CN207232762U - A kind of disaster scene sniffing robot system - Google Patents
A kind of disaster scene sniffing robot system Download PDFInfo
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- CN207232762U CN207232762U CN201720952340.3U CN201720952340U CN207232762U CN 207232762 U CN207232762 U CN 207232762U CN 201720952340 U CN201720952340 U CN 201720952340U CN 207232762 U CN207232762 U CN 207232762U
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Abstract
The utility model discloses a kind of disaster scene sniffing robot system, which includes robot body, remote monitoring unit and the microcontroller being located on robot body, environmental monitoring unit, autonomous patrol unit and wireless communication unit；Microcontroller is electrically connected with environmental monitoring unit, autonomous patrol unit and wireless communication unit respectively；Microcontroller is connected with remote monitoring unit signal.Sniffing robot system in disaster scene disclosed in the utility model, its is small, and flexibility is strong, facilitates access for scene after calamity；It can obtain live environmental information after calamity, and survivor's physiologic information, help rescue personnel to formulate rescue plan, and the life danger of rescue personnel is greatly lowered, and improve rescue efficiency.
Description
Technical field
It the utility model is related to a kind of disaster scene sniffing robot system.
Background technology
In recent years, the disaster Frequent Accidents such as domestic and international earthquake, nuclear leakage, mine disaster, fire, cause serious casualties
And property loss, for example, August in 2015 15 days, in the Binhai New Area in Tianjin Tanggu dangerous goods store huge explosion to shock the world,
165 people are dead, 8 people's lost contacts, and 334 people are injured, in 165 victims, most of staff to participate in rescue, wherein wrapping
24 people of public security active service fire fighter, 75 people of PORT OF TIANJIN fire fighter, 11 people of public security police for participating in rescue disposal are included, according to Hui Yuguo
Border credit rating Co., Ltd assesses this accident direct losses and is up to 1,500,000,000 dollars.As can be seen that after this calamity situation and
In the unknown catastrophic failure of cause of accident, big using manpower rescue action enforcement difficulty, the risk that rescue worker undertakes is high.
After disaster occurs, primary task is field conditions detection and the search-and-rescue work of trapped person, but these are visited
Action is surveyed to be required for facing a problem：Field condition is complicated (such as after disaster：It is empty after harmful substance leakage, live high temperature, calamity
Between it is narrow and small, break out second accident etc. at any time), cause rescue personnel can not be directly entered scene and go and find out what's going on, search-and-rescue work is difficult to
Expansion, forces to search and rescue being easy to cause mass casualties again.Therefore, for analogue, develop it is a can enter calamity after
Scene, gather calamity after site environment data, detect survivor's physiological signal, wireless video transmission, in real time positioning and auxiliary rescue
Sniffing robot system etc. function is the main target of this patent.
At present, after this calamity generally manpower rescue mode is used in situation and the unknown catastrophic failure of cause of accident.
After calamity in situation and the unknown catastrophic failure of cause of accident, top priority is disaster scene situation and trapped person after calamity
Detection operations, but manpower rescue can run into following problem in detection process in the early stage：
(1) because after calamity field condition it is complicated, such as：Narrow space after harmful substance leakage, live high temperature, calamity, causes to rescue
Personnel cannot be introduced into scene and go and find out what's going on, and the risk that rescue worker undertakes is high, and rescue work is difficult to be unfolded；
(2) the perception limitation due to human body in itself, rescue personnel can not check site environment data after calamity exactly,
Second accident incidence is estimated, so as to influence the correct formulation of subsequent rescue plan.
The content of the invention
In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of disaster scene sniffing robot system
System, its is small, and flexibility is strong, facilitates access for scene after calamity；It can obtain live environmental information after calamity, and survivor's physiology
Information, helps rescue personnel to formulate rescue plan, and the life danger of rescue personnel is greatly lowered, and improves rescue efficiency.
To achieve these goals, the utility model provides a kind of disaster scene sniffing robot service system, described
Robot system includes robot body, remote monitoring unit and the microcontroller being located on the robot body, environment
Monitoring unit, autonomous patrol unit and wireless communication unit；The microcontroller respectively with the environmental monitoring unit, it is described from
Main patrol unit and the wireless communication unit are electrically connected；The microcontroller is connected with the remote monitoring unit signal.
