CN111360807A - Electric control system and method for crawler rescue robot - Google Patents
Electric control system and method for crawler rescue robot Download PDFInfo
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- CN111360807A CN111360807A CN201811587531.XA CN201811587531A CN111360807A CN 111360807 A CN111360807 A CN 111360807A CN 201811587531 A CN201811587531 A CN 201811587531A CN 111360807 A CN111360807 A CN 111360807A
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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
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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
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Abstract
The invention discloses an electric control system of a crawler rescue robot, wherein the electric control system comprises: the motor driving module is used for receiving a control signal transmitted by the main controller and realizing the control of the rotating speed and the rotating angle of the motor by the control signal; the wireless communication module is used for establishing communication between the main controller and the external operation platform and uploading image information acquired by the camera holder to the external operation platform through the wireless communication module; the electric quantity monitoring and charging module is used for acquiring electric quantity information of the robot battery and transmitting the electric quantity information to the main controller, and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user to charge the robot, and the main controller uploads the electric quantity information acquired by the electric quantity monitoring and charging module through the wireless communication module and displays the information on an external operation platform. The invention can improve the overall stability of system power supply and network transmission and ensure the long-time stable work of the tracked robot.
Description
Technical Field
The invention relates to a crawler rescue robot, in particular to an electric control system and method of the crawler rescue robot.
Background
With the development of robotics, the need for robots of certain specific capabilities and applications is becoming more and more important. In particular to a special robot used in the fields of army, armed police and public security fire rescue. The crawler rescue robot is a mobile robot system, and can travel and search in special environments such as muddy sand and stone in a wireless remote control mode. The robot can cross complex obstacles such as trenches. The method has an effective effect on handling the major sudden dangerous rescue. The crawler rescue robot applied to the outdoor environment needs to judge and analyze complex environment terrains. This puts high demands on the stability of the control system of the robot. The existing electric control system of the crawler robot is mainly concentrated on intelligent detection links such as a sensor and a camera in selection, the rescue purpose is realized mainly by matching of the detection system and the control system, the overall stability of system power supply and network transmission is concerned a little, and the electric control system of the crawler robot capable of stably running for a long time, which is suitable for outdoor complex environment, is lacked in the prior art.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electric control system and method of a crawler rescue robot, which can improve the overall stability of system power supply and network transmission and ensure long-time stable work of the crawler robot, aiming at the defects of the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme.
The utility model provides a track rescue robot electrical system, its including integrated at this internal main control unit of robot, and with wireless communication module, motor drive module, electric quantity control and the module and the camera cloud platform of charging that main control unit is connected, motor drive module is connected with the motor, wherein: the motor driving module is used for receiving a control signal transmitted by the main controller and realizing the control of the rotating speed and the rotating angle of the motor by the control signal; the wireless communication module is used for establishing communication between the main controller and an external operation platform and uploading image information acquired by the camera holder to the external operation platform through the wireless communication module; the electric quantity monitoring and charging module is used for acquiring electric quantity information of the robot battery and transmitting the electric quantity information to the main controller, and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user to charge the robot, and the main controller uploads the electric quantity information acquired by the electric quantity monitoring and charging module through the wireless communication module and displays the information on an external operation platform.
Preferably, the motor drive module establishes communication with a master controller through a CAN bus.
Preferably, the wireless communication module comprises a router, and a local area network is established for the camera holder, the main controller and the external operation platform by the router.
Preferably, the robot body comprises a power distribution module, and the power distribution module is used for converting the output voltage of the robot battery into working voltage for the main controller, the camera holder and the router.
Preferably, the electric quantity monitoring and charging module comprises an alarm indicator light, and when the electric quantity of the robot battery is lower than a preset value, an alarm signal is sent out through the alarm indicator light.
Preferably, the electric quantity monitoring and charging module comprises a charging interface, and the robot battery is charged by charging voltage accessed through the charging interface.
Preferably, the wireless communication module and the camera head are respectively connected to the main controller through RJ45 interfaces.
