make effectively avoiding obstacles of robot, in this robot, settled the 5MW laser tube for it, be that robot can survey the place ahead and whether has barrier Yao Ya billows, in order to judge in time, movement velocity and the direction to adjusting self in real time.The emission principle of laser and the particularity of production process have determined that laser has that the monochromaticjty that normal optical do not have is good, the coherence is good, good directionality, brightness high.
As shown in Figure 3: in this module, adopted the ultrasonic sensor of TCT40-16R/T (diameter 16MM) model, as the information module of robot range finding.This sensor can normally be worked under the frequency of 40KHZ, find range at any time, in real time signal is passed to CPU, CPU analyzes it, process, control signal is transferred to motor and steering wheel, the position of control disturbance in judgement thing, and it is hidden timely, change the direction of its motion.
As shown in Figure 4: the camera collection module adopts the OV7620CMOS camera.The cardinal principle of camera work is: by certain resolution ratio, with the point on the interleaved mode sampled images, when scanning certain point, just by image sensor chip the gradation conversion of this some place image is become the magnitude of voltage that becomes one-to-one relationship with gray scale, then this magnitude of voltage is exported by the vision signal end.
As shown in Figure 5: wireless communication module one and wireless communication module two all adopt the wireless control module of CC 1100 to the control of robot, avoid with wire it being controlled, and make robot can adapt to more landform.In doing process in kind, once attempted adopting 2401 to control, find that 2401 transmission range is smaller, be unfavorable for control, lose easily collection signal.Through a large amount of experiments and meticulous screening, final decision adopts CC1100 as wireless transport module, thereby has realized the raising of transmission range.CC1100 is the UHF transceiver of the real monolithic of a kind of low cost, uses for low-consumption wireless and designs.Main circuit will be set as 315,433,868 and the ISM(of 915MHZ industry, science and medical science) and the SRD(short-range device) frequency band, can easily be set to other frequencies of 300-348MHZ, 400-464MHZ and 800-928MHZ.The RF transceiver is integrated highly configurable modem.This modem is supported different modulation formats, and its data transmission rate can reach 500KBPS.Be integrated in forward error recovery option on the modem by unlatching, performance is got a promotion.CC1100 provides widely hardware supported for processing data packets, data buffering, burst transfers of data, clear channel estimating, quality of connection indication and electromagnetic wave excites.The main operating parameters of CC1100 and 64 transmission/reception FIFO(FIFO stacks) can be by the control of SPI interface.
Shown in Fig. 6 six: the control circuit schematic diagram of motor, they are different from consistent caterpillar type robot, in the structure of this robot, tire and four limbs are settled simultaneously.Advance road conditions when good in robot, and four limbs are packed up, and only need advance with tire and navigation steering wheel.The control of motor has adopted the H bridge circuit to realize.Control arm 1 sets high level (U=VCC), when control arm 2 is set to low level (U=0), and Q1, Q4 cut-off, Q2, Q3 conducting, motor left end low level, the right-hand member high level is so electric current flows along the direction of arrow.If motor forward.Control arm 1 is set to low level, when control arm 2 sets high level, Q2, Q3 cut-off, Q1, Q4 conducting, the motor left end is high level, the right-hand member low level is so electric current flows along the direction of arrow.If motor reversal.When putting control arm 1,2 and be low level, Q1, Q2 conducting, Q3, Q4 cut-off, the motor two ends are high level, and motor does not turn; When putting control arm 1,2 and be high level, Q1, Q2 cut-off, Q3, Q4 conducting, the motor two ends are low level, and motor does not turn yet.
As shown in Figure 7: the control module of power supply.For the power supply aspect, because this robot has 11 steering wheels and a motor and other modules, the electric current that needs is very large.Especially aspect steering wheel, adopted LM2576 voltage stabilizing chip (maximum current can reach 3A) that it is controlled, made steering wheel in the situation of load, enough current drives can be arranged, in order to timely the information that checks out is made corresponding reaction.
As shown in Figure 8: the software flow pattern of this device.In program, at first pass through switch open, open the power supply of modules, if robot runs into by Photoelectric Detection module and ultrasonic distance measuring module, barrier has judged whether barrier, will pass through the camera collection module if having, send on-the-spot obstacle image, if as not having, robot continues to advance, when robot is out of hand, obstacle and the sight that will automatically move robot itself send image, if no, remote-controlled device robot, realize robot can be under the fried environment in the ore deposit of danger the timely information of collection site, be that the staff in time understands field data, also reduced the potential safety hazard at staff's scene.
As shown in Figure 9: be the structure diagram of this device, this structure diagram is by the entity of making, and draws for entity robot overall structure model sketch in proportion by PROE5.0.
The above; only be the better specific embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.
Claims (3)
1. reconnaissance robot based on radio communication, comprise robot and inspection center, it is characterized in that: inspection center comprises wireless communication module one, and robot comprises wireless communication module two, and robot intercoms mutually by the wireless communication module one of wireless communication module two with inspection center.