Compared with prior art, sniffing robot service system in disaster scene provided by the utility model, is supervised by environment
The real time environment parameter of unit monitoring disaster scene is surveyed, and the real time environment parameter is transmitted to microcontroller, microcontroller will
The real time environment Parameter fusion, obtains fusion value, and microcontroller is on the one hand by the fusion value compared with predetermined threshold value, according to comparing
The degree of danger and second accident incidence of outcome evaluation current environment；On the other hand the fusion is worth by wireless communication module
Send to remote monitoring unit, so that rescue personnel implements rescue method by the remote monitoring unit；By independently going on patrol list
Member detects the obstacle information of 3-axis acceleration value and surrounding environment, and is transmitted to microcontroller, and microcontroller is calculated and advised
Marking robot currently most has track route, robot is steadily walked detection.Disaster scene detection provided by the utility model
Robot system system, its is small, and flexibility is strong, facilitates access for scene after calamity；It can obtain live environmental information after calamity,
And survivor's physiologic information, help rescue personnel to formulate rescue plan, the life danger of rescue personnel is greatly lowered, raising is rescued
Help efficiency.
According to another embodiment of the utility model, the environmental monitoring unit include first sensor module and
GSM voice modules, the first sensor module and the GSM voice modules are electrically connected with the microcontroller respectively.
In the utility model, first sensor module is used to detect live environmental information after calamity；Passing through the first sensing
Device module is detected in surrounding environment when having trapped person, and the language of trapped person and rescue personnel are realized by GSM voice modules
Sound communicates.
According to another embodiment of the utility model, the autonomous patrol unit includes second sensor module, electricity
Machine drive module, locating module and power module, the second sensor module, the motor drive module, the positioning mould
Block and the power module are electrically connected with the microcontroller respectively.
In the utility model, the autonomous unit that goes on patrol is used to carry out path planning and navigation to robot system.
According to another embodiment of the utility model, the remote monitoring unit includes gateway, server and movement
Terminal.
In the utility model, remote monitoring unit is used for the environment ginseng for receiving the disaster scene that environmental monitoring unit detects
Number information, rescue method is selected easy to rescue personnel.
According to another embodiment of the utility model, the first sensor module includes flame and smog senses
Device, Temperature Humidity Sensor, infrared sensor of the human body and flammable explosive gas detection sensor.
In the utility model, flame and smoke sensor device are used to detecting the flame and smog in site environment after calamity；It is warm, wet
Degree sensor is used to detect the temperature and humidity after calamity in site environment；Infrared sensor of the human body is used to detect site environment after calamity
In trapped person；Flammable explosive gas detection sensor is used to detect the inflammable and explosive gas such as the methane after calamity in site environment
Body.
According to another embodiment of the utility model, the second sensor module include infrared distance sensor,
3-axis acceleration sensor, infrared distance sensor and ultrasonic sensor.
In the utility model, 3-axis acceleration sensor is used for the x-axis, y-axis and z-axis for detecting robot body's three dimensions
Acceleration；Infrared sensor and ultrasonic sensor are used for the obstacle distance for detecting robot periphery.
According to another embodiment of the utility model, the wireless communication unit includes wireless transceiver chip, institute
It is nRF24L01+ to state wireless transceiver chip.
According to another embodiment of the utility model, the microcontroller is STM32F103.
According to another embodiment of the utility model, the mobile terminal includes pc ends and mobile terminal monitor supervision platform.
According to another embodiment of the utility model, the locating module includes GPS module.
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
All other embodiments obtained, shall fall within the protection scope of the present invention.
Brief description of the drawings
Fig. 1 is the structure diagram of sniffing robot system in disaster scene in embodiment 1.
Embodiment
Embodiment 1
It is a kind of structure diagram of disaster scene sniffing robot system provided in this embodiment referring to Fig. 1.It includes
Robot body (not shown), remote monitoring unit 1, microcontroller 2, environmental monitoring unit 3, autonomous patrol unit 4 and wireless
Communication unit 5；Microcontroller 2, environmental monitoring unit 3, autonomous patrol unit 4 and wireless communication unit 5 are arranged at robot sheet
On body；Microcontroller 2 is electrically connected with environmental monitoring unit 3, autonomous patrol unit 4 and wireless communication unit 5 respectively；Microcontroller
Device 2 is connected with 1 signal of remote monitoring unit.