An electric control method of a crawler rescue robot is realized based on a system, the system comprises a main controller integrated in a robot body, and a wireless communication module, a motor driving module, an electric quantity monitoring and charging module and a camera holder which are connected with the main controller, wherein the motor driving module is connected with a motor, and the method comprises the following steps: the motor driving module is used for receiving a control signal transmitted by the main controller, and the control on the rotating speed and the rotating angle of the motor is realized by the control signal; establishing communication between the main controller and an external operation platform by using the wireless communication module, and uploading image information acquired by the camera holder to the external operation platform through the wireless communication module; the electric quantity monitoring and charging module is used for acquiring electric quantity information of the robot battery and transmitting the electric quantity information to the main controller, and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user of charging the robot; the main controller uploads the electric quantity information collected by the electric quantity monitoring and charging module through the wireless communication module and displays the electric quantity information on an external operation platform.
Preferably, the power-on loop of the robot is connected in series with a direct current contactor, the electric quantity monitoring and charging module is connected to a control end of the direct current contactor, and when the external operating platform transmits an emergency stop signal to the main controller, the electric quantity monitoring and charging module cuts off the power-on loop of the robot by controlling the direct current contactor.
Preferably, the wireless communication module comprises a router, in the method, the router is used for establishing a local area network for the camera holder, the main controller and the external operation platform, the robot body comprises a power distribution module, and the power distribution module is used for converting the output voltage of the robot battery into the working voltage for the main controller, the camera holder and the router.
In the electric control system of the crawler rescue robot, the electric quantity monitoring and charging module collects the electric quantity information of the robot battery and then transmits the electric quantity information to the main controller, and when the electric quantity of the robot battery is lower than a preset value, an alarm signal can be sent out to remind a user to charge the robot, so that the timely supplement of the electric energy of the robot is ensured, the long-time stable work of the crawler robot is ensured, and the overall stability of system power supply and network transmission is further improved.
Drawings
Fig. 1 is a block diagram of an electric control system of the crawler rescue robot.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The invention discloses an electric control system of a crawler rescue robot, and relates to a reference figure 1, which comprises a main controller 1 integrated in a robot body, and a wireless communication module 2, a motor driving module 3, an electric quantity monitoring and charging module 4 and a camera holder 5 which are connected with the main controller 1, wherein the motor driving module 3 is connected with a motor 6, wherein:
the motor driving module 3 is used for receiving a control signal transmitted by the main controller 1 and controlling the rotating speed and the rotating angle of the motor 6 by the control signal;
the wireless communication module 2 is used for establishing communication between the main controller 1 and the external operation platform 7 and uploading image information acquired by the camera holder 5 to the external operation platform 7 through the wireless communication module 2;
the electric quantity monitoring and charging module 4 is used for acquiring electric quantity information of the robot battery and transmitting the electric quantity information to the main controller 1, and sending an alarm signal when the electric quantity of the robot battery is lower than a preset value so as to remind a user to charge the robot, and the main controller 1 uploads the electric quantity information acquired by the electric quantity monitoring and charging module 4 through the wireless communication module 2 and displays the information on the external operation platform 7.
In the electric control system of the crawler rescue robot, the electric quantity monitoring and charging module 4 collects the electric quantity information of the robot battery and then transmits the electric quantity information to the main controller 1, when the electric quantity of the robot battery is lower than a preset value, an alarm signal can be sent out to remind a user to charge the robot, timely supplement of electric energy of the robot is guaranteed, long-time stable work of the crawler robot is guaranteed, and overall stability of system power supply and network transmission is further improved.
In this embodiment, the motor driving module 3 establishes communication with the main controller 1 through a CAN bus.
In order to better realize networking, in this embodiment, the wireless communication module 2 includes a router, and a local area network is established by the router for the camera platform 5, the main controller 1 and the external operating platform 7.
Further, the robot body comprises a power distribution module 8, and the power distribution module 8 is used for converting the output voltage of the robot battery into a working voltage for the main controller 1, the camera holder 5 and the router.
As a preferable mode, the electric quantity monitoring and charging module 4 comprises an alarm indicator light, and when the electric quantity of the robot battery is lower than a preset value, an alarm signal is sent out through the alarm indicator light. The electric quantity monitoring and charging module 4 comprises a charging interface, and charges the robot battery through charging voltage accessed by the charging interface.
In this embodiment, a network interface is preferably adopted to implement data transmission, specifically, the wireless communication module 2 and the camera pan-tilt 5 are respectively connected to the main controller 1 through RJ45 interfaces.
