CN107414861A - The wheeled rescue robot of remote command - Google Patents
The wheeled rescue robot of remote command Download PDFInfo
- Publication number
- CN107414861A CN107414861A CN201710774788.5A CN201710774788A CN107414861A CN 107414861 A CN107414861 A CN 107414861A CN 201710774788 A CN201710774788 A CN 201710774788A CN 107414861 A CN107414861 A CN 107414861A
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- China
- Prior art keywords
- remote command
- robot
- rescue
- controller
- command end
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wheeled rescue robot of remote command, including remote command end, network service and robot body part, robot body part is the object of remote command end remote command, rescue robot main part includes camera, video encoder, controller, network communication module, distance communicating device and the various sensors being arranged on rescue machine human agent, and remote command end includes main frame, display screen, runtime server.Environment temperature and harmful gas concentration are detected by temperature sensor and air quality detector, camera and positioner can gather road conditions and the running status of rescue robot in front of rescue robot.The operating personnel at remote command end can be monitored road conditions in front of rescue robot by display screen and take corresponding measure, can also be searched trapped personnel by life detecting device and be sued and laboured.It is of the invention reliable efficient, improve operating efficiency and trapped personnel is survived rate.
Description
Technical field
The present invention relates to disaster relief robot field, specifically a kind of wheeled rescue robot of remote command.
Background technology
The whole world suffers from the destruction of a large amount of natural calamities and man-made disaster every year, and according to statistics, the whole world is daily about at present
There is more than 800 big and small disaster, and almost the most rescue occasion mankind are difficult the very first time to enter disaster
Ground.Statistics display, the whole world in nearly 100 years earthquake tolls more than 1,100,000, and due to rescue occasion complexity, the mankind can not
Rescue is timely entered, causes nearly three one-tenth people to be plunged to death in disaster generating region.Counted according to international aid agencies of the United Nations, dead people
Several 70% is direct loss of life when disaster occurs, and remaining 30% people be due to rescue not in time with rescue field
The complexity of conjunction, optimal rescue time is delayed and has lost life.After disaster occurs, survivor is searched in ruins, giving must
The medical rescue wanted, and it is the urgent task that rescue personnel faces to rescue captive as early as possible.Practical experience showed, more than 48 hours
The probability for the survivor's survival being trapped in afterwards in ruins becomes more and more lower.In addition, field condition is complicated, and rescue personnel is certainly
Body cannot be guaranteed safely, also rescue work can be hindered fast and effeciently to carry out.
And existing rescue robot is relatively simple due to its structure, it is impossible to environment after the calamity of complexity is well adapted for, and
Powerful rescue robot price is again sufficiently expensive, is not easy to popularize.
The content of the invention is it is an object of the invention to provide a kind of wheeled rescue robot of remote command, to solve prior art
Rescue robot can not adapt to the problem of environment after complicated calamity.
In order to achieve the above object, the technical solution adopted in the present invention is：
The wheeled rescue robot of remote command, it is characterised in that：Including remote command end, robot body part, robot master
Body portion is by the robot body with mechanical arm, and camera on robot body, video encoder, control
Device, network communication module, distance communicating device are formed, wherein：
In robot body part, camera access video encoder, the road advanced by video encoder collection robot body
Road video image is simultaneously handled；
In robot body part, video encoder, distance communicating device, and driving robot body advances and mechanical arm moves
Motor driver corresponding to the motor of work by network communication module access controller, is regarded by network communication module structure respectively
LAN between frequency encoder, distance communicating device, motor driver and controller, while controller passes through network service mould
Block accesses wireless network to be connected with remote command end communication, and the road video image after video encoder processing passes through LAN
Be sent to controller, and remote command end be sent to by wireless network by controller, remote command end by wireless network to
Controller sends instruction, after controller reception instruction, control camera work, and start the realization of distance communicating device and remotely refer to
End and the real-time contacts of trapped personnel are waved, while controller controls each motor driver, and then control machine people according to instruction
The traveling action of body and the action of mechanical arm.
The wheeled rescue robot of described remote command, it is characterised in that：Be additionally provided with robot body temperature sensor,
Vital signs detection instrument, ultrasonic distance-measuring sensor, Big Dipper positioner, air quality detector, temperature sensor, life
Feature detection instrument, ultrasonic distance-measuring sensor, Big Dipper positioner, air quality detector pass through network communication module respectively
The LAN optimization controller of structure, wherein：
Temperature sensor measurement disaster scene air themperature, and will send information to remote controllers, then by controller send to
Remote command end；
Vital signs detection instrument detection disaster scene is stranded the masses, and its specific life spy is sent into remote controllers, then
Sent by controller to remote command end；
Ultrasonic distance-measuring sensor robot measurement main body and the distance of surrounding buildingses and barrier, and distance is sent to remotely
Controller, then sent by controller to remote command end, the road video image that camera collection is combined by remote command end is complete
Into the environmental modeling of disaster scene；
Rescue robot is precisely located Big Dipper positioner.And location data is sent to remote controllers, then by
Controller is sent to remote command end；
Air quality detector is detected to the pernicious gas of disaster scene, and various harmful gas concentrations are sent to remotely
Controller, then sent by controller to remote command end.
