CN108318082A - Remote probe device - Google Patents
Remote probe device Download PDFInfo
- Publication number
- CN108318082A CN108318082A CN201810305919.XA CN201810305919A CN108318082A CN 108318082 A CN108318082 A CN 108318082A CN 201810305919 A CN201810305919 A CN 201810305919A CN 108318082 A CN108318082 A CN 108318082A
- Authority
- CN
- China
- Prior art keywords
- module
- actuating station
- handheld terminal
- detection
- rocking handle
- Prior art date
- 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.)
- Pending
Links
- 239000000523 sample Substances 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 78
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000000779 smoke Substances 0.000 claims abstract description 8
- 229910002092 carbon dioxide Inorganic materials 0.000 claims abstract description 7
- 239000001569 carbon dioxide Substances 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims abstract description 6
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 abstract description 4
- 229910002091 carbon monoxide Inorganic materials 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 4
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 239000002920 hazardous waste Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000004408 titanium dioxide Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention discloses remote probe device, it is equipped with rocking handle module in handheld terminal, and attitude detection is carried out to rocking handle module, using the attitudes vibration of rocking handle module as the operational order of actuating station, the 6DOF mechanical arm of actuating station is operated according to instruction execution, Image Acquisition also is carried out to environment in actuating station, and attitude detection is carried out to camera, to ensure the accuracy of Image Acquisition, also ambient temperature and humidity is detected in actuating station, and whether actuating station at a distance from barrier and is collided and be detected, pass through above-mentioned setting, realize the accurate detection to environment and the accurate crawl and release of mechanical arm, it provides safeguard for the stable operation of actuating station；Smoke Detection, Carbon Monoxide Detection and carbon dioxide detection can be added, site environment is understood convenient for fireman, takes corresponding rescue measure；GPS module can be also added, the action of actuating station is positioned, by location information back pass to handheld terminal, the location information of actuating station is obtained convenient for staff.
Description
Technical field
The present invention relates to intelligent measurement fields, and in particular to remote probe device.
Background technology
Hazardous chemical and hazardous waste usually have the characteristics such as inflammable, explosive, deep-etching, toxic, are transporting and are handling
Personal safety may be influenced in the process, need to carry out remote reviewing, inspection, carrying and cleaning etc. to it；Scene of fire dense smoke
Billowing, temperature is very high, it is also possible to sudden explosion occurs, fireman goes rashly, and personal safety can be on the hazard；Mine disaster is sent out
It after life, needs to be acquired field data, and executes some operations, data reference is provided for Post disaster relief.Therefore, it is necessary to borrow
Remote probe device is helped to carry out the control of the detection and execute-in-place of environment, existing remote probe device, there are environment measurings
Accuracy it is low, the low problem of accuracy of execute-in-place control.
Invention content
The present invention provides remote probe device, solves the problems, such as that accuracy of the existing technology is low.
The present invention solves technical problem by the following technical programs：
Remote probe device, including handheld terminal and actuating station；The handheld terminal includes handheld terminal controller module, handheld terminal
Attitude detection module, handheld terminal wireless transport module and rocking handle module；The handheld terminal attitude detection module is mounted on
In rocking handle module, the posture of rocking handle module is detected, and posture information is transmitted in handheld terminal controller module；The handheld terminal
Controller module is executed instruction by handheld terminal wireless transport module to actuating station transmission；The actuating station includes that actuating station is wireless
Transmission module, actuating station controller module, context detection module, actuating station attitude detection module, camera and 6DOF machine
Tool arm；The actuating station wireless transport module receives the instruction that handheld terminal wireless transport module is sent, by execution side controller mould
Block control 6DOF mechanical arm executes action；The picture signal of the camera acquisition actuating station, is input to execution side controller
In module；The actuating station attitude detection module detection detects the attitude signal of camera on the axis of camera, and
It is input in actuating station controller module；The context detection module includes for detecting the infrared of barrier and actuating station distance
Detection sub-module includes the pressure whether to collide on 6DOF mechanical arm, for detecting 6DOF mechanical arm
Detection sub-module further includes the Temperature and Humidity submodule for detecting actuating station ambient temperature and humidity.
Further, the rocking handle module includes crawl rocking handle, the upward rocking handle of arm, the downward rocking handle of arm, omnidirectional's rotation
Rocking handle.
Further, the handheld terminal further includes indicating lamp module；Indicator lamp quantity that the indicating lamp module includes with
Rocking handle mould all kinds of rocking handle quantity in the block are identical, and correspond.