In the practical application process of the electric control system for the crawler rescue robot disclosed by the invention, the following embodiments can be referred.
Example one
The track rescue robot in this embodiment drives the mode motion from the driving wheel through the track action wheel, and the action wheel motor that needs to use is two, through electrical system's control, can realize that the robot stably turns to and walks. The electric control system in the tracked robot body comprises a robot main controller, a wireless communication module, a motor driving module, a power distribution module, an electric quantity monitoring and charging module, a camera and a motor. The specific functions of each module are as follows:
the robot main controller is a processor for robot motion and communication control, and is responsible for interacting with the wireless communication module, controlling the motor driver and processing all acquired data;
the wireless communication module consists of a router and is used for completing the LAN networking of the camera holder, the robot main controller and the outdoor operation platform, and the main controller can be in network communication with the camera through network information interaction to realize the real-time image acquisition control of the robot by the outdoor operation platform and also can be used for completing the remote control of the state of the robot by the outdoor operation platform;
the motor driving module is communicated with the main controller through a CAN bus and used for receiving a control signal transmitted by the main controller and controlling the speed and the rotating angle of the motor by controlling a motor driver;
the power distribution module converts high voltage output by the battery into working voltage required by the main controller, the camera and the router, and the output power of the module can ensure the normal working power consumption of the robot main controller, the camera and the router;
the electric quantity monitoring and charging module is used for transmitting the electric quantity condition of the battery to the main controller, giving an alarm when the electric quantity is low and reminding a user to charge the robot, and comprises a charging interface, so that the user can manually charge the robot, and meanwhile, the module is also used for displaying the current electric quantity state and the running state of the robot through an outdoor operation box interface;
regarding the camera and the motor, the motor power selected by the embodiment has two types, so that different ground environments and different load requirements can be met; high definition digtal camera cloud platform is selected for use to this embodiment, can realize with main control unit's big batch data interaction, can 360 degrees all-round no dead angles shoot, and the video image who shoots transmits for the router through the net gape, and the main control unit module of robot is transmitted to rethread router, and then accomplishes the user to the real-time high definition image acquisition's of robot demand.
In order to better describe the technical scheme of the present invention, the present invention further discloses an electric control method for a track rescue robot, please refer to fig. 1, the method is implemented based on a system, the system includes a main controller 1 integrated in a robot body, and a wireless communication module 2, a motor driving module 3, an electric quantity monitoring and charging module 4 and a camera pan-tilt 5 connected to the main controller 1, the motor driving module 3 is connected to a motor 6, the method includes:
the motor driving module 3 is used for receiving a control signal transmitted by the main controller 1, and the control of the rotating speed and the rotating angle of the motor 6 is realized by the control signal;
establishing communication between the main controller 1 and an external operation platform 7 by using the wireless communication module 2, and uploading image information acquired by the camera holder 5 to the external operation platform 7 through the wireless communication module 2;
the electric quantity monitoring and charging module 4 is used for collecting electric quantity information of the robot battery and transmitting the electric quantity information to the main controller 1, and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user of charging the robot;
the main controller 1 uploads the electric quantity information collected by the electric quantity monitoring and charging module 4 through the wireless communication module 2 and displays the information on the external operation platform 7.
In the method, a direct current contactor is connected in series with a power-on loop of the robot, the electric quantity monitoring and charging module 4 is connected to a control end of the direct current contactor, and when the external operation platform 7 transmits an emergency stop signal to the main controller 1, the electric quantity monitoring and charging module 4 cuts off the power-on loop of the robot by controlling the direct current contactor.
Further, the wireless communication module 2 comprises a router, in the method, a local area network is established by the router for the camera holder 5, the main controller 1 and the external operation platform 7, the robot body comprises a power distribution module 8, and the power distribution module 8 is used for converting the output voltage of the robot battery into the working voltage for the main controller 1, the camera holder 5 and the router.
The invention discloses an electric control method of a crawler rescue robot, and the following embodiments can be referred in the practical application process of the electric control method.