The wheeled rescue robot of described remote command, it is characterised in that：The remote command end includes main frame and difference
Display screen, the runtime server of access host；
The main frame is the core component at remote command end, wired network interface and wireless Wi-Fi terminals is equipped with, by main frame
The control software remote command rescue robot main part of installation；
The display screen is the display unit at remote command end, can show road conditions and operation in front of rescue robot main part
State；
Described runtime server can establish connecting and binding for main frame and rescue robot main part, realize main frame to rescue
The straighforward operation of robot；
By establishing the radio communication of rescue robot main part and main frame, by the information of rescue robot, including speed, position
Put, directional information is transferred to main frame, and show on a display screen；Operating personnel pass through control software according to the information fed back to
Rescue robot is operated, including turns to, accelerate, slowing down, stopping, removing obstacles, realizes rescue robot according to operation
The intention work of person.
The wheeled rescue robot of described remote command, it is characterised in that：Remote command end uses multi-agent Technology, far
Journey command terminal can establish radio communication with multiple rescue robots, on a display screen the operation of each rescue robot of split screen display available
State, while there are multiple passages to correspond to multiple rescue robots in the control software of main frame, operating personnel can pass through one
PC host remotes are remotely controlled multiple rescue robots.
Compared with existing rescue robot, beneficial effects of the present invention are embodied in：
The present invention adds a variety of advanced sensors on the basis of existing rescue robot, and make use of multisensor to melt
Conjunction technology, it is possible to achieve remote control, it is long-range right to be realized on the premise of stranded masses position is accurately positioned with it
Words, their latest Status, convenient rescue are held in real time.And this rescue robot can carry a small amount of relief goods,
To solve the need of matter as a fire singeing one's eyebrows.The barrier on advance road surface can be cleaned out by being arranged on the scraper bowl in front, and manipulator can also be from
Side auxiliary.In addition, the wheeled rescue robot of this remote command also uses MAS control technology, can be in long-range PC
End is realized more rescue robots while manipulated, and is brought great convenience for rescue personnel, is effectively improved rescue efficiency,
Add the rate of surviving of trapped personnel.
Brief description of the drawings
Fig. 1 is the internal lan schematic diagram of the wheeled rescue robot of remote command of the present invention.
Fig. 2 is the system framework schematic diagram of the wheeled rescue robot of remote command of the present invention.
Fig. 3 is the operating diagram of the wheeled rescue robot of remote command of the present invention.
Fig. 4 is the workflow diagram of the wheeled rescue robot of remote command of the present invention.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the wheeled rescue robot of remote command, including remote command end, robot body portion
Point, robot body part is by the robot body with mechanical arm, and camera, video on robot body
Encoder, controller, network communication module, distance communicating device are formed, wherein：
In robot body part, camera access video encoder, the road advanced by video encoder collection robot body
Road video image is simultaneously handled；
In robot body part, video encoder, distance communicating device, and driving robot body advances and mechanical arm moves
Motor driver corresponding to the motor of work by network communication module access controller, is regarded by network communication module structure respectively
LAN between frequency encoder, distance communicating device, motor driver and controller, while controller passes through network service mould
Block accesses wireless network to be connected with remote command end communication, and the road video image after video encoder processing passes through LAN
Be sent to controller, and remote command end be sent to by wireless network by controller, remote command end by wireless network to
Controller sends instruction, after controller reception instruction, control camera work, and start the realization of distance communicating device and remotely refer to
End and the real-time contacts of trapped personnel are waved, while controller controls each motor driver, and then control machine people according to instruction
The traveling action of body and the action of mechanical arm.