Remote monitoring unit 1 includes gateway 11, server 12 and mobile terminal；Wherein, mobile terminal includes 13 He of pc ends
Mobile terminal monitor supervision platform 14.
Environmental monitoring unit 3 includes GSM voice modules 31, flame and smoke sensor device 32, Temperature Humidity Sensor 33, human body
Infrared sensor 34 and flammable explosive gas detection sensor 35.
Autonomous patrol unit 4 include motor drive module 41,3-axis acceleration sensor 42, infrared distance sensor 43,
Ultrasonic sensor 44, locating module 45 and power module 46.Locating module 45 includes GPS module.
Wireless communication unit 5 includes wireless transceiver chip, wireless transceiver chip nRF24L01+.
Microcontroller 2 is STM32F103.
The course of work of sniffing robot system in disaster scene provided in this embodiment is as follows：
1st, the x-axis, y-axis and z-axis acceleration of robot body's three dimensions is detected by acceleration transducer；By infrared
Sensor and the obstacle distance information on ultrasonic sensor detection robot periphery, and it is sent to microcontroller and remote monitoring
Unit；Microcontroller goes out robot currently optimal walking according to the 3-axis acceleration value and obstacle distance information planning that receive
Route, and coordinate PID patrol algorithm drives motors to be moved；Or receive the control signal driving electricity that remote monitoring unit is sent
Machine is moved；Steadily walk so as to fulfill robot detection.
2nd, robot using environmental detection unit sensor to the humiture in site environment after calamity, smog, flame, easily
Combustion explosion hazard gases concentration etc. is detected, and is sent to microcontroller and remote monitoring unit；Microcontroller is according to receiving
Data carry out intelligence computation and Data Fusion, according to the degree of danger of the outcome evaluation current environment of data fusion and secondary
Accident rate, and assessment result is sent to remote monitoring unit by wireless communication unit.During detection, if machine
When device people has trapped person by infrared sensor of the human body detection, rescue team is called by GSM voice modules, with the shape to amplify
Formula provides session services for trapped person and rescue team.
3rd, initial data of the robot on the one hand by environmental detection unit collection is uploaded to by nRF24L01+ via gateway
Server, while data fusion, and the dangerous journey using fusion results value as environment after assessment calamity also are carried out to the data of collection
The important evidence of degree and second accident incidence, when environment is there are during security risk after robot thinks calamity, meeting is according to setting
Early warning, alarm threshold value automatic start yellow early warning or warning red carry out grading forewarning system, and alarm signal is dealt into by gateway
Pc ends and mobile terminal monitor supervision platform, remind rescue personnel to carry out corresponding preparation；Rescue team can also be supervised by PC ends or mobile terminal
Platform access server is controlled, checks environmental data after current calamity whenever and wherever possible, it may also be necessary to which long-range hand is carried out to robot
Dynamic manipulation.
Sniffing robot system in disaster scene provided in this embodiment has the advantages that：
1st, there is remote probe, remote detection and positioning are carried out to site environment after calamity and trapped person's situation,
And the positional information of Real-time Feedback corresponding points, facilitate rescue personnel to formulate search and rescue planning；Rescue team can be whenever and wherever possible at the same time
Environmental information after calamity is remotely checked by PC ends or mobile phone A pp, and realizes the remote control to robot；
2nd, there is auxiliary rescue function, when rescue group can not implement effectively rescue to trapped person, robot can
Certain relief is provided for trapped person, for example water, medicine, food and rope etc. are provided for trapped person, is striven for further rescue
Take the time；
3rd, the incidence of second accident is assessed, for various destabilizing factors live after calamity, selects suitable environment to examine
Sensor and corresponding data anastomosing algorithm are surveyed, the detection and intelligence computation to various dangerous matter sources is realized, is commented according to fusion results
Estimate the degree of danger of current environment and the incidence of second accident, facilitate rescue personnel to tackle in time, damage caused by reduction is possible
Lose.
Although the utility model is disclosed above with preferred embodiment, the model of the utility model implementation is not limited to
Enclose.Any those of ordinary skill in the art, in the invention scope for not departing from the utility model, improve when can make a little,
I.e. every equal improvement done according to the utility model, should be the scope of the utility model and is covered.
