CN107861410A - A kind of long distance wireless movement sniffing robot detection system and its detection method - Google Patents
A kind of long distance wireless movement sniffing robot detection system and its detection method Download PDFInfo
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- CN107861410A CN107861410A CN201710853823.2A CN201710853823A CN107861410A CN 107861410 A CN107861410 A CN 107861410A CN 201710853823 A CN201710853823 A CN 201710853823A CN 107861410 A CN107861410 A CN 107861410A
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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Abstract
A kind of long distance wireless movement sniffing robot detection system and its detection method.System includes information exchange center and mobile sniffing robot；Information exchange center is the mobile device for the support WiFi that operating personnel use；Mobile sniffing robot includes core controller, WiFi module, sensor assembly, camera, lower floor's controller, mechanical arm, camera head and the power module using motor as the mobile vehicle of power and in mobile vehicle.Effect of the present invention：Rescue personnel can move sniffing robot mode to obtain rescue site information without entering rescue site by remote control；It can be carried out investigations instead of rescue personnel into dangerous rescue site, and perform rescue work to a certain extent；There is stabilization using WiFi network communication, scope is larger, the advantages of limitation by wired communications cable.Have the advantages that easy to control, working range is wide, communication is stable, real-time is good, suitable for the field such as earthquake relief work and battlefield cleaning.
Description
Technical field
The invention belongs to mobile detection technology field, more particularly to a kind of long distance wireless movement sniffing robot detection system
System and its detection method.
Background technology
Post disaster relief refers to that earthquake, mine disaster, blast etc. be sudden and short-time characteristic disaster, search afterwards and rescue operation
It is faced with the complexity and danger of environment.The opportunity of Post disaster relief is very important, but environment live after calamity is full of
Uncertain hazards, and are limited by terrain environment after calamity, rescue personnel often the very first time can not enter rescue
Scene, how as early as possible rescue site information, to ensure that rescue personnel's personal safety just seems most important, but still lacks this at present
The system of sample.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of long distance wireless movement sniffing robot detection system
System and its detection method.
In order to achieve the above object, long distance wireless movement sniffing robot detection system provided by the invention includes：Information
Interaction center and mobile sniffing robot；Wherein information exchange center is the mobile device for the support WiFi that operating personnel use；
Mobile sniffing robot is arranged on rescue region, including using motor as the mobile vehicle of power and installed in mobile vehicle
On core controller, WiFi module, sensor assembly, camera, lower floor's controller, mechanical arm, camera head and power supply
Module；Wherein：Core controller is connected with WiFi module, sensor assembly, camera and lower floor's controller respectively, lower floor's control
Controller of the device processed respectively with mobile vehicle, mechanical arm and camera head is connected；On power module and mobile sniffing robot
Each consuming parts connection；WiFi module is connected with information exchange centrally through WiFi network, and camera is arranged on shooting
On head head.
Described mobile vehicle is caterpillar, and motor uses miniature 150 direct current generator；Core controller is with
Layer controller uses STC89C52 single chip；Sensor assembly includes distance measuring sensor, Temperature Humidity Sensor and GPS module；
Camera uses sieve skill C270 cameras of 5,000,000 pixels；WiFi module uses EP-N8508GS；Power module is by two pieces of batteries
Composition, the battery that one of voltage is high, capacity is big are the motor power supply in mobile vehicle, and another piece of voltage is smaller, holds
Less battery is measured to supply for core controller, WiFi module, sensor assembly, lower floor's controller, mechanical arm and camera head
Electricity；Steering wheel and two manipulators are carried on mechanical arm, and there are some frees degree.