It is fixed that temperature sensor, vital signs detection instrument, ultrasonic distance-measuring sensor, the Big Dipper are additionally provided with robot body
Position device, air quality detector, temperature sensor, vital signs detection instrument, ultrasonic distance-measuring sensor, Big Dipper positioning dress
Put, the LAN optimization controller that air quality detector is built by network communication module respectively, wherein：
Temperature sensor measurement disaster scene air themperature, and will send information to remote controllers, then by controller send to
Remote command end；
Vital signs detection instrument detection disaster scene is stranded the masses, and its specific life spy is sent into remote controllers, then
Sent by controller to remote command end；
Ultrasonic distance-measuring sensor robot measurement main body and the distance of surrounding buildingses and barrier, and distance is sent to remotely
Controller, then sent by controller to remote command end, the road video image that camera collection is combined by remote command end is complete
Into the environmental modeling of disaster scene；
Rescue robot is precisely located Big Dipper positioner.And location data is sent to remote controllers, then by
Controller is sent to remote command end；
Air quality detector is detected to the pernicious gas of disaster scene, and various harmful gas concentrations are sent to remotely
Controller, then sent by controller to remote command end.
Remote command end includes main frame and is respectively connected to the display screen of main frame, runtime server；
Main frame is the core component at remote command end, wired network interface and wireless Wi-Fi terminals is equipped with, by being installed on main frame
Control software remote command rescue robot main part；
Display screen is the display unit at remote command end, can show road conditions and operation shape in front of rescue robot main part
State；
Runtime server can establish connecting and binding for main frame and rescue robot main part, realize main frame to rescue robot
Straighforward operation；
By establishing the radio communication of rescue robot main part and main frame, by the information of rescue robot, including speed, position
Put, directional information is transferred to main frame, and show on a display screen；Operating personnel pass through control software according to the information fed back to
Rescue robot is operated, including turns to, accelerate, slowing down, stopping, removing obstacles, realizes rescue robot according to operation
The intention work of person.
Remote command end uses multi-agent Technology, and remote command end can establish radio communication with multiple rescue robots,
The running status of each rescue robot of split screen display available on a display screen, while have multiple passages corresponding in the control software of main frame
In multiple rescue robots, operating personnel can be remotely controlled multiple rescue robots by a PC host remote.
The wheeled rescue robot of remote command of the present invention employs multi-agent Technology, remote control terminal can with it is multiple
Rescue robot establishes radio communication, the running status of each rescue robot of split screen display available, while in main frame on a display screen
Control software there are multiple passages to correspond to multiple rescue robots, operating personnel can be commanded more by a PC host remote
Individual rescue robot.
The workflow of the present invention is as shown in Figure 4：
A, only operating personnel need to be equipped with remote command end, operational order is assigned to rescue robot by main frame；
B, rescue robot first can be to the environment temperature at scene, harmful gas concentration etc. in air after rescue site is entered
Environmental aspect is detected, and testing result is sent into remote command end；
C, rescue robot in the process of moving, if operating personnel observe that rescue robot runs into barrier, can pass through
Host remote directs rescue work robot steering, avoiding obstacles.If remote command is all unable to avoiding obstacles, remote command
Rescue robot coordinates cleaning obstacle using mechanical arm and scraper bowl；
D, rescue robot finds survivor by detecting sign of life, opens the distance communicating with remote command end, allows long-range
Command terminal holds the health of survivor in real time, and using the storage tank on rescue robot for its provide necessary food with
The goods and materials such as water.
Claims (4)
1. the wheeled rescue robot of remote command, it is characterised in that：Including remote command end, robot body part, robot
Main part is by the robot body with mechanical arm, and camera on robot body, video encoder, control
Device processed, network communication module, distance communicating device are formed, wherein：
In robot body part, camera access video encoder, the road advanced by video encoder collection robot body
Road video image is simultaneously handled；
In robot body part, video encoder, distance communicating device, and driving robot body advances and mechanical arm moves
Motor driver corresponding to the motor of work by network communication module access controller, is regarded by network communication module structure respectively
LAN between frequency encoder, distance communicating device, motor driver and controller, while controller passes through network service mould
Block accesses wireless network to be connected with remote command end communication, and the road video image after video encoder processing passes through LAN
Be sent to controller, and remote command end be sent to by wireless network by controller, remote command end by wireless network to
Controller sends instruction, after controller reception instruction, control camera work, and start the realization of distance communicating device and remotely refer to
End and the real-time contacts of trapped personnel are waved, while controller controls each motor driver, and then control machine people according to instruction
The traveling action of body and the action of mechanical arm.
