CN108614546B - Redundant communication system of robot - Google Patents
Redundant communication system of robot Download PDFInfo
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- CN108614546B CN108614546B CN201810592751.5A CN201810592751A CN108614546B CN 108614546 B CN108614546 B CN 108614546B CN 201810592751 A CN201810592751 A CN 201810592751A CN 108614546 B CN108614546 B CN 108614546B
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- 230000008054 signal transmission Effects 0.000 claims abstract description 21
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- 230000002457 bidirectional effect Effects 0.000 claims description 71
- 238000012545 processing Methods 0.000 claims description 37
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a robot redundant communication system. The redundant communication system includes: the robot comprises a robot body, an electric lifting device, a signal transmission device and a console device; the electric lifting device comprises: the device comprises a push rod motor, a gearbox, a push rod and a flexible threading chain; the push rod motor is connected with the gearbox, the lower end of the push rod is connected with the gearbox, and the upper end of the push rod is connected with the flexible threading chain; the signal transmission device is installed in the upper end of push rod, and the signal transmission device includes: the device comprises a microwave antenna, a 4G antenna, a remote control antenna and a circuit control unit; the console device includes: the system comprises a computer or a tablet personal computer, a microwave processor, a 4G network processor, a remote control transmitting/receiving unit, a remote controller and a remote control display screen; the microwave processor and the 4G network processor are connected with a computer or a tablet personal computer. The redundant communication system improves the convenience, reliability and advancement of the signal transmission of the robot in remote control, disaster site monitoring and complex environments, and expands the application range of the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot redundant communication system.
Background
At present, along with the high-speed development of the scientific technology in China, the robot is greatly developed in the field of fire fighting industry, particularly in the field of robots, and is gradually replacing foreign imported products, and currently, robots which are independently researched and produced in China are equipped to fire fighting forces in a large quantity.
The robot produced in China has long-term development from the design production of the robot chassis to the driving and basic configuration, and basically can meet the functions of reconnaissance, fire extinguishment, smoke discharge and the like of disaster sites. However, the following defects exist in remote control of the robot and transmission of various sensor signals:
The remote controller can not bidirectionally transmit, various sensor signals can not be timely fed back to the rear operation table, the effective control distance is only 600m, and the safety of large disaster rescue can not be fully ensured. The audio and video signals are transmitted at 455MHz low frequency, the transmission distance is short, the transmission delay amount is in the second level (the control reliability is seriously affected), the two-way transmission cannot be realized, the effect of monitoring disaster sites can only be realized, and the remote effective and accurate control of the robot cannot be realized. The robot with part is also assembled with a two-way redundant communication system, and the composition mode is as follows; the mode is feasible in concept of 4G network +455MHz low-frequency transmission or microwave single-phase transmission +435MHz wireless remote control, but because the disaster site environment is complicated and often has no 4G network signal, once a robot is far away from a rear console (beyond the distance of wireless remote control), the robot cannot be effectively controlled, because the microwave transmission system on the market can only transmit audio and video signals in one direction, and the microwave transmission system can not transmit control signals (digital or analog) directly due to the characteristics of short wavelength (micrometers) and high frequency (5.8G). However, the dangerous threat of disaster sites is either 500-700 m or safe, such as: large oil depot fires, dangerous goods warehouse explosions, disasters of underground tunnels, and the like, and the range of dangerous threats is far.
Disclosure of Invention
The invention aims to provide a robot redundant communication system, so that a robot can still effectively and reliably control the robot under extremely severe environments (without network signals, ultra-long distance and the like), the application field is widened, and the safety protection level for rescue workers is improved.