Further, the handheld terminal further includes display module；The display module is connect with handheld terminal controller module.
Further, the context detection module of the actuating station further includes Smoke Detection submodule；Smoke Detection
The output end of module is connect with actuating station controller module.
Further, the context detection module of the actuating station further includes carbon dioxide detection sub-module；The titanium dioxide
The output end of carbon detection sub-module is connect with actuating station controller module.
Further, the actuating station further includes GPS module；The GPS module is connect with actuating station controller module.
Further, the actuating station further includes driver, the driver under the control of actuating station controller module,
Drive camera rotation.
Further, the actuating station further includes mechanical arm attitude detection module；The mechanical arm attitude detection module peace
On 6DOF mechanical arm, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module.
Compared with prior art, there are following features：
1, it is equipped with rocking handle module in handheld terminal, and attitude detection is carried out to rocking handle module, with the attitudes vibration of rocking handle module
As the operational order of actuating station, the 6DOF mechanical arm of actuating station is operated according to instruction execution, actuating station also to environment into
Row Image Acquisition, and attitude detection is carried out to camera, it is also warm and humid to environment in actuating station to ensure the accuracy of Image Acquisition
Degree is detected, and whether actuating station at a distance from barrier and is collided and be detected, and passes through above-mentioned setting, is realized
The accurate crawl and release of detection and mechanical arm to environment, provide safeguard for the stable operation of actuating station；
When 2, being applied to detection and rescue, Smoke Detection, Carbon Monoxide Detection and carbon dioxide detection are added, is obtained
Above-mentioned data are taken, site environment is understood convenient for fireman, takes corresponding rescue measure；
3, it applies when coal mine detects, can also add GPS module, the action of actuating station is positioned, by location information
Back pass obtains the location information of actuating station convenient for staff to handheld terminal.
Description of the drawings
Fig. 1 is structure of the invention functional block diagram.
Specific implementation mode
The invention will be further described with reference to embodiments, but the invention is not limited in these embodiments.
Remote probe device, including handheld terminal and actuating station；The handheld terminal includes handheld terminal controller module, handheld terminal
Attitude detection module, handheld terminal wireless transport module and rocking handle module；The handheld terminal attitude detection module is mounted on
In rocking handle module, the posture of rocking handle module is detected, and posture information is transmitted in handheld terminal controller module；The handheld terminal
Controller module is executed instruction by handheld terminal wireless transport module to actuating station transmission；The actuating station includes that actuating station is wireless
Transmission module, actuating station controller module, context detection module, actuating station attitude detection module, camera and 6DOF machine
Tool arm；The actuating station wireless transport module receives the instruction that handheld terminal wireless transport module is sent, by execution side controller mould
Block control 6DOF mechanical arm executes action；The picture signal of the camera acquisition actuating station, is input to execution side controller
In module；The actuating station attitude detection module detection detects the attitude signal of camera on the axis of camera, and
It is input in actuating station controller module；The context detection module includes for detecting the infrared of barrier and actuating station distance
Detection sub-module includes the pressure whether to collide on 6DOF mechanical arm, for detecting 6DOF mechanical arm
Detection sub-module further includes the Temperature and Humidity submodule for detecting actuating station ambient temperature and humidity.
The prior art is typically that rocking handle is arranged in handheld terminal, using the running position of rocking handle as control instruction, rather than with
The operating status of rocking handle is as control instruction, and handheld terminal attitude detection module is arranged in the present invention directly on rocking handle, to rocking handle
Attitudes vibration is detected, and the signal of attitudes vibration is input in handheld terminal controller module in real time, is realized with rocking handle
Purpose of the operating status as control instruction.The present invention rocking handle module be equipped with crawl rocking handle, the upward rocking handle of arm, arm to
Lower rocking handle, omnidirectional's rotation crank realize grabbing, taking the purpose rotated with 6DOF for actuating station 6DOF mechanical arm, and user is also
Rocking handle can be increased and decreased according to demand.
The handheld terminal further includes indicating lamp module；In indicator lamp quantity and rocking handle module that the indicating lamp module includes
All kinds of rocking handle quantity it is identical, and correspond.The setting of indicating lamp module, primarily to user use handheld terminal when more
Intuitively, and there is rocking handle module when something goes wrong, carry out fault location can be facilitated.
The handheld terminal further includes display module；The display module is connect with handheld terminal controller module.Display module
Can be used for show the attitude data of rocking handle module, the ambient parameter data of actuating station, the attitude data of actuating station, image and its
Its data.
