CN111251321A - Remote control explosion-proof reconnaissance system - Google Patents
Remote control explosion-proof reconnaissance system Download PDFInfo
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- CN111251321A CN111251321A CN202010180323.9A CN202010180323A CN111251321A CN 111251321 A CN111251321 A CN 111251321A CN 202010180323 A CN202010180323 A CN 202010180323A CN 111251321 A CN111251321 A CN 111251321A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
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Abstract
The invention discloses a remote control explosion-proof reconnaissance system, which comprises: the system comprises a handheld remote controller and a plurality of explosion-proof reconnaissance robots; the handheld remote controller is connected with the explosion-proof type reconnaissance robots in a Mesh free distributed networking mode, is used for remotely and wirelessly controlling the explosion-proof type reconnaissance robots, and is also used for displaying data acquired by the explosion-proof type reconnaissance robots. By arranging the handheld remote controller, the problems of large size, heavy weight and difficult operation of the conventional remote control equipment are solved, and a Mesh free distributed networking mode is adopted to remotely and wirelessly control a plurality of explosion-proof reconnaissance robots, so that stable and reliable communication can be kept even in an underground garage.
Description
Technical Field
The invention relates to the technical field of explosion-proof reconnaissance, in particular to a remote control explosion-proof reconnaissance system.
Background
The document with the publication number of CN 107878584A discloses an explosion-proof type reconnaissance robot and a working method, the explosion-proof type reconnaissance robot comprises an explosion-proof type reconnaissance robot moving platform, an explosion-proof type environmental parameter acquisition mechanism, an explosion-proof type infrared data acquisition mechanism, an explosion-proof type camera mechanism and an upper computer console, and the robot does not fall off a belt or turn on one side when passing through obstacles with different left and right heights; when high-temperature flame burns the body or the crawler belt, the device can still safely move; the chassis control algorithm under the target driving is realized through a communication protocol and a control mechanism, and the motion response speed and the control precision of the robot are improved; however, although this mode can be used for remote control of the reconnaissance robot under certain conditions, in practical application, the reliability and stability of a communication control system are poor, signal data is delayed seriously, and the communication control system cannot pass back to a background in time, and an upper computer control box of the robot is large in size, heavy and inconvenient to use, and can only reconnaissance the surrounding environment of the robot in practical application scenes, and the robot has a single function, cannot reconnaissance remote equipment, and is damaged by falling down due to heavy objects, and the robot has no self-protection function.
The document with publication number CN 108686324A discloses a fire-fighting, fire-extinguishing, reconnaissance and explosion-proof robot, which comprises a robot terminal and a remote control box, wherein the robot terminal comprises an explosion-proof chassis, a fire monitor, a water curtain nozzle, a lifting platform, an explosion-proof headlight, an alarm lamp, an explosion-proof thermal infrared imager, an explosion-proof sound pickup, an explosion-proof sound box, a first data transmission antenna, a first image transmission antenna and an explosion-proof laser obstacle avoidance sensor are arranged above the explosion-proof chassis, the remote control box comprises a carrying box and a hand box, the robot adopts a crawler-type chassis, can carry different upper parts such as a fire monitor, a toxic and harmful gas detector and the like, and can detect, rescue, extinguish and the like accident site, but the communication control system of the robot has poor reliability and stability, the signal in an underground facility warehouse has extremely poor data delay, and can not reconnaissance to remote equipment and can encounter an accident, the equipment arranged on the robot is very easy to be damaged by falling of heavy objects. And the robot can only be controlled by a single robot, and can not be connected with a plurality of robot autonomous networks.
Disclosure of Invention
Based on this, the invention aims to provide a remote control explosion-proof reconnaissance system to improve the reliability and stability of communication control.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses a remote control explosion-proof reconnaissance system, which comprises: the system comprises a handheld remote controller and a plurality of explosion-proof reconnaissance robots;
the handheld remote controller is connected with the explosion-proof type reconnaissance robots in a Mesh free distributed networking mode, is used for remotely and wirelessly controlling the explosion-proof type reconnaissance robots, and is also used for displaying data acquired by the explosion-proof type reconnaissance robots.
Optionally, the system further includes:
a Mesh relay device; the Mesh relay equipment is respectively in wireless connection with the handheld remote controller and the explosion-proof reconnaissance robots; the Mesh relay equipment is used for constructing a communication ad hoc network to realize the mutual communication between the handheld remote controller and the plurality of explosion-proof reconnaissance robots.