In order to achieve the above object, the present invention provides the following solutions:
A redundant communication system for a robot, the redundant communication system being mounted on a closure plate on a robot body, the redundant communication system comprising: an electric lifting device, a signal transmission device and a console device;
The electric lifting device includes: the device comprises a push rod motor, a gearbox, a push rod and a flexible threading chain; the push rod motor is connected with the gearbox, the gearbox is connected with the robot body, the lower end of the push rod is connected with the gearbox, and the upper end of the push rod is connected with the flexible threading chain;
The signal transmission device is installed in the upper end of push rod, the signal transmission device includes: the device comprises a microwave antenna, a 4G antenna, a remote control antenna and a circuit control unit;
The control console device is located staff control end, the control console device includes: the system comprises a computer or a tablet personal computer, a first microwave processor, a first 4G network processor, a first remote control transmitting/receiving unit, a remote controller and a remote control display screen; the first microwave processor and the first 4G network processor are connected with the computer or the tablet computer;
The first microwave processor and the circuit control unit realize bidirectional transmission of microwave signals through a microwave antenna; the first 4G network processor and the circuit control unit realize bidirectional transmission of 4G network signals through a 4G antenna; the two-way transmission of the remote control signal is realized between the first remote control transmitting/receiving unit and the circuit control unit through a remote control antenna, and the two-way transmission of the remote control signal comprises: the remote control signal of the remote controller reaches the first directional transmission of the circuit control unit through the first remote control transmitting/receiving unit, and the remote control signal of the circuit control unit reaches the second directional transmission of the remote control display screen through the first remote control transmitting/receiving unit.
Optionally, the circuit control unit includes: the system comprises a central processor, a router, a switch, a second microwave processor, a second 4G network processor, a second remote control receiving/transmitting unit, a remote control CAN bus and a robot PLC control unit;
The central processing unit is in bidirectional connection with the router, the router is in bidirectional connection with the second microwave processor, the input end of the central processing unit is also connected with the output end of the switch, and the input end of the switch is connected with the audio-video device of the robot; the audio and video signals collected by the audio and video device are transmitted to the central processing unit, and the central processing unit sequentially transmits the audio and video signals to the computer or the tablet personal computer through the router, the second microwave processor and the first microwave processor so as to realize microwave transmission of the audio and video signals;
The output end of the central processing unit is also connected with the input control end of the robot PLC control unit, the output end of the robot PLC control unit is connected with the environment sensor and the motor driver of the robot, and the computer or the tablet personal computer transmits parameter control signals of the environment sensor and the motor driver to the robot PLC control unit through the first microwave processor, the second microwave processor, the router and the central processing unit in sequence so as to realize the microwave control of the data acquisition motor drive of the environment sensor;
The robot PLC control unit is also in bidirectional connection with the remote control CAN bus, and the remote control CAN bus is in bidirectional connection with the second remote control receiving/transmitting unit; the remote controller transmits parameter control signals of the environment sensor to the robot PLC control unit through the first remote control transmitting/receiving unit, the second remote control transmitting/receiving unit and the remote control CAN bus in sequence so as to realize data acquisition of the environment sensor and remote control of a motor driver;
the input end of the robot PLC control unit is also connected with an environment sensor of the robot, the environment sensor transmits collected sensor data to the robot PLC control unit, and the robot PLC control unit transmits the sensor data to the remote control display screen sequentially through the remote control CAN bus, the second remote control receiving/transmitting unit and the first remote control receiving/transmitting unit so as to realize remote control display of the sensor data;
The central processing unit is also connected with the second 4G network processor in a bidirectional manner, and transmits the audio and video signals to the computer or the tablet personal computer through the second 4G network processor and the first 4G network processor so as to realize 4G transmission of the audio and video signals; the computer or the tablet personal computer transmits parameter control signals of the environmental sensor to the robot PLC control unit through the first 4G network processor, the second 4G network processor and the central processing unit in sequence, so that 4G control of data acquisition of the environmental sensor is realized.
Optionally, the console device further includes: the system comprises a first microwave bidirectional transmission unit, a first 4G network transmission unit and a first remote control bidirectional transmission unit; the circuit control unit further includes: the system comprises a second microwave bidirectional transmission unit, a second 4G network transmission unit and a second remote control bidirectional transmission unit;
the first microwave processor and the second microwave processor realize bidirectional transmission of microwave signals through the first microwave bidirectional transmission unit, the microwave antenna and the second microwave bidirectional transmission unit;
the first 4G network processor and the second 4G network processor realize bidirectional transmission of 4G signals through the first 4G network transmission unit, the 4G antenna and the second 4G network transmission unit;
And the two-way transmission of remote control signals is realized between the first remote control transmitting/receiving unit and the second remote control transmitting/receiving unit through the first remote control two-way transmission unit, the remote control antenna and the second remote control two-way transmission unit.
Optionally, the frequencies of the first remote control bidirectional transmission unit and the second remote control bidirectional transmission unit are 433MHz.
Optionally, the signal transmission device further includes: the microwave relay antenna is used for relay connection of microwave communication between the first microwave processor and the circuit control unit.