The detection method of long distance wireless movement sniffing robot detection system provided by the invention includes what is carried out in order
The following steps：
1) when needing to use this detection system when Post disaster relief, rescued first by operating personnel using information exchange center
Help region and establish WiFi wireless environments, then operating personnel's logon information interaction center；
2) mobile sniffing robot is by WiFi network access information interaction center, and operating personnel are at information exchange center
Camera and sensor assembly control instruction are inputted in control interface, is led to after being then converted into control language by information exchange center
Cross WiFi module and send core controller to, rescue the image in region using camera collection under the control of core controller,
And control the motor on camera head to rotate by lower floor's controller, and then drive camera to rotate up and down, to expand
Field range, then send image to core controller；Passed simultaneously using the distance measuring sensor in sensor assembly, humiture
Sensor and GPS module detect distance, ambient temperature and humidity and the mobile explorer between mobile vehicle and surrounding rescue target respectively
The positional information of device people, is then transferred to core controller；Core controller again passes above-mentioned image and information through WiFi module
Information exchange center is given, information exchange center is shown in its control interface after treatment；
3) operating personnel grasp rescue site in real time according to the image and information that are shown in the control interface of information exchange center
Situation, and judge rapidly, mobile vehicle and mechanical arm control then inputted in the control interface at information exchange center
Instruction, is converted into after control language by information exchange center sends core controller to by WiFi module afterwards, then through lower floor
Controller sends mobile vehicle and mechanical arm to；
4) mobile vehicle produces corresponding action according to above-mentioned control instruction, including advances, retreats, turns left, turns right or stop
Only, until reaching in the opereating specification of mechanical arm, then mechanical arm produces corresponding action according to above-mentioned control instruction, including upper
Move, move down, move to left, move to right, finally target object or trapped personnel are captured using two manipulators and are moved to safe place.
Long distance wireless movement sniffing robot detection system provided by the invention and its detection method have following beneficial to effect
Fruit：
1st, rescue personnel can move sniffing robot mode to be rescued without entering rescue site by remote control
Help field data；
2nd, rescue personnel can be replaced to enter dangerous rescue site to carry out investigations, and performs rescue work to a certain extent
Make；And there is stabilization using WiFi network communication, scope is larger, the advantages of limitation by wired communications cable.
3rd, have the advantages that easy to control, working range is wide, communication is stable, real-time is good, suitable for earthquake relief work and war
The fields such as field cleaning.
Brief description of the drawings
Fig. 1 is that long distance wireless provided by the invention moves sniffing robot detection system structure chart.
Fig. 2 is the detection method flow chart that long distance wireless provided by the invention moves sniffing robot detection system.
Embodiment
Sniffing robot detection system is moved to long distance wireless provided by the invention with specific embodiment below in conjunction with the accompanying drawings
And its detection method is described in detail.
As shown in figure 1, long distance wireless movement sniffing robot detection system provided by the invention includes：
Information exchange center 1 and mobile sniffing robot 2；Wherein information exchange center 1 is the branch that operating personnel 3 use
Hold WiFi mobile device；Mobile sniffing robot 2 is arranged on rescue region, including the mobile vehicle using motor as power
26 and the core controller 21 in mobile vehicle 26, WiFi modules 22, sensor assembly 23, camera 24, lower floor
Controller 25, mechanical arm 27, camera head 28 and power module 29；Wherein：Core controller 21 respectively with WiFi module
22nd, sensor assembly 23, camera 24 and lower floor's controller 25 connect, lower floor's controller 25 respectively with mobile vehicle 26, machinery
Arm 27 connects with the controller of camera head 28；Power module 29 connects with each consuming parts on mobile sniffing robot 2
Connect；WiFi module 22 is connected with information exchange center 1 by WiFi network, and camera 24 is arranged on camera head 28
On.
Described mobile vehicle 26 is caterpillar, and motor uses miniature 150 direct current generator.Core controller 21
STC89C52 single chip is used with lower floor controller 25.Sensor assembly 23 include distance measuring sensor, Temperature Humidity Sensor and
GPS module.Camera 24 uses sieve skill C270 cameras of 5,000,000 pixels.WiFi module 22 uses EP-N8508GS.Power supply mould
Block 29 is made up of two pieces of batteries, and the battery that one of voltage is high, capacity is big is the motor power supply in mobile vehicle 26, separately
One piece of voltage is smaller, and the less battery of capacity is core controller 21, WiFi module 22, sensor assembly 23, lower floor's controller
25th, mechanical arm 27 and camera head 28 are powered.Steering wheel and two manipulators are carried on mechanical arm 27, and there are some freedom
Degree.