Optionally, the explosion-proof type reconnaissance robot includes:
the robot comprises a crawler-type mobile chassis, a robot body, a controller and first data acquisition equipment;
the robot body is arranged on the crawler-type moving chassis, the controller is arranged in the robot body, and the first data acquisition equipment is arranged on the robot body;
the controller is wirelessly connected with the handheld remote controller and is used for controlling the crawler-type mobile chassis to move according to the motion command sent by the handheld remote controller; the controller is connected with the first data acquisition equipment and used for sending the first data acquired by the first data acquisition equipment to the handheld remote controller so that the handheld remote controller displays the first data acquired by the first data acquisition equipment.
Optionally, the explosion-proof type reconnaissance robot further includes:
and the second data acquisition equipment is arranged on the robot body, is connected with the controller and is used for acquiring second data and sending the second data to the handheld remote controller through the controller so as to enable the handheld remote controller to display the second data acquired by the second data acquisition equipment.
Optionally, the explosion-proof type reconnaissance robot further includes:
the protective device is arranged on the crawler-type mobile chassis, corresponds to the first data acquisition equipment, and is used for resisting falling objects above the first data acquisition equipment and preventing the first data acquisition equipment from being broken by smashing.
Optionally, the explosion-proof type reconnaissance robot further includes: a lifting rod;
the lifting rod is arranged on a lifting platform of the robot body, the lifting rod is connected with the controller, and the second data acquisition equipment is arranged at the top end of the lifting rod; the handheld remote controller controls the lifting rod to ascend and descend through the controller, so that the second data acquisition equipment can acquire remote second data.
Optionally, the first data acquisition device includes:
the thermal imager is used for acquiring heat information;
the first camera is used for collecting low-position video information;
the temperature and humidity sensor is used for collecting temperature and humidity;
the first gas sensor is used for collecting low gas;
the controller is respectively connected with the thermal imager, the first camera, the temperature and humidity sensor and the first gas sensor and is used for sending the collected first data to the handheld remote controller for display; the first data includes thermal information, low video information, temperature, humidity, and low gas.
Optionally, the second data collecting device includes:
the second camera is used for acquiring high-altitude video information;
the second gas sensor is used for collecting high-altitude gas;
the controller is respectively connected with the second camera and the second gas sensor and is used for sending the acquired second data to the handheld remote controller for display; the second data includes altitude video information and altitude gas.
Optionally, the first data acquisition device and the second data acquisition device are both connected to the controller through an RS485 interface bus or a CAN interface bus.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a remote control explosion-proof reconnaissance system, which comprises: the system comprises a handheld remote controller and a plurality of explosion-proof reconnaissance robots; the handheld remote controller is connected with the explosion-proof type reconnaissance robots in a Mesh free distributed networking mode, is used for remotely and wirelessly controlling the explosion-proof type reconnaissance robots, and is also used for displaying data acquired by the explosion-proof type reconnaissance robots. By arranging the handheld remote controller, the problems of large size, heavy weight and difficult operation of the conventional remote control equipment are solved, and a Mesh free distributed networking mode is adopted to remotely and wirelessly control a plurality of explosion-proof reconnaissance robots, so that stable and reliable communication can be kept even in an underground garage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a first structural diagram of a remote control explosion-proof reconnaissance system according to an embodiment of the present invention;
FIG. 2 is a second structural diagram of the remote control explosion-proof reconnaissance system according to the embodiment of the present invention;
the system comprises a handheld remote controller 1, an explosion-proof reconnaissance robot 2, a crawler-type mobile chassis 21, a robot body 22, a first data acquisition device 23, a second data acquisition device 24, a protection device 25, a lifting rod 26 and Mesh relay equipment 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a remote control explosion-proof reconnaissance system to improve the reliability and stability of communication control.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a first structural diagram of a remote control explosion-proof reconnaissance system according to an embodiment of the present invention, and as shown in fig. 1, the present invention discloses a remote control explosion-proof reconnaissance system, which includes: the system comprises a handheld remote controller 1 and a plurality of explosion-proof reconnaissance robots 2; the handheld remote controller 1 is connected with the explosion-proof type reconnaissance robots 2 in a Mesh free distributed networking mode, is used for remotely and wirelessly controlling the explosion-proof type reconnaissance robots 2, and is further used for displaying data collected by the explosion-proof type reconnaissance robots 2. The handheld remote controller 1 can realize remote wireless remote control with a ground distance greater than 1 km.