Optionally, the microwave antennas are 4 microwave antennas, and the 4 antennas are uniformly distributed at the upper end of the push rod in a surrounding manner.
Optionally, the robot includes a fire extinguishing robot, a reconnaissance robot, a smoke evacuation robot, and an illumination robot.
Optionally, the audio-video device includes: 360 degree camera, cloud platform + camera and audio processor.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
The robot redundant communication system realizes the two-way redundant communication process: the two-way transmission of microwave signals is realized through technical innovation, the keyboard control signals of a computer or PAD can be matched with the signals which can be transmitted by microwaves, effective transmission is carried out, and the robot body is controlled. More importantly, the invention thoroughly overturns the traditional concept that 433MHz remote control transmission CAN only be transmitted in one direction, creatively develops a remote control system bidirectional transmission system, successfully displays motor driving parameters and various sensor parameters of a robot on a remote control display screen of a rear console through a remote control CAN bus, so that a rear operator CAN timely and accurately master the working condition of the front robot and the disaster site condition, and the site rescue is more timely and accurate. The invention is an innovative invention which is an epoch-making time in the field of robot communication control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a redundant communication system of a robot according to the present invention;
FIG. 2 is a schematic partial top view of a redundant communication system of a robot according to the present invention;
FIG. 3 is a schematic side view of a portion of a redundant communication system of a robot of the present invention;
FIG. 4 is a schematic diagram of a console device in a redundant communication system of a robot according to the present invention;
fig. 5 is a schematic structural diagram of a circuit control unit in the redundant communication system of the robot according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a redundant communication system of a robot, which is arranged on an upper sealing plate of a main body of the robot, so that the robot can still be effectively and reliably controlled under extremely severe environments (without network signals, ultra-long distances and the like), the application field is widened, and the safety protection level of rescue workers is improved. The robots include fire extinguishing robots, reconnaissance robots, smoke evacuation robots, lighting robots, and the like, and thus the redundant communication system of the present invention can be applied to various robots.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a schematic perspective view of a redundant communication system of a robot according to the present invention; FIG. 2 is a schematic partial top view of a redundant communication system of a robot according to the present invention; FIG. 3 is a schematic side view of a portion of a redundant communication system for a robot according to the present invention. As shown in fig. 1-3, the redundant communication system includes: the electric lifting device, the signal transmission device and the console device are described in detail below.
The electric lifting device includes: the device comprises a push rod motor 1, a gearbox 2, a push rod 3 and a flexible threading chain 7; the push rod motor 1 with gearbox 2 is connected, gearbox 2 is connected with robot body 10, push rod 3 lower extreme with gearbox 2 is connected, push rod 3 upper end with flexible wire rope 7 is connected. The electric lifting device is used, so that the whole communication antenna of the system is lifted to be more than 1.8m, the whole height of the robot is less than 1m in the process of storing and transporting the robot, and the whole lifting of the communication antenna enables the effective communication distance of the robot to be increased by about 1.5 times on the original basis. Specific test data for the system are as follows: the microwave communication distance is increased from 1000m to 1500m (no microwave relay is adopted), the effective remote control communication distance is increased from 700m to 1200m, the remote control and monitoring capability of the robot is improved, and the practicability and the safety are embodied.
The signal transmission device is installed in the upper end of push rod 3, the signal transmission device includes: a microwave antenna 4, a remote control antenna 5, a 4G antenna 6 and a circuit control unit 8; the circuit control unit 8 is respectively connected with the microwave antenna 4, the remote control antenna 5 and the 4G antenna 6. The microwave antennas 4 are composed of 4 paths, and the 4 microwave antennas are uniformly distributed at the upper end of the push rod 3 in a surrounding mode to form omnibearing receiving and transmitting mode.
The signal transmission device further includes: the microwave relay antenna 9 plays a role in relaying the mutual communication between the microwave transmission of the rear console device and the microwave wires above the robot, is basically consistent with the front microwave transmission structure and the working principle, and can be normally used in extremely severe environments with communication conditions such as ultra-long distances (more than 2000 m), underground garages, subway stations, tunnels, large oil and gas reservoirs and the like.