Example two
In the electric control method of the crawler rescue robot, the crawler rescue robot is powered by a battery, when the crawler rescue robot is started, the electric quantity monitoring and charging module is powered firstly, the electric quantity monitoring and charging module controls the on-off of the system electricity and the power electricity through a direct current contactor, when an emergency condition occurs and a scram button is pressed down, the power electricity is cut off in time by the electric quantity monitoring and charging module, meanwhile, the electric quantity monitoring and charging module is also responsible for monitoring the electric quantity condition of the battery and transmits the electric quantity condition to a master controller through a CAN bus, and once the power electricity cut-off condition occurs, the electric quantity monitoring and charging module is connected into the power electricity after receiving a control signal of the master controller;
the power supply conversion module is connected with the electric quantity monitoring and charging module through a direct current contactor and is used for converting high voltage supplied by a battery into low voltage used by the main controller and other modules through a power supply conversion component to ensure normal operation of the main controller and other modules;
the electric quantity monitoring and charging module directly supplies a battery power supply to the motor driving module, and the motor driving module controls the operation of the servo motor, wherein the motor driving module is connected with the main controller module through a CAN bus and receives a starting/operating command of the main controller;
the wireless communication module and the camera are connected with the main controller through the RJ45 interface to form a local area network, the main controller can transmit the real-time state of the robot, the electric quantity of the robot battery monitored by the electric quantity monitoring and charging module to the outdoor operation box, and the outdoor operation box controls the action and the starting and stopping state of the robot through the control interface. The camera shoots high-definition pictures in real time, and the monitored surrounding environment is provided for the outdoor operation box through the local area network;
the control interface of the main controller is divided into a CAN bus interface and an Ethernet interface, which respectively receive CAN bus data control frames and local area network signals and control the switching of motor drive and power electricity through the real-time control and high-speed operation performance of a CPU.
Compared with the prior art, the electric control system and the method for the crawler rescue robot have the advantages that the overall stability of system power supply and network transmission can be improved, and the crawler rescue robot can work stably for a long time. In addition, the electric control system of the crawler rescue robot can be used for outdoor severe environment rescue, detection and external environment investigation occasions, can ensure that the robot realizes real-time acquisition and transmission of detection environment conditions, can ensure that a user can inspect the environment without obstacles within a range of 50 meters, can stably and reliably realize remote control operation in a complex environment, has no special requirements on driving terrain, and can normally drive and work in various ground and temperature and humidity environments. In practical application, the crawler rescue robot can enter a disaster relief site in time when a disaster occurs, no special requirements are required for the site environment, the situation of the disaster-stricken person can be fed back to a commander in real time, the robot can also realize detection and detection of the site environment, and a real-time video picture is fed back to the commander through a camera so that the commander can control the disaster relief progress. On the basis, the real-time control of the crawler rescue robot can be realized in a long distance through the real-time communication function of the outdoor operation platform, the picture transmission of the camera is not influenced in a certain range, and the application requirements are well met.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a track rescue robot electrical system, its characterized in that, including integrated main control unit (1) in the robot body, and with wireless communication module (2), motor drive module (3), electric quantity control and the module of charging (4) and camera cloud platform (5) that main control unit (1) is connected, motor drive module (3) are connected with motor (6), wherein:
the motor driving module (3) is used for receiving a control signal transmitted by the main controller (1) and controlling the rotating speed and the rotating angle of the motor (6) through the control signal;
the wireless communication module (2) is used for establishing communication between the main controller (1) and the external operation platform (7) and uploading image information acquired by the camera holder (5) to the external operation platform (7) through the wireless communication module (2);
the robot charging system is characterized in that the electric quantity monitoring and charging module (4) is used for acquiring electric quantity information of a robot battery and transmitting the electric quantity information to the main controller (1), and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user of charging the robot, and the main controller (1) uploads the electric quantity information acquired by the electric quantity monitoring and charging module (4) through the wireless communication module (2) and displays the information on an external operating platform (7).
2. The electric control system for track rescue robot according to claim 1, characterized in that the motor drive module (3) establishes communication with the main controller (1) through a CAN bus.
3. The electric control system for the crawler rescue robot as claimed in claim 1, wherein the wireless communication module (2) comprises a router, and a local area network is established for the camera holder (5), the main controller (1) and the external operating platform (7) by the router.