As an embodiment, the explosion-proof type reconnaissance robot 2 of the present invention includes: the crawler-type mobile chassis 21, the robot body 22, the controller and the first data acquisition equipment 23; the robot body 22 is arranged on the crawler-type moving chassis 21, the controller is arranged inside the robot body 22, and the first data acquisition equipment 23 is arranged on the robot body 22; the controller is wirelessly connected with the handheld remote controller 1 and is used for controlling the crawler-type mobile chassis 21 to move according to a motion instruction sent by the handheld remote controller 1; the controller is connected with the first data acquisition equipment 23 and used for sending the first data acquired by the first data acquisition equipment 23 to the handheld remote controller 1, so that the handheld remote controller 1 displays the first data acquired by the first data acquisition equipment 23.
Specifically, the controller sends the first data acquired by the first data acquisition device 23 to the handheld remote controller 1 through a remote control transmitter arranged in the robot body 22.
The crawler-type moving chassis 21 is adopted for moving, the structural terrain adaptability of the chassis is strong, and the stability of the moving process can be improved.
As an embodiment, the explosion-proof type reconnaissance robot 2 of the present invention further includes:
and the second data acquisition equipment 24 is arranged on the robot body 22, is connected with the controller and is used for acquiring second data and sending the second data to the handheld remote controller 1 through the controller so that the handheld remote controller 1 displays the second data acquired by the second data acquisition equipment 24.
As an embodiment, the explosion-proof type reconnaissance robot 2 of the present invention further includes:
the protective device 25 is arranged on the crawler-type mobile chassis 21, corresponds to the first data acquisition equipment 23, and is used for resisting falling objects above the first data acquisition equipment 23 and preventing the first data acquisition equipment 23 from being broken by smashing; the guard 25 is a "door" type guard rail.
When the robot works in an easily-collapsed environment, the protection device 25 can resist an object falling from the upper part to break the first data acquisition equipment 23, and belongs to the self-protection function configuration of the robot.
As an embodiment, the explosion-proof type reconnaissance robot 2 of the present invention further includes: a lifting rod 26;
the lifting rod 26 is arranged on a lifting platform of the robot body 22, the lifting rod 26 is connected with the controller, and the second data acquisition device 24 is arranged at the top end of the lifting rod 26; the handheld remote controller 1 controls the lifting rod 26 to ascend and descend through the controller, so that the second data acquisition device 24 can acquire second data in a remote place.
Through dial button switch control lifter 26 on the handheld remote controller 1 goes up and down, when the scene of an accident need carry out remote detection, the robot can rise stroke 200mm when moving on uneven road and survey simultaneously, to some dangerous sources that are more difficult to survey, when the robot is static or the level land gentle removal condition, lifter 26 can continue to rise to the super high distance apart from ground 2.8m, carries out the detection of remote eminence.
As an embodiment, the first data acquisition device 23 of the present invention includes: the system comprises a thermal imager, a first camera, a temperature and humidity sensor and a first gas sensor; the thermal imager is used for acquiring thermal information; the first camera is used for collecting low-position video information; the temperature and humidity sensor is used for collecting temperature and humidity; the first gas sensor is used for collecting low gas; the controller is respectively connected with the thermal imager, the first camera, the temperature and humidity sensor and the first gas sensor and is used for sending the collected first data to the handheld remote controller 1 for display; the first data includes thermal information, low video information, temperature, humidity, and low gas.
As an embodiment, the second data collecting device 24 of the present invention includes: a second camera and a second gas sensor; the second camera is used for acquiring high-altitude video information; the second gas sensor is used for collecting high-altitude gas; the controller is respectively connected with the second camera and the second gas sensor and is used for sending the acquired second data to the handheld remote controller 1 for display; the second data includes altitude video information and altitude gas.
As an implementation manner, the first data acquisition device 23 and the second data acquisition device 24 of the present invention are both connected to the controller through an RS485 interface bus or a CAN interface bus; specifically; the first data acquisition equipment 23 is connected with the controller through an RS485 interface bus or a CAN interface bus; the second data acquisition device 24 is connected with the controller through an RS485 interface bus or a CAN interface bus.
The working principle is as follows: when the explosion-proof type reconnaissance robot 2 works, the ground surface is flat, and when the moving speed of the explosion-proof type reconnaissance robot 2 is flat and slow, the handheld remote controller 1 can be operated, so that the lifting rod 26 is lifted, the maximum lifting position is 2.8 meters away from the ground surface, the position of the explosion-proof type reconnaissance robot 2 is adjusted, and higher and farther distance detection can be carried out. The upgrade height of the traditional robot lifting platform is less than 1.8 meters, and because the upgrade platform is unstable when the robot moves, climbs a slope and surmounts obstacles, the lifting rod 26 only needs to be carried out when the robot is static or moves at a low speed on a flat ground when lifted, and can carry out remote reconnaissance of information such as accident leakage points and the like.