The control console device is located staff control end, the control console device includes: the system comprises a computer or a tablet personal computer, a first microwave processor, a first 4G network processor, a first remote control transmitting/receiving unit, a remote controller and a remote control display screen; the first microwave processor and the first 4G network processor are connected with the computer or the tablet computer;
The first microwave processor and the circuit control unit realize bidirectional transmission of microwave signals through a microwave antenna 4; the first 4G network processor and the circuit control unit realize bidirectional transmission of 4G network signals through a 4G antenna 6; the bidirectional transmission of the remote control signal is realized between the first remote control transmitting/receiving unit and the circuit control unit through a remote control antenna 5, and the bidirectional transmission of the remote control signal comprises: the remote control signal of the remote controller reaches the first directional transmission of the circuit control unit through the first remote control transmitting/receiving unit, and the remote control signal of the circuit control unit reaches the second directional transmission of the remote control display screen through the first remote control transmitting/receiving unit.
Specifically, fig. 4 is a schematic structural diagram of a console device in the redundant communication system of the robot according to the present invention. As shown in fig. 4, the console device includes: a computer or tablet 401, a first microwave processor 402, a first microwave bidirectional transmission unit 403, a first 4G network processor 404, a first 4G network transmission unit 405, a remote controller 406, a first remote control bidirectional transmission unit 407, a first remote control transmitting/receiving unit 408, and a remote control display screen 409. Wherein the first microwave processor 402 and the first 4G network processor 404 are both connected to the computer or tablet computer.
The first remote control transmitting/receiving unit 408 and the remote control display screen 409 in the console device are integrated together, and CAN also integrate the remote control 406 together, and the remote control CAN bus is contained in the remote control transmitting/receiving unit, when the carrier signal with the CAN bus data code at the front end is received, the data decoding is performed to restore the carrier signal to the original signal of the sensor, the original signal is subjected to programming and encoding processing at the front end, and a large number of analysis instructions are required for accurately displaying the physical meaning of the signal in the display: for example, the operation condition and the on-site environment of the robot can be observed at any time by processing the position field, the instruction field and the extension field of the information, such as proportional instruction, the definition of the row/column of the feedback information, the definition of the word number of the feedback information, the feedback words 1-6 of the feedback information, the feedback main icon, the feedback auxiliary icon and the like, so as to formulate an effective rescue scheme, and the method has practicability and advancement.
When the console device operates the remote control buttons, that is, when the robot is controlled by adopting a remote control mode, the functions of various movements of the robot, movements of the cradle head, operation of the fire monitor, start and stop of the lamp and the like are named first, each button corresponds to different operation codes to form a series of data codes, and the data codes are transmitted to the first remote control transmitting/receiving unit 408 through the first remote control bidirectional transmission unit 407 and then transmitted through the remote control antenna in the first remote control transmitting/receiving unit 408. After receiving the signals, the remote control antenna arranged on the push rod decodes and distributes the signals in the remote control CAN bus, the signals are sent to the robot PLC control unit, the PLC control unit converts the signals to form different control signals to control each executing mechanism, and the mechanism is formed by programming the PLC, so that the mechanism is unique and creative.
Fig. 5 is a schematic structural diagram of a circuit control unit in the redundant communication system of the robot according to the present invention. As shown in fig. 5, the circuit control unit includes: the system comprises a central processor 501, a router 502, a second microwave processor 503, a second microwave bidirectional transmission unit 504, a switch 505, a robot PLC control unit 510, a remote control CAN bus 511, a second remote control receiving/transmitting unit 512, a second 4G network processor 513 and a second 4G network transmission unit 514.
The central processor 501 is in bidirectional connection with the router 502, the router 502 is in bidirectional connection with the second microwave processor 503, and the second microwave processor 503 is in bidirectional connection with the second microwave bidirectional transmission unit 504, so as to realize bidirectional transmission of microwave signals.
The input end of the central processing unit 501 is also connected with the output end of the switch 505, and the input end of the switch 505 is connected with an audio-video device of the robot. The audio and video device comprises a hard disk video recorder 506, a cradle head and camera 507, a 360-degree camera 508 and an audio processor 509. The audio/video signals collected by the audio/video device are transmitted to the central processing unit 501 through the switch 505, and the central processing unit 501 sequentially transmits the audio/video signals in a microwave form through the router 502, the second microwave processor 503 and the second microwave bidirectional transmission unit 504.
The output end of the central processing unit 501 is also connected with the input control end of the robot PLC control unit 510, and the output end of the robot PLC control unit 510 is connected with the environment sensor and the motor driver of the robot. The robot PLC control unit is further connected to the remote control CAN bus 511 in a bidirectional manner, and the remote control CAN bus 511 is connected to the second remote control transceiver unit 512 in a bidirectional manner.