Claims (10)
1. a kind of disaster scene sniffing robot system, it is characterised in that the robot system includes robot body, long-range
Monitoring unit and the microcontroller being located on the robot body, environmental monitoring unit, autonomous patrol unit and channel radio
Believe unit；The microcontroller respectively with the environmental monitoring unit, the autonomous patrol unit and the wireless communication unit
It is electrically connected；The microcontroller is connected with the remote monitoring unit signal.
2. sniffing robot system in disaster scene as claimed in claim 1, it is characterised in that the environmental monitoring unit includes
First sensor module and GSM voice modules, the first sensor module and the GSM voice modules respectively with the micro-control
Device processed is electrically connected.
3. sniffing robot system in disaster scene as claimed in claim 2, it is characterised in that the autonomous patrol unit includes
Second sensor module, motor drive module, locating module and power module, the second sensor module, the motor drive
Dynamic model block, the locating module and the power module are electrically connected with the microcontroller respectively.
4. sniffing robot system in disaster scene as claimed in claim 3, it is characterised in that the remote monitoring unit includes
Gateway, server and mobile terminal.
5. sniffing robot system in disaster scene as claimed in claim 4, it is characterised in that the first sensor module bag
Include flame and smoke sensor device, Temperature Humidity Sensor, infrared sensor of the human body and flammable explosive gas detection sensor.
6. sniffing robot system in disaster scene as claimed in claim 5, it is characterised in that the second sensor module bag
Include infrared distance sensor, 3-axis acceleration sensor, infrared distance sensor and ultrasonic sensor.
7. such as claim 1-6 any one of them disaster scene sniffing robot system, it is characterised in that the channel radio
Letter unit includes wireless transceiver chip, and the wireless transceiver chip is nRF24L01+.
8. such as claim 1-6 any one of them disaster scene sniffing robot system, it is characterised in that the microcontroller
Device is STM32F103.
9. sniffing robot system in disaster scene as claimed in claim 4, it is characterised in that the mobile terminal includes pc ends
With mobile terminal monitor supervision platform.
10. sniffing robot system in disaster scene as claimed in claim 3, it is characterised in that the locating module includes GPS
Module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720952340.3U CN207232762U (en) | 2017-07-28 | 2017-07-28 | A kind of disaster scene sniffing robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720952340.3U CN207232762U (en) | 2017-07-28 | 2017-07-28 | A kind of disaster scene sniffing robot system |
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| Publication Number | Publication Date |
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| CN207232762U true CN207232762U (en) | 2018-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720952340.3U Expired - Fee Related CN207232762U (en) | 2017-07-28 | 2017-07-28 | A kind of disaster scene sniffing robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470696A (en) * | 2019-08-21 | 2019-11-19 | 科航（苏州）信息科技有限公司 | Probe node and in-situ measurement network |
| CN110868468A (en) * | 2019-11-15 | 2020-03-06 | 西安中星测控有限公司 | Bionic intelligent sensing terminal |
| CN111680729A (en) * | 2020-05-30 | 2020-09-18 | 中国船舶重工集团公司第七一三研究所 | Airport passenger security inspection dangerous goods real-time high-recognition rate method based on X-ray machine image |
| CN112311821A (en) * | 2019-07-26 | 2021-02-02 | 浙江吉利汽车研究院有限公司 | Traffic accident rescue method and device and automobile |
-
2017
- 2017-07-28 CN CN201720952340.3U patent/CN207232762U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112311821A (en) * | 2019-07-26 | 2021-02-02 | 浙江吉利汽车研究院有限公司 | Traffic accident rescue method and device and automobile |
| CN110470696A (en) * | 2019-08-21 | 2019-11-19 | 科航（苏州）信息科技有限公司 | Probe node and in-situ measurement network |
| CN110868468A (en) * | 2019-11-15 | 2020-03-06 | 西安中星测控有限公司 | Bionic intelligent sensing terminal |
| CN111680729A (en) * | 2020-05-30 | 2020-09-18 | 中国船舶重工集团公司第七一三研究所 | Airport passenger security inspection dangerous goods real-time high-recognition rate method based on X-ray machine image |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180413 |