The setting of camera is mainly used for obtaining the image information of actuating station local environment, when setting up camera, usually
It is only stabilized on carrier, its stability is artificially judged, but do not carry out substantive confirmation, the present invention
Actuating station attitude detection module is set for camera, detects the attitudes vibration of camera, and actuating station attitude detection module is set
It setting on the axis of camera, the misalignment angle of Real-time Feedback camera, user can carry out angle compensation by software program,
It can also be rotated using the anti-misalignment angle of driver drives camera in the case of camera long time drift, return to original position,
It prevents because of angle tilt problem so that information collection is inaccurate.The driver is connect with actuating station controller module, in its control
Lower driving camera rotation.
Infrared detection submodule, pressure detecting submodule and Temperature and Humidity submodule is mainly arranged in context detection module.
Infrared detection submodule is infrared sensor, and actuating station of the invention is mounted on carrier, such as intelligent carriage, infrared sensor
Intelligent carriage is detected at a distance from barrier.Pressure detecting submodule is mounted on 6DOF mechanical arm, when 6DOF machinery
Arm collides with outer barrie object, and when cannot be correspondingly rotated by instruction execution, outer barrie object has 6DOF mechanical arm
Applied force, pressure detecting submodule sense applied force, are back to handheld terminal.Temperature and Humidity submodule senses ring residing for actuating station
Temperature-humidity signal is back to handheld terminal by the humiture in border.
6DOF mechanical arm have 6 degree of freedom, i.e., along the one-movement-freedom-degree of tri- rectangular co-ordinate axis directions of X, Y, Z with
And the rotational freedom around these three reference axis.6DOF mechanical arm carries out the movement of 6DOF under the control of rocking handle module
And rotation.
According to the difference of application scenario, Smoke Detection submodule, the cigarette are also set up in the context detection module of actuating station
The output end of mist detection sub-module is connect with actuating station controller module.It applies in the environment of detection, environment measuring mould
Block can also carry out smokescope
In actuating station, Carbon Monoxide Detection submodule, the output end and actuating station of Carbon Monoxide Detection submodule can be also set
Controller module connects, the carbonomonoxide concentration for detecting actuating station local environment.Carbon dioxide detection submodule can be also set
The output end of block, the carbon dioxide detection sub-module is connect with actuating station controller module, for detecting ring residing for actuating station
The gas concentration lwevel in border.
It applies and is detected in coal mine, when archaeology detects, GPS module, the GPS module and actuating station can be also set according to demand
Controller module connects, for obtaining the position where actuating station.
The attitude detector of rocking handle module, is used as the instruction of actuating station, and the practical executive condition of actuating station, perhaps with finger
Order is deviated, and the present invention is additionally provided with mechanical arm attitude detection module in actuating station, and mechanical arm attitude detection module is mounted on 6
On degree-of-freedom manipulator, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module, then is back to hand
It holds in side controller module, for judging 6DOF mechanical arm whether according to executing operation.
The present invention carries out attitude detection, handheld terminal attitude detection mould in rocking handle module, camera and 6DOF mechanical arm
The construction of block, actuating station attitude detection module and mechanical arm attitude detection module is identical, is attitude transducer, includes three axis
Gyroscope, three axis accelerometer and three axle electronic compass are obtained by embedded low-power consumption arm processor by temperature-compensating
3 d pose and bearing data.
Actuating station wireless transport module and handheld terminal wireless transport module are transmitted in a manner of Zigbee, and ZigBee is
A kind of highly reliable wireless data sending network, communication distance from 75m to hundreds of meter, several kilometers, and support wireless extensions.Therefore, it is
Expand detection range, it may be necessary to multiple actuating stations are set, in this case, coordinator can be added, coordinator is set up
ZigBee-network, each actuating station wireless transport module and handheld terminal wireless transport module are transmitted using ZigBee-network,
Respective PIN ID and channel are added in the network that coordinator is established, when any one actuating station wireless transport module leads to
When letter interrupts, the signal transmission of other actuating stations is not interfered with, when communication recovery is normal, ad hoc network can be also realized, automatically access
In network.