The input end of the robot PLC control unit 510 is further connected to an environmental sensor of the robot, the environmental sensor transmits collected sensor data to the robot PLC control unit 510, and the robot PLC control unit 510 sequentially transmits the sensor data through the remote control CAN bus 511 and the second remote control receiving/transmitting unit 512 in a remote control manner.
The central processor 501 is also connected with the second 4G network processor 513 in a bidirectional manner, and the central processor 501 sends the audio/video signal out in a 4G network form through the second 4G network processor 513 and the second 4G network transmission.
The robot PLC control unit 510 in the circuit control unit collects and processes various environmental sensor signals (including various motion parameters of a driving motor, such as temperature, rotation speed, consistency, overcurrent and the like, and obstacle, environment temperature, humidity, lamplight, electromagnetic valves and harmful gas sensors, such as more than 6 types, wind speed and the like) on the robot, sends the collected and processed signals to the remote control CAN bus 511, integrates and processes the signals into a series of data codes through the remote control CAN bus 511, then sends the data codes to the second remote control receiving/sending unit 512, and sends the data codes out through the second remote control receiving/sending unit 512, wherein the different signals correspond to different data codes, and the remote control CAN bus 511 has the characteristics of large data code capacity, high transmission rate, high anti-interference and high reliability. The second remote control transceiver 512 is a unit with transceiver function adapted to the communication of the remote control CAN bus 511, and the signal is transmitted through the remote control antenna. The second remote receiving/transmitting unit 512 has the characteristics of small volume, large capacity, long receiving/transmitting distance, small power and high efficiency, and is suitable for the individual shoulder carrying operation.
The bidirectional transmission of the redundant communication system of the present invention is further described in terms of microwave signal transmission, remote control signal transmission, and 4G signal transmission:
First, microwave two-way transmission
The realization of microwave bidirectional transmission is not realized by simply installing a set of transceiver at each of the receiving and transmitting ends, the structure has high cost, large volume and large debugging difficulty, and the receiving/signaling can not achieve the synchronism and consistency of the system requirements. The whole solution of the system is to utilize a microwave processor to identify the received microwave signal control signal and the audio/video signal to be transmitted, and transform and encode the received microwave signal control signal and the audio/video signal to be transmitted into a signal which can be received/transmitted by a microwave carrier for bidirectional transmission as required.
Taking PAD transmitting/receiving as an example, when the console device is taken as a transmitting end and the circuit control unit is taken as a receiving end, soft keys on the PAD are operated to control the front robot, PAD control signals are sent to the first microwave processor through the network port to encode and convert the signals into a group of serial code signals capable of carrying microwave carriers, the serial code signals are sent into the first microwave bidirectional transmission unit through the first microwave processor, and the serial code signals correspond to the corresponding signals of different codes, so that the signal characteristics, the content and the transmission or receiving requirements can be accurately judged, and the transmission signals are transmitted in real time according to the control requirements. The first microwave bidirectional transmission unit transmits the control signal of the PAD outwards through the microwave antenna. The second microwave bidirectional transmission unit and the second microwave processor are used as receiving ends on the robot body, decoding and restoring serial code signals containing various operation instructions and sent by a control console device (PAD), and then sending the signals to a central processing unit through a router for formatting processing to form control signals which can be identified by a PLC control unit of the robot, and further controlling various environment sensors and motor drivers according to other parameters. The technical means enables the control signal to be possible to be transmitted and controlled through microwaves, and has creativity and advancement.
When the console device is used as a receiving end and the circuit control unit is used as a transmitting end, the working principle is basically consistent with that described above, except that the microwave transmission system of the circuit control unit only needs to transmit audio and video signals from the 360-degree camera, the cradle head+camera and the audio processor, and the transmission of the signals is a basic function of microwave transmission, so that the microwave transmission system of the console device used as the receiving end is easier to realize and only needs to restore the audio and video signals of the transmitting end on the PAD. Specifically, audio and video signals collected by various audio and video devices are sequentially transmitted outwards through a switch, a central processing unit, a router, a second microwave processor and a second microwave bidirectional transmission unit of the circuit control unit; the console device sequentially transmits the audio and video signals to the PAD through the first microwave bidirectional transmission unit and the first microwave processor.