Fig. 2 is a structural diagram of a remote control explosion-proof reconnaissance system according to an embodiment of the present invention, and as shown in fig. 2, the system of the present invention further includes:
a Mesh relay device 3; the Mesh relay equipment 3 is respectively in wireless connection with the handheld remote controller 1 and the explosion-proof reconnaissance robots 2; the Mesh relay equipment 3 is used for constructing a communication ad hoc network to realize the mutual communication between the handheld remote controller 1 and the plurality of explosion-proof type reconnaissance robots 2. Specifically, the controller sends the first data collected by the first data collection device 23 to the handheld remote controller 1 through the Mesh relay device 3, so that the handheld remote controller 1 displays the first data collected by the first data collection device 23.
The second data acquisition device 24 acquires second data and sequentially transmits the second data to the handheld remote controller 1 through the controller and the Mesh relay device 3, so that the handheld remote controller 1 displays the second data acquired by the second data acquisition device 24, and the purposes and connection relations of other devices are the same as those of the above embodiment, and are not discussed one by one here.
According to the invention, when the Mesh communication relay equipment 3 is arranged between the handheld remote controller 1 and the plurality of explosion-proof reconnaissance robots 2, the communication remote control distance can be greatly increased, and the problem of short traditional transmission distance is solved.
The remote control explosion-proof reconnaissance system disclosed by the invention can be used for collecting various environmental information under complex and severe environments such as explosive and collapse environments and the like, can keep stable, reliable and remote wireless communication, meanwhile, the light remote wireless remote control equipment greatly reduces the burden of an operator, so that the operation is more convenient, the characteristics of poor stability, serious transmission signal delay and the like of a common robot wireless control system are overcome, the reliability, the safety and the applicability of the reconnaissance robot in complex, severe and other high-risk environments are greatly improved, can replace the working personnel to enter the dangerous disaster accident site with radioactivity, high temperature, flammability, explosive, toxicity, oxygen deficiency, dense smoke and the like for reconnaissance, data acquisition, even rescue and the like, and the robot has self-protection function, effectively solves the problems of personal safety, insufficient data information acquisition and the like in the places.
Specific advantages are summarized as follows:
1. the reconnaissance robot remote control equipment in the prior art adopts a backpack upper computer console or a backpack remote control box, has heavy and huge volume and weight of about 15kg, and greatly increases the burden of operators. Aiming at the defects, the portable handheld remote controller is adopted, the weight is about 3.5kg, and the operation convenience is greatly improved.
2. The communication technology that current robot adopted is based on COFDM wireless control system, and its control command and image branch passageway transmission are bulky, and the communication loss is in a serious condition, and communication reliability is extremely poor under the complex environment or fire control field, and the signal interrupts easily, and image transmission delays seriously, can not control many robots in same region moreover. Aiming at the defects, the invention adopts a wireless communication control system based on the Mesh technology, controls audio frequency, data and control integrally, can keep stable and reliable communication in an underground garage, can establish Mesh free distributed networking in a working range and control a plurality of robots of the same type in the same area. Meanwhile, a set of communication relay equipment is added in a certain range, so that the wireless control distance can be increased. The remote control distance of the traditional robot is generally within 1km, when a communication relay device is added, the wireless transmission reliability is still poor, and signals are easy to interrupt or delay.
3. The existing robot loading mechanism is free of self-protection equipment, and is extremely easy to break down and damage by collapsed objects in a large-span workshop and an easily collapsed environment, so that functions are lost, and communication of the robot is interrupted and the robot cannot return in severe cases. Aiming at the defects, the invention designs the protection device of the upper module to ensure the safety of the upper module.
4. The existing reconnaissance robot can only acquire environmental information of the surrounding environment of the robot, the lifting height of a lifting platform on the robot is small, the video acquisition distance is only several meters, the height distance is only several meters, the visual field is narrow, and the reconnaissance of long-distance environmental accidents cannot be realized. Aiming at the defects, the lifting rod is designed to realize the remote data acquisition, and the advantages are prominent in some complex, severe, toxic and harmful environments.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A remotely controlled explosion-proof reconnaissance system, the system comprising: the system comprises a handheld remote controller and a plurality of explosion-proof reconnaissance robots;
the handheld remote controller is connected with the explosion-proof type reconnaissance robots in a Mesh free distributed networking mode, is used for remotely and wirelessly controlling the explosion-proof type reconnaissance robots, and is also used for displaying data acquired by the explosion-proof type reconnaissance robots.