Claims (9)
1. remote probe device, it is characterised in that：
Including handheld terminal and actuating station；
The handheld terminal include handheld terminal controller module, handheld terminal attitude detection module, handheld terminal wireless transport module and
Rocking handle module；The handheld terminal attitude detection module is mounted in rocking handle module, detects the posture of rocking handle module, and by appearance
State information is transmitted in handheld terminal controller module；The handheld terminal controller module is by handheld terminal wireless transport module to holding
Row end sends and executes instruction；
The actuating station includes actuating station wireless transport module, actuating station controller module, context detection module, actuating station posture
Detection module, camera and 6DOF mechanical arm；The actuating station wireless transport module receives handheld terminal wireless transport module
The instruction sent executes action by actuating station controller module control 6DOF mechanical arm；The camera acquisition actuating station
Picture signal is input in actuating station controller module；Axis of the actuating station attitude detection module detection mounted on camera
On line, the attitude signal of camera is detected, and is input in actuating station controller module；The context detection module includes being used for
The infrared detection submodule of barrier and actuating station distance is detected, including is mounted on 6DOF mechanical arm, for detecting 6 certainly
The pressure detecting submodule whether to be collided by degree mechanical arm further includes the humiture for detecting actuating station ambient temperature and humidity
Detection sub-module.
2. remote probe device according to claim 1, it is characterised in that：
The rocking handle module includes crawl rocking handle, the upward rocking handle of arm, the downward rocking handle of arm, omnidirectional's rotation crank.
3. remote probe device according to claim 2, it is characterised in that：
The handheld terminal further includes indicating lamp module；The indicator lamp quantity that the indicating lamp module includes is in the block each with rocking handle mould
Class rocking handle quantity is identical, and corresponds.
4. remote probe device according to claim 1, it is characterised in that：The handheld terminal further includes display module；Institute
Display module is stated to connect with handheld terminal controller module.
5. remote probe device according to claim 1, it is characterised in that：
The context detection module of the actuating station further includes Smoke Detection submodule；The output end of the Smoke Detection submodule with
Actuating station controller module connects.
6. remote probe device according to claim 1, it is characterised in that：
The context detection module of the actuating station further includes carbon dioxide detection sub-module；The carbon dioxide detection sub-module
Output end is connect with actuating station controller module.
7. remote probe device according to claim 1, it is characterised in that：The actuating station further includes GPS module；It is described
GPS module is connect with actuating station controller module.
8. remote probe device according to claim 1, it is characterised in that：
The actuating station further includes driver, and under the control of actuating station controller module, driving camera turns the driver
It is dynamic.
9. remote probe device according to claim 1, it is characterised in that：
The actuating station further includes mechanical arm attitude detection module；The mechanical arm attitude detection module is mounted on 6DOF machine
On tool arm, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305919.XA CN108318082A (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305919.XA CN108318082A (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108318082A true CN108318082A (en) | 2018-07-24 |
Family
ID=62897056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810305919.XA Pending CN108318082A (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108318082A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109260633A (en) * | 2018-11-18 | 2019-01-25 | 祝润山 | A kind of fire-fighting equipment control device and fire-fighting robot |
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| US20100042319A1 (en) * | 2008-08-15 | 2010-02-18 | Wu Chih-Jen | Automatic ultrasonic and computer-vision navigation device and method using the same |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN103399577A (en) * | 2013-08-02 | 2013-11-20 | 哈尔滨工程大学 | Detection sensing system for remotely operating rescue robot |
| CN107861410A (en) * | 2017-09-20 | 2018-03-30 | 天津理工大学 | A kind of long distance wireless movement sniffing robot detection system and its detection method |
| CN107885109A (en) * | 2017-12-25 | 2018-04-06 | 桂林电子科技大学 | A kind of wireless controller |
| CN208059935U (en) * | 2018-04-08 | 2018-11-06 | 桂林航天工业学院 | Remote probe device |
-
2018
- 2018-04-08 CN CN201810305919.XA patent/CN108318082A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100042319A1 (en) * | 2008-08-15 | 2010-02-18 | Wu Chih-Jen | Automatic ultrasonic and computer-vision navigation device and method using the same |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN103399577A (en) * | 2013-08-02 | 2013-11-20 | 哈尔滨工程大学 | Detection sensing system for remotely operating rescue robot |
| CN107861410A (en) * | 2017-09-20 | 2018-03-30 | 天津理工大学 | A kind of long distance wireless movement sniffing robot detection system and its detection method |
| CN107885109A (en) * | 2017-12-25 | 2018-04-06 | 桂林电子科技大学 | A kind of wireless controller |
| CN208059935U (en) * | 2018-04-08 | 2018-11-06 | 桂林航天工业学院 | Remote probe device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109260633A (en) * | 2018-11-18 | 2019-01-25 | 祝润山 | A kind of fire-fighting equipment control device and fire-fighting robot |
| CN109260633B (en) * | 2018-11-18 | 2019-08-02 | 扬州五环龙电动车有限公司 | A kind of fire-fighting equipment control device and fire-fighting robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180724 |
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