The computer or PAD in the console device is provided with an application program which is developed and programmed by software of an author, and the program is internally integrated with contents such as audio and video processing, picture selection, segmentation and the like and soft key codes, so that the console device has creativity and uniqueness. The invention is an important part capable of carrying out bidirectional transmission, and realizes bidirectional redundant communication of the robot.
The microwave bidirectional transmission of the invention consists of 4 independent systems (transmitted and received by 4 microwave antennas), and aims to solve the extremely strong directivity requirement of microwave signals during transmission, and the problem that the robot can reliably receive/transmit information in any working occasion and has no dead angle in 360-degree omnibearing receiving/transmitting is fundamentally solved (the microwave coverage surface is smaller than 100 degrees). The processed 4 paths of microwave signals are uniformly sent to a router for integration treatment and then sent to a central processing unit, a plurality of units such as signal identification, classification treatment, memory storage and the like are integrated in the central processing unit, and control signals and audio and video signals are distributed to corresponding working units as required, so that the actual use of the circuit is more convenient, brief and reliable, a program is solidified in the central processing unit by utilizing a software programming means in design, and a great deal of innovation and development are performed, so that the system is more innovative, practical and stable.
The router has very great effect, when the 4-path microwave antenna is used as a receiving end, only one path of the microwave antenna can receive the transmitted signals, and the router needs to identify and judge the signals, so that a useful path of signals is selected to be sent to the central processing unit; when the 4-path microwave antenna is used as a transmitting end, the router distributes signals to be transmitted sent by the central processing unit into 4-path signals which are respectively sent to the 4-path microwave antenna for transmission, (all-directional transmission) so that the console end can accurately, timely and reliably receive the signals, and the system has more advanced, reliable and practical performances.
Second, remote control two-way transmission
When the control console device is used as a transmitting end and the circuit control unit is used as a receiving end, the remote controller receives keys of a worker, key instructions are transmitted out through the first remote control bidirectional transmission unit and the first remote control transmitting/receiving unit, the second remote control transmitting/receiving unit in the circuit control unit receives the key instructions and transmits the key instructions to the robot PLC control unit through the remote control CAN bus, and then corresponding operation is carried out according to the key instructions.
When the circuit control unit is used as a transmitting end and the console device is used as a receiving end, the robot PLC control unit receives the collected sensor data, transmits the sensor data out through the remote control CAN bus and the second remote control receiving/transmitting unit, and the first remote control receiving/transmitting unit in the console device receives the sensor data and transmits the data to the remote control display screen for display. The frequencies of the first remote control bidirectional transmission unit and the second remote control bidirectional transmission unit are 433MHz.
The bidirectional transmission system of the remote control signal fundamentally solves the difficult problem that the remote control signal is difficult to reliably carry out bidirectional transmission, because the remote control carrier frequency is low, the wavelength is long, the signal is usually transmitted through simple codes, or 485 modes and the like, the mode can be used barely under the condition of only carrying out unidirectional communication, how to carry out bidirectional transmission is interfered by various frequencies due to the large number of codes and the long distance, even if high-power transceiving is adopted, the coded signal cannot be accurately transmitted, and the bidirectional long-distance transmission (about 300m is better at present) of the remote control signal of 433MHz carrier wave still cannot be solved in the general field at present. The remote control receiving/transmitting unit has the function of receiving and transmitting two-way communication at the same time, the effective distance of remote control is more than 700m, the open area is 1200m, and the high anti-interference function can realize the high-reliability transmission of the medium and long distances. The invention adopts the CAN bus as a top layer structure, J1939 is a sub-protocol under the bottom communication protocol, namely CAN-LAY-2, fully utilizes the characteristics of high capacity, high reliability, high anti-interference performance, self-supporting bidirectional redundant communication and the like of the CAN bus, and is applied to the invention through innovative technical design.
Third, 4G bi-directional transmission
Taking PAD as an example, the console device is taken as a transmitting end, when the circuit control unit is taken as a receiving end, the circuit control unit is consistent with microwave signal transmission, soft keys on the PAD are operated, the PAD control signal is sent to the first microwave processor through a network port to encode and convert the signal into a group of serial code signals capable of carrying microwave carriers, the serial code signals are sent to the first 4G network transmission unit through the first 4G network processor, and the transmission signals are transmitted in real time according to control requirements. The first 4G network transmission unit transmits the control signal of the PAD outwards through the 4G antenna. The second 4G network transmission unit receives the control signal, and sends the control signal to the central processing unit through the second 4G network processor for formatting processing, so that the control signal which can be identified by the robot PLC control unit is formed, and various environment sensors and motor drivers are controlled by other parameters.