2. The remotely controlled explosion-proof reconnaissance system of claim 1, further comprising:
a Mesh relay device; the Mesh relay equipment is respectively in wireless connection with the handheld remote controller and the explosion-proof reconnaissance robots; the Mesh relay equipment is used for constructing a communication ad hoc network to realize the mutual communication between the handheld remote controller and the plurality of explosion-proof reconnaissance robots.
3. The remotely controlled explosion-proof reconnaissance system of claim 1, wherein the explosion-proof reconnaissance robot comprises:
the robot comprises a crawler-type mobile chassis, a robot body, a controller and first data acquisition equipment;
the robot body is arranged on the crawler-type moving chassis, the controller is arranged in the robot body, and the first data acquisition equipment is arranged on the robot body;
the controller is wirelessly connected with the handheld remote controller and is used for controlling the crawler-type mobile chassis to move according to the motion command sent by the handheld remote controller; the controller is connected with the first data acquisition equipment and used for sending the first data acquired by the first data acquisition equipment to the handheld remote controller so that the handheld remote controller displays the first data acquired by the first data acquisition equipment.
4. The remotely controlled explosion-proof reconnaissance system of claim 3, wherein the explosion-proof reconnaissance robot further comprises:
and the second data acquisition equipment is arranged on the robot body, is connected with the controller and is used for acquiring second data and sending the second data to the handheld remote controller through the controller so as to enable the handheld remote controller to display the second data acquired by the second data acquisition equipment.
5. The remotely controlled explosion-proof reconnaissance system of claim 4, wherein the explosion-proof reconnaissance robot further comprises:
the protective device is arranged on the crawler-type mobile chassis, corresponds to the first data acquisition equipment, and is used for resisting falling objects above the first data acquisition equipment and preventing the first data acquisition equipment from being broken by smashing.
6. The remotely controlled explosion-proof reconnaissance system of claim 5, wherein the explosion-proof reconnaissance robot further comprises: a lifting rod;
the lifting rod is arranged on a lifting platform of the robot body, the lifting rod is connected with the controller, and the second data acquisition equipment is arranged at the top end of the lifting rod; the handheld remote controller controls the lifting rod to ascend and descend through the controller, so that the second data acquisition equipment can acquire remote second data.
7. The remotely controlled explosion-proof reconnaissance system of claim 6, wherein the first data acquisition device comprises:
the thermal imager is used for acquiring heat information;
the first camera is used for collecting low-position video information;
the temperature and humidity sensor is used for collecting temperature and humidity;
the first gas sensor is used for collecting low gas;
the controller is respectively connected with the thermal imager, the first camera, the temperature and humidity sensor and the first gas sensor and is used for sending the collected first data to the handheld remote controller for display; the first data includes thermal information, low video information, temperature, humidity, and low gas.
8. The remotely controlled explosion-proof reconnaissance system of claim 6, wherein the second data acquisition device comprises:
the second camera is used for acquiring high-altitude video information;
the second gas sensor is used for collecting high-altitude gas;
the controller is respectively connected with the second camera and the second gas sensor and is used for sending the acquired second data to the handheld remote controller for display; the second data includes altitude video information and altitude gas.
9. The remote-control explosion-proof reconnaissance system of claim 6, wherein the first data acquisition device and the second data acquisition device are connected to the controller through an RS485 interface bus or a CAN interface bus.
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| CN111844077A (en) * | 2020-07-28 | 2020-10-30 | 季华实验室 | A emergent robot that detects for gas-liquid leakage accident |
| CN113163518A (en) * | 2021-03-10 | 2021-07-23 | 新兴际华集团有限公司 | Wireless communication system for multi-information fusion acquisition robot |
| CN113467343A (en) * | 2021-08-10 | 2021-10-01 | 江苏徐工工程机械研究院有限公司 | Remote control system and method for drill jumbo |
| CN114260923A (en) * | 2022-02-09 | 2022-04-01 | 航天科工智能机器人有限责任公司 | Explosive-handling robot and explosive-handling method thereof |
| US11669087B2 (en) | 2021-07-15 | 2023-06-06 | Howe & Howe Inc. | Controlling and monitoring remote robotic vehicles |
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