2. a kind of reconnaissance robot based on radio communication according to claim 1, it is characterized in that: inspection center comprises display, remote controller, wireless communication module one intercoms mutually with remote controller, and remote controller is connected with display.
3. a kind of reconnaissance robot based on radio communication according to claim 1, it is characterized in that: robot comprises camera collection module, central processing control module, ultrasonic distance measuring module, electro-optical distance measurement module, robot mechanical body, motor control module, wireless communication module two; In the electro-optical distance measurement module photoelectric sensor is set, the robot mechanical body is equipped with motor control module with four limbs on the four limbs, and motor control module control drives the motion of vehicle body and four limbs; Described central processing control module receives and process information, and sends command information to modules; Described ultrasonic distance measuring module is used for range finding and input information is arrived central processing control module; The Information Monitoring of camera collection module, and with the signal data that collects by wireless transport module two transmitting terminals in the robot to wireless communication module one, in real time information is sent to the receiving terminal of the wireless module of central control system, the data communication device that receives is crossed central control system and is processed judgement, and the information after will receiving and process in real time shows in the display module of inspection center, remote controller mainly is by wireless module the central processing control module of Detecting Robot to be controlled, and remote controller is responsible for that Detecting Robot is sent instruction and is controlled.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103337145A (en) * | 2013-06-05 | 2013-10-02 | 洛阳理工学院 | Intelligent reconnaissance system based on wireless image transmission |
| CN103442206A (en) * | 2013-08-16 | 2013-12-11 | 广州杰赛科技股份有限公司 | Environment detection device and environment detection system |
| CN103495979A (en) * | 2013-09-30 | 2014-01-08 | 湖北三江航天红林探控有限公司 | Explosive-handling robot controlled through wireless and wired channels |
| CN103676870A (en) * | 2013-12-09 | 2014-03-26 | 淮南矿业(集团)有限责任公司 | Mining remote bilateral control system |
| CN104819383A (en) * | 2015-04-27 | 2015-08-05 | 重庆交通大学 | Intelligent detection trolley based on Labview |
| CN104828247A (en) * | 2015-05-12 | 2015-08-12 | 东华大学 | Multi-functional measurement and control reconnaissance aircraft system |
| CN105605370A (en) * | 2016-02-05 | 2016-05-25 | 四川农业大学 | Wireless-remote-control three-way crawler-type pipe dredging robot |
| CN105955256A (en) * | 2016-04-28 | 2016-09-21 | 四川九鼎智远知识产权运营有限公司 | Detection robot and control system thereof |
| CN106345093A (en) * | 2016-10-28 | 2017-01-25 | 天津城建大学 | Fire-fighting robot system |
| CN106408807A (en) * | 2016-06-21 | 2017-02-15 | 天津京雄科技工程发展有限公司 | Smart fire scene escaping system and evacuating method for large-scale exhibition halls |
| CN107024821A (en) * | 2017-05-18 | 2017-08-08 | 深圳市沃特沃德股份有限公司 | The method and lighting device of a kind of lighting device capturing information |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
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| CN103495979A (en) * | 2013-09-30 | 2014-01-08 | 湖北三江航天红林探控有限公司 | Explosive-handling robot controlled through wireless and wired channels |
| CN103495979B (en) * | 2013-09-30 | 2015-06-24 | 湖北三江航天红林探控有限公司 | Explosive-handling robot controlled through wireless and wired channels |
| CN103676870A (en) * | 2013-12-09 | 2014-03-26 | 淮南矿业(集团)有限责任公司 | Mining remote bilateral control system |
| CN104819383A (en) * | 2015-04-27 | 2015-08-05 | 重庆交通大学 | Intelligent detection trolley based on Labview |
| CN104828247A (en) * | 2015-05-12 | 2015-08-12 | 东华大学 | Multi-functional measurement and control reconnaissance aircraft system |
| CN105605370A (en) * | 2016-02-05 | 2016-05-25 | 四川农业大学 | Wireless-remote-control three-way crawler-type pipe dredging robot |
| CN105955256A (en) * | 2016-04-28 | 2016-09-21 | 四川九鼎智远知识产权运营有限公司 | Detection robot and control system thereof |
| CN105955256B (en) * | 2016-04-28 | 2019-02-26 | 石家庄求实通信设备有限公司 | A kind of Detecting Robot and its control system |
| CN106408807A (en) * | 2016-06-21 | 2017-02-15 | 天津京雄科技工程发展有限公司 | Smart fire scene escaping system and evacuating method for large-scale exhibition halls |
| CN106345093A (en) * | 2016-10-28 | 2017-01-25 | 天津城建大学 | Fire-fighting robot system |
| CN107024821A (en) * | 2017-05-18 | 2017-08-08 | 深圳市沃特沃德股份有限公司 | The method and lighting device of a kind of lighting device capturing information |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
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Application publication date: 20130327 |