As shown in Fig. 2 the detection method bag of sniffing robot detection system is moved using long distance wireless provided by the invention
Include the following steps carried out in order：
1) when needing to use this detection system when Post disaster relief, existed first by operating personnel 3 using information exchange center 1
WiFi wireless environments are established in rescue region, then the logon information interaction center 1 of operating personnel 3；
2) mobile sniffing robot 2 is by WiFi network access information interaction center 1, and operating personnel 3 are in information exchange
Camera and sensor assembly control instruction are inputted in the control interface of the heart 1, control language is then converted into by information exchange center 1
Core controller 21 is sent to by WiFi module 22 after speech, rescued under the control of core controller 21 using the collection of camera 24
The image in region is helped, and controls the motor on camera head 28 to rotate by lower floor's controller 25, and then drives camera 24
Rotate up and down, to expand field range, then send image to core controller 21；Utilize sensor assembly 23 simultaneously
In distance measuring sensor, Temperature Humidity Sensor and GPS module detect respectively mobile vehicle 26 and surrounding rescue target between distance,
The positional information of ambient temperature and humidity and mobile sniffing robot 2, is then transferred to core controller 21；Core controller 21
Send above-mentioned image and information to information exchange center 1 through WiFi module 22 again, information exchange center 1 is after treatment at it
Shown in control interface；
3) it is existing to grasp rescue according to the image and information shown in the control interface of information exchange center 1 in real time by operating personnel 3
The situation of field, and judge rapidly, mobile vehicle and mechanical arm control are then inputted in the control interface at information exchange center 1
System instruction, is converted into after control language by information exchange center 1 sends core controller 21 to by WiFi module 22 afterwards,
Again mobile vehicle 26 and mechanical arm 27 are sent to through lower floor's controller 25；
4) mobile vehicle 26 produces corresponding action according to above-mentioned control instruction, including advance, retreat, turning left, turning right or
Stop, until reaching in the opereating specification of mechanical arm 27, then mechanical arm 27 produces corresponding action according to above-mentioned control instruction,
Including moving up, moving down, moving to left, moving to right, finally target object or trapped personnel are captured using two manipulators and are moved to peace
Full place.
Above-mentioned related experiment applies to describe the present invention, but above-mentioned experiment is only the example of the present invention, it is necessary to points out
, the real experiment disclosed is not limiting as the scope of the present invention, on the contrary, not departing from changing of being made in the present invention and scope
Dynamic and wetting, belongs to protection scope of the present invention.
Claims (3)
1. a kind of long distance wireless moves sniffing robot detection system, it is characterised in that：Described long distance wireless movement explorer
Device people's detection system includes：
Information exchange center (1) and mobile sniffing robot (2)；Wherein information exchange center (1) is what operating personnel (3) used
Support WiFi mobile device；Mobile sniffing robot (2) is arranged on rescue region, including the movement using motor as power
Vehicle (26) and core controller (21) in mobile vehicle (26), WiFi module (22), sensor assembly (23),
Camera (24), lower floor's controller (25), mechanical arm (27), camera head (28) and power module (29)；Wherein：Core control
Device (21) processed is connected with WiFi module (22), sensor assembly (23), camera (24) and lower floor's controller (25) respectively, lower floor
Controller of the controller (25) respectively with mobile vehicle (26), mechanical arm (27) and camera head (28) is connected；Power module
(29) it is connected with each consuming parts on mobile sniffing robot (2)；WiFi module (22) passes through with information exchange center (1)
WiFi network is connected, and camera (24) is arranged on camera head (28).
2. long distance wireless according to claim 1 moves sniffing robot detection system, it is characterised in that：Described movement
Vehicle (26) is caterpillar, and motor uses miniature 150 direct current generator；Core controller (21) and lower floor's controller
(25) STC89C52 single chip is used；Sensor assembly (23) includes distance measuring sensor, Temperature Humidity Sensor and GPS module；
Camera (24) uses sieve skill C270 cameras of 5,000,000 pixels；WiFi module (22) uses EP-N8508GS；Power module
(29) it is made up of two pieces of batteries, the battery that one of voltage is high, capacity is big is the motor power supply in mobile vehicle (26),
Another piece of voltage is smaller, the less battery of capacity be core controller (21), WiFi module (22), sensor assembly (23), under
Layer controller (25), mechanical arm (27) and camera head (28) power supply；Steering wheel and two manipulators are carried on mechanical arm (27),
And there are some frees degree.