When the console device is used as a receiving end and the circuit control unit is used as a transmitting end, the audio and video signals collected by various audio and video devices are transmitted outwards through the switch, the central processing unit, the second 4G network processor and the second 4G network transmission unit of the circuit control unit in sequence in accordance with the microwave signal transmission mode; the console device sequentially transmits the audio and video signals to the PAD through the first 4G network transmission unit and the first 4G network processor.
The audio-video device installed on the fire-fighting robot is used for comprehensively and systematically mastering the situation of disasters and fire sites by a rear control console so as to control the robot remotely and provide basis for a commander to formulate a site rescue scheme. The 360-degree camera consists of 2 groups of high-definition infrared cameras and 2 groups of high-definition cameras, and the two groups of high-definition cameras are respectively arranged in 4 directions of the robot, can clearly display the environment conditions (including day and night) within the range of 30m around the robot, and aims to meet the remote control requirement of the robot. In the range of less than 500m, the robot can be operated by remote control, at the moment, an operator can observe the surrounding environment of the robot, when remote control is needed, firstly, remote control transmission cannot be achieved, secondly, the on-site working environment cannot be observed, the problem is fundamentally solved by adopting a 360-degree camera, and remote 4G network control and microwave control are possible.
In summary, the redundant communication system of the present invention solves the problems existing in the current general-purpose communication, and realizes the following technical breakthroughs:
1. the microwave bi-directional parameters are realized and the microwaves can transmit digital or analog signals output by the keys.
2. The remote control carrier wave of 433MHz is solved, and the remote control carrier wave is transmitted in a two-way in a small system (referred to as a handheld system or a shoulder span system), so that on one hand, the reliability of transmission is improved by utilizing the CAN bus technology, and in addition, various sensor signals are displayed on a remote control display screen.
3. The adoption of diversified video monitoring means ensures the reliability of remote control.
The whole system utilizes the redevelopment of hardware such as a PLC controller unit, a central processing unit, a switch, a bidirectional receiving and transmitting module, a router module and the like, organically fuses the CAN bus technology, the encoding and decoding technology, the computer programming technology and the remote control bidirectional receiving and transmitting module, solves the problem of mutual communication, increases the operation function of soft keys, simplifies the structure of the system, expands the application field of the system, simplifies the structure of the system, reduces the cost and greatly improves the reliability of the whole system. Is a unique, advanced, scientific and creative design.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A redundant communication system for a robot, the redundant communication system being mounted on a closure plate on a robot body, the redundant communication system comprising: an electric lifting device, a signal transmission device and a console device;
The electric lifting device includes: the device comprises a push rod motor, a gearbox, a push rod and a flexible threading chain; the push rod motor is connected with the gearbox, the gearbox is connected with the robot body, the lower end of the push rod is connected with the gearbox, and the upper end of the push rod is connected with the flexible threading chain;
The signal transmission device is installed in the upper end of push rod, the signal transmission device includes: the device comprises a microwave antenna, a 4G antenna, a remote control antenna and a circuit control unit;
The control console device is located staff control end, the control console device includes: the system comprises a computer or a tablet personal computer, a first microwave processor, a first 4G network processor, a first remote control transmitting/receiving unit, a remote controller and a remote control display screen; the first microwave processor and the first 4G network processor are connected with the computer or the tablet computer;
The first microwave processor and the circuit control unit realize bidirectional transmission of microwave signals through a microwave antenna; the first 4G network processor and the circuit control unit realize bidirectional transmission of 4G network signals through a 4G antenna; the two-way transmission of the remote control signal is realized between the first remote control transmitting/receiving unit and the circuit control unit through a remote control antenna, and the two-way transmission of the remote control signal comprises: the remote control signal of the remote controller reaches the first directional transmission of the circuit control unit through the first remote control transmitting/receiving unit, and the remote control signal of the circuit control unit reaches the second directional transmission of the remote control display screen through the first remote control transmitting/receiving unit;
The circuit control unit includes: the system comprises a central processor, a router, a switch, a second microwave processor, a second 4G network processor, a second remote control receiving/transmitting unit, a remote control CAN bus and a robot PLC control unit;