4. The electric control system for the track rescue robot as claimed in claim 3, wherein the robot body comprises a power distribution module (8), and the power distribution module (8) is used for converting the output voltage of the robot battery into working voltage for the main controller (1), the camera head (5) and the router.
5. The electric control system for the crawler rescue robot as claimed in claim 1, wherein the electric quantity monitoring and charging module (4) comprises an alarm indicator light, and when the electric quantity of the battery of the robot is lower than a preset value, an alarm signal is sent out through the alarm indicator light.
6. The electric control system for the crawler rescue robot as claimed in claim 5, wherein the electric quantity monitoring and charging module (4) comprises a charging interface, and charges a robot battery through a charging voltage accessed by the charging interface.
7. An electric control system of a crawler rescue robot as claimed in claim 1, wherein the wireless communication module (2) and the camera pan-tilt (5) are respectively connected to the main controller (1) through RJ45 interfaces.
8. An electric control method for a track rescue robot is characterized in that the method is realized based on a system, the system comprises a main controller (1) integrated in a robot body, and a wireless communication module (2), a motor driving module (3), an electric quantity monitoring and charging module (4) and a camera holder (5) which are connected with the main controller (1), the motor driving module (3) is connected with a motor (6), and the method comprises the following steps:
the motor driving module (3) is used for receiving a control signal transmitted by the main controller (1), and the control on the rotating speed and the rotating angle of the motor (6) is realized by the control signal;
establishing communication between the main controller (1) and an external operation platform (7) by using the wireless communication module (2), and uploading image information acquired by the camera holder (5) to the external operation platform (7) through the wireless communication module (2);
the electric quantity monitoring and charging module (4) is used for acquiring electric quantity information of the robot battery and transmitting the electric quantity information to the main controller (1), and an alarm signal is sent out when the electric quantity of the robot battery is lower than a preset value so as to remind a user of charging the robot;
the main controller (1) uploads the electric quantity information collected by the electric quantity monitoring and charging module (4) through the wireless communication module (2) and displays the electric quantity information on the external operation platform (7).
9. The electric control method for the crawler rescue robot is characterized in that a direct current contactor is connected in series with a power-on loop of the robot, the electric quantity monitoring and charging module (4) is connected to a control end of the direct current contactor, and when the external operating platform (7) transmits an emergency stop signal to the main controller (1), the electric quantity monitoring and charging module (4) cuts off the power-on loop of the robot by controlling the direct current contactor.
10. The electric control method of the crawler rescue robot as claimed in claim 8, wherein the wireless communication module (2) comprises a router, in the method, a local area network is established for the camera holder (5), the main controller (1) and the external operating platform (7) by using the router, the robot body comprises a power distribution module (8), and the output voltage of the robot battery is converted into the working voltage for the main controller (1), the camera holder (5) and the router by using the power distribution module (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587531.XA CN111360807A (en) | 2018-12-25 | 2018-12-25 | Electric control system and method for crawler rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587531.XA CN111360807A (en) | 2018-12-25 | 2018-12-25 | Electric control system and method for crawler rescue robot |
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| CN111360807A true CN111360807A (en) | 2020-07-03 |
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| CN201811587531.XA Withdrawn CN111360807A (en) | 2018-12-25 | 2018-12-25 | Electric control system and method for crawler rescue robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103893A (en) * | 2021-04-22 | 2021-07-13 | 国网广汇(上海)电动汽车服务有限公司 | Electric automobile charging rescue method based on charging robot and charging robot |
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| CN106625567A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Mobile robot for dangerous chemical solution extraction |
| JP2017124928A (en) * | 2016-01-15 | 2017-07-20 | 株式会社クボタ | Assist suit |
| 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 |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
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2018
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| CN103440570A (en) * | 2013-08-27 | 2013-12-11 | 上海斐讯数据通信技术有限公司 | Office-assisting intelligent robot |
| JP2017124928A (en) * | 2016-01-15 | 2017-07-20 | 株式会社クボタ | Assist suit |
| CN106625567A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Mobile robot for dangerous chemical solution extraction |
| 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 |
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| CN113103893A (en) * | 2021-04-22 | 2021-07-13 | 国网广汇(上海)电动汽车服务有限公司 | Electric automobile charging rescue method based on charging robot and charging robot |
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Application publication date: 20200703 |