3. a kind of detection method that sniffing robot detection system is moved using long distance wireless described in claim 1, its feature are existed
In：Described detection method includes the following steps carried out in order：
1) when needing to use this detection system when Post disaster relief, existed first by operating personnel (3) using information exchange center (1)
WiFi wireless environments are established in rescue region, then operating personnel (3) logon information interaction center (1)；
2) mobile sniffing robot (2) is by WiFi network access information interaction center (1), and operating personnel (3) are in information exchange
Camera and sensor assembly control instruction are inputted in the control interface at center (1), is then converted into by information exchange center (1)
Core controller (21) is sent to by WiFi module (22) after control language, using taking the photograph under the control of core controller (21)
The motor on camera head (28) is controlled to revolve as the image in head (24) collection rescue region, and by lower floor's controller (25)
Turn, and then drive camera (24) to rotate up and down, to expand field range, then send image to core controller
(21)；Locomotive is detected respectively using distance measuring sensor, Temperature Humidity Sensor and the GPS module in sensor assembly (23) simultaneously
The positional information of distance, ambient temperature and humidity and mobile sniffing robot (2) between (26) and surrounding rescue target, Ran Houchuan
Give core controller (21)；Core controller (21) sends above-mentioned image and information to information through WiFi module (22) again and handed over
Mutual center (1), information exchange center (1) is shown in its control interface after treatment；
3) it is existing to grasp rescue according to the image and information shown in information exchange center (1) control interface in real time by operating personnel (3)
The situation of field, and judge rapidly, mobile vehicle and mechanical arm are then inputted in the control interface of information exchange center (1)
Control instruction, it is converted into afterwards by information exchange center (1) after control language and core control is sent to by WiFi module (22)
Device 21, then send mobile vehicle (26) and mechanical arm (27) to through lower floor's controller (25)；
4) mobile vehicle (26) produces corresponding action according to above-mentioned control instruction, including advances, retreats, turns left, turns right or stop
Only, until reaching in the opereating specification of mechanical arm (27), then mechanical arm (27) produces corresponding dynamic according to above-mentioned control instruction
Make, including move up, move down, move to left, move to right, finally target object or trapped personnel are captured and be moved to using two manipulators
Safe place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853823.2A CN107861410A (en) | 2017-09-20 | 2017-09-20 | A kind of long distance wireless movement sniffing robot detection system and its detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710853823.2A CN107861410A (en) | 2017-09-20 | 2017-09-20 | A kind of long distance wireless movement sniffing robot detection system and its detection method |
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| CN107861410A true CN107861410A (en) | 2018-03-30 |
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| CN201710853823.2A Pending CN107861410A (en) | 2017-09-20 | 2017-09-20 | A kind of long distance wireless movement sniffing robot detection system and its detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
| CN111360807A (en) * | 2018-12-25 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Electric control system and method for crawler rescue robot |
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| CN103273489A (en) * | 2013-05-10 | 2013-09-04 | 上海大学 | Robot control system and method based on principal and subordinate teleoperation mechanical arm |
| CN103914016A (en) * | 2014-04-10 | 2014-07-09 | 中南林业科技大学 | Intelligent detection system based on WIFI |
| CN103955213A (en) * | 2014-04-10 | 2014-07-30 | 中南林业科技大学 | Multifunctional intelligent probe vehicle based on WIFI |
| CN205968985U (en) * | 2016-08-10 | 2017-02-22 | 苏州大学 | Portable investigation robot based on intelligent Mobile Terminal control |
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- 2017-09-20 CN CN201710853823.2A patent/CN107861410A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN103273489A (en) * | 2013-05-10 | 2013-09-04 | 上海大学 | Robot control system and method based on principal and subordinate teleoperation mechanical arm |
| CN103914016A (en) * | 2014-04-10 | 2014-07-09 | 中南林业科技大学 | Intelligent detection system based on WIFI |
| CN103955213A (en) * | 2014-04-10 | 2014-07-30 | 中南林业科技大学 | Multifunctional intelligent probe vehicle based on WIFI |
| CN205968985U (en) * | 2016-08-10 | 2017-02-22 | 苏州大学 | Portable investigation robot based on intelligent Mobile Terminal control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
| CN111360807A (en) * | 2018-12-25 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Electric control system and method for crawler rescue robot |
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Application publication date: 20180330 |