The central processing unit is in bidirectional connection with the router, the router is in bidirectional connection with the second microwave processor, the input end of the central processing unit is also connected with the output end of the switch, and the input end of the switch is connected with the audio-video device of the robot; the audio and video signals collected by the audio and video device are transmitted to the central processing unit, and the central processing unit sequentially transmits the audio and video signals to the computer or the tablet personal computer through the router, the second microwave processor and the first microwave processor so as to realize microwave transmission of the audio and video signals;
The output end of the central processing unit is also connected with the input control end of the robot PLC control unit, the output end of the robot PLC control unit is connected with the environment sensor and the motor driver of the robot, and the computer or the tablet personal computer transmits parameter control signals of the environment sensor and the motor driver to the robot PLC control unit through the first microwave processor, the second microwave processor, the router and the central processing unit in sequence so as to realize the microwave control of the data acquisition motor drive of the environment sensor;
The robot PLC control unit is also in bidirectional connection with the remote control CAN bus, and the remote control CAN bus is in bidirectional connection with the second remote control receiving/transmitting unit; the remote controller transmits parameter control signals of the environment sensor to the robot PLC control unit through the first remote control transmitting/receiving unit, the second remote control transmitting/receiving unit and the remote control CAN bus in sequence so as to realize data acquisition of the environment sensor and remote control of a motor driver;
the input end of the robot PLC control unit is also connected with an environment sensor of the robot, the environment sensor transmits collected sensor data to the robot PLC control unit, and the robot PLC control unit transmits the sensor data to the remote control display screen sequentially through the remote control CAN bus, the second remote control receiving/transmitting unit and the first remote control receiving/transmitting unit so as to realize remote control display of the sensor data;
The central processing unit is also connected with the second 4G network processor in a bidirectional manner, and transmits the audio and video signals to the computer or the tablet personal computer through the second 4G network processor and the first 4G network processor so as to realize 4G transmission of the audio and video signals; the computer or the tablet personal computer transmits parameter control signals of the environmental sensor to the robot PLC control unit through the first 4G network processor, the second 4G network processor and the central processing unit in sequence so as to realize 4G control of data acquisition of the environmental sensor;
the microwave antennas are 4 microwave antennas, and the 4 antennas are uniformly distributed at the upper end of the push rod in a surrounding manner;
When 4 microwave antennas are used as receiving ends, only one path of the microwave antennas can receive the transmitted signals, and the router needs to identify and judge the signals, so that a useful path of signals is selected and sent to the central processing unit; when the 4 microwave antennas are used as the transmitting ends, the router distributes the signals which are transmitted by the central processing unit and are required to be transmitted into 4 paths of signals which are respectively transmitted to the 4 microwave antennas for transmission.
2. The redundant communication system of claim 1, wherein the console device further comprises: the system comprises a first microwave bidirectional transmission unit, a first 4G network transmission unit and a first remote control bidirectional transmission unit; the circuit control unit further includes: the system comprises a second microwave bidirectional transmission unit, a second 4G network transmission unit and a second remote control bidirectional transmission unit;
the first microwave processor and the second microwave processor realize bidirectional transmission of microwave signals through the first microwave bidirectional transmission unit, the microwave antenna and the second microwave bidirectional transmission unit;
the first 4G network processor and the second 4G network processor realize bidirectional transmission of 4G signals through the first 4G network transmission unit, the 4G antenna and the second 4G network transmission unit;
And the two-way transmission of remote control signals is realized between the first remote control transmitting/receiving unit and the second remote control transmitting/receiving unit through the first remote control two-way transmission unit, the remote control antenna and the second remote control two-way transmission unit.
3. The redundant communication system of claim 2, wherein the first remote bi-directional transmission unit and the second remote bi-directional transmission unit are each 433MHz in frequency.
4. The redundant communication system of claim 1, wherein the signal transmission means further comprises: the microwave relay antenna is used for relay connection of microwave communication between the first microwave processor and the circuit control unit.
5. The redundant communication system of claim 1, wherein the robots comprise a fire extinguishing robot, a reconnaissance robot, a smoke evacuation robot, and a lighting robot.
6. The redundant communication system of claim 1, wherein the audio-visual device comprises: 360 degree camera, cloud platform + camera and audio processor.
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