2. the wheeled rescue robot of remote command according to claim 1, it is characterised in that：It is additionally provided with robot body
Temperature sensor, vital signs detection instrument, ultrasonic distance-measuring sensor, Big Dipper positioner, air quality detector, temperature
Sensor, vital signs detection instrument, ultrasonic distance-measuring sensor, Big Dipper positioner, air quality detector pass through respectively
The LAN optimization controller of network communication module structure, wherein：
Temperature sensor measurement disaster scene air themperature, and will send information to remote controllers, then by controller send to
Remote command end；
Vital signs detection instrument detection disaster scene is stranded the masses, and its specific life spy is sent into remote controllers, then
Sent by controller to remote command end；
Ultrasonic distance-measuring sensor robot measurement main body and the distance of surrounding buildingses and barrier, and distance is sent to remotely
Controller, then sent by controller to remote command end, the road video image that camera collection is combined by remote command end is complete
Into the environmental modeling of disaster scene；
Rescue robot is precisely located Big Dipper positioner, and location data is sent into remote controllers, then by
Controller is sent to remote command end；
Air quality detector is detected to the pernicious gas of disaster scene, and various harmful gas concentrations are sent to remotely
Controller, then sent by controller to remote command end.
3. the wheeled rescue robot of remote command according to claim 1, it is characterised in that：The remote command end includes
Main frame and it is respectively connected to the display screen of main frame, runtime server；
The main frame is the core component at remote command end, wired network interface and wireless Wi-Fi terminals is equipped with, by main frame
The control software remote command rescue robot main part of installation；
The display screen is the display unit at remote command end, can show road conditions and operation in front of rescue robot main part
State；
Described runtime server can establish connecting and binding for main frame and rescue robot main part, realize main frame to rescue
The straighforward operation of robot；
By establishing the radio communication of rescue robot main part and main frame, by the information of rescue robot, including speed, position
Put, directional information is transferred to main frame, and show on a display screen；Operating personnel pass through control software according to the information fed back to
Rescue robot is operated, including turns to, accelerate, slowing down, stopping, removing obstacles, realizes rescue robot according to operation
The intention work of person.
4. the wheeled rescue robot of remote command according to claim 1, it is characterised in that：Remote command end uses more intelligence
Energy body technique, remote command end can establish radio communication with multiple rescue robots, each rescue of split screen display available on a display screen
The running status of robot, while there are multiple passages to correspond to multiple rescue robots, operating personnel in the control software of main frame
Multiple rescue robots can be remotely controlled by a PC host remote.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774788.5A CN107414861A (en) | 2017-08-31 | 2017-08-31 | The wheeled rescue robot of remote command |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774788.5A CN107414861A (en) | 2017-08-31 | 2017-08-31 | The wheeled rescue robot of remote command |
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| Publication Number | Publication Date |
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| CN107414861A true CN107414861A (en) | 2017-12-01 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710774788.5A Pending CN107414861A (en) | 2017-08-31 | 2017-08-31 | The wheeled rescue robot of remote command |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108169816A (en) * | 2018-01-10 | 2018-06-15 | 上海浩毅安防科技有限公司 | Post disaster relief personnel and indicator of trapped personnel alignment system |
| CN109087550A (en) * | 2018-10-13 | 2018-12-25 | 南京吉目希自动化科技有限公司 | A kind of long-range control industrial robot experience system |
| CN109125987A (en) * | 2018-08-14 | 2019-01-04 | 安徽速飞航空航天科技有限公司 | A kind of 4G intelligent fire fighting rescue system and 4G intelligent fire fighting relief car |
| CN110091327A (en) * | 2019-03-28 | 2019-08-06 | 苏州博瑞芯智能科技有限公司 | A kind of rescue robot control system |
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| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN103790625A (en) * | 2012-11-01 | 2014-05-14 | 西安扩力机电科技有限公司 | Underground coal mine safety rescue route detection system |
| CN106873560A (en) * | 2017-04-12 | 2017-06-20 | 大连海事大学 | A kind of Tunnel Fire initial stage rescues accessory system and method |
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2017
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103790625A (en) * | 2012-11-01 | 2014-05-14 | 西安扩力机电科技有限公司 | Underground coal mine safety rescue route detection system |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN106873560A (en) * | 2017-04-12 | 2017-06-20 | 大连海事大学 | A kind of Tunnel Fire initial stage rescues accessory system and method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108169816A (en) * | 2018-01-10 | 2018-06-15 | 上海浩毅安防科技有限公司 | Post disaster relief personnel and indicator of trapped personnel alignment system |
| CN109125987A (en) * | 2018-08-14 | 2019-01-04 | 安徽速飞航空航天科技有限公司 | A kind of 4G intelligent fire fighting rescue system and 4G intelligent fire fighting relief car |
| CN109087550A (en) * | 2018-10-13 | 2018-12-25 | 南京吉目希自动化科技有限公司 | A kind of long-range control industrial robot experience system |
| CN109087550B (en) * | 2018-10-13 | 2024-05-03 | 南京吉目希自动化科技有限公司 | Remote control industrial robot practical training system |
| CN110091327A (en) * | 2019-03-28 | 2019-08-06 | 苏州博瑞芯智能科技有限公司 | A kind of rescue robot control system |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20171201 |