CN208059935U - Remote probe device - Google Patents
Remote probe device Download PDFInfo
- Publication number
- CN208059935U CN208059935U CN201820484689.3U CN201820484689U CN208059935U CN 208059935 U CN208059935 U CN 208059935U CN 201820484689 U CN201820484689 U CN 201820484689U CN 208059935 U CN208059935 U CN 208059935U
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- China
- Prior art keywords
- module
- actuating station
- handheld terminal
- detection
- rocking handle
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Abstract
The utility model discloses remote probe device, it is equipped with rocking handle module in handheld terminal, and attitude detection is carried out to rocking handle module, using the attitudes vibration of rocking handle module as the operational order of actuating station, the 6DOF mechanical arm of actuating station is operated according to instruction execution, Image Acquisition also is carried out to environment in actuating station, and attitude detection is carried out to camera, to ensure the accuracy of Image Acquisition, also ambient temperature and humidity is detected in actuating station, and whether actuating station at a distance from barrier and is collided and be detected, pass through above-mentioned setting, realize the accurate detection to environment and the accurate crawl and release of mechanical arm, it provides safeguard for the stable operation of actuating station；Smoke Detection, Carbon Monoxide Detection and carbon dioxide detection can be added, site environment is understood convenient for fireman, takes corresponding rescue measure；GPS module can be also added, the action of actuating station is positioned, by location information back pass to handheld terminal, the location information of actuating station is obtained convenient for staff.
Description
Technical field
The utility model is related to intelligent measurement fields, and in particular to remote probe device.
Background technology
Hazardous chemical and hazardous waste usually have the characteristics such as inflammable, explosive, deep-etching, toxic, are transporting and are handling
Personal safety may be influenced in the process, need to carry out remote reviewing, inspection, carrying and cleaning etc. to it；Scene of fire dense smoke
Billowing, temperature is very high, it is also possible to sudden explosion occurs, fireman goes rashly, and personal safety can be on the hazard；Mine disaster is sent out
It after life, needs to be acquired field data, and executes some operations, data reference is provided for Post disaster relief.Therefore, it is necessary to borrow
Remote probe device is helped to carry out the control of the detection and execute-in-place of environment, existing remote probe device, there are environment measurings
Accuracy it is low, the low problem of accuracy of execute-in-place control.
Utility model content
The utility model provides remote probe device, solves the problems, such as that accuracy of the existing technology is low.
The utility model solves technical problem by the following technical programs：
Remote probe device, including handheld terminal and actuating station；The handheld terminal includes handheld terminal controller module, handheld terminal
Attitude detection module, handheld terminal wireless transport module and rocking handle module；The handheld terminal attitude detection module is mounted on
In rocking handle module, the posture of rocking handle module is detected, and posture information is transmitted in handheld terminal controller module；The handheld terminal
Controller module is executed instruction by handheld terminal wireless transport module to actuating station transmission；The actuating station includes that actuating station is wireless
Transmission module, actuating station controller module, context detection module, actuating station attitude detection module, camera and 6DOF machine
Tool arm；The actuating station wireless transport module receives the instruction that handheld terminal wireless transport module is sent, by execution side controller mould
Block control 6DOF mechanical arm executes action；The picture signal of the camera acquisition actuating station, is input to execution side controller
In module；The actuating station attitude detection module detection detects the attitude signal of camera on the axis of camera, and
It is input in actuating station controller module；The context detection module includes for detecting the infrared of barrier and actuating station distance
Detection sub-module includes the pressure whether to collide on 6DOF mechanical arm, for detecting 6DOF mechanical arm
Detection sub-module further includes the Temperature and Humidity submodule for detecting actuating station ambient temperature and humidity.
Further, the rocking handle module includes crawl rocking handle, the upward rocking handle of arm, the downward rocking handle of arm, omnidirectional's rotation
Rocking handle.
Further, the handheld terminal further includes indicating lamp module；Indicator lamp quantity that the indicating lamp module includes with
Rocking handle mould all kinds of rocking handle quantity in the block are identical, and correspond.
Further, the handheld terminal further includes display module；The display module is connect with handheld terminal controller module.
Further, the context detection module of the actuating station further includes Smoke Detection submodule；Smoke Detection
The output end of module is connect with actuating station controller module.
Further, the context detection module of the actuating station further includes carbon dioxide detection sub-module；The titanium dioxide
The output end of carbon detection sub-module is connect with actuating station controller module.
Further, the actuating station further includes GPS module；The GPS module is connect with actuating station controller module.
Further, the actuating station further includes driver, the driver under the control of actuating station controller module,
Drive camera rotation.
Further, the actuating station further includes mechanical arm attitude detection module；The mechanical arm attitude detection module peace
On 6DOF mechanical arm, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module.
Compared with prior art, there are following features：
1, it is equipped with rocking handle module in handheld terminal, and attitude detection is carried out to rocking handle module, with the attitudes vibration of rocking handle module
As the operational order of actuating station, the 6DOF mechanical arm of actuating station is operated according to instruction execution, actuating station also to environment into
Row Image Acquisition, and attitude detection is carried out to camera, it is also warm and humid to environment in actuating station to ensure the accuracy of Image Acquisition
Degree is detected, and whether actuating station at a distance from barrier and is collided and be detected, and passes through above-mentioned setting, is realized
The accurate crawl and release of detection and mechanical arm to environment, provide safeguard for the stable operation of actuating station；
When 2, being applied to detection and rescue, Smoke Detection, Carbon Monoxide Detection and carbon dioxide detection are added, is obtained
Above-mentioned data are taken, site environment is understood convenient for fireman, takes corresponding rescue measure；
3, it applies when coal mine detects, can also add GPS module, the action of actuating station is positioned, by location information
Back pass obtains the location information of actuating station convenient for staff to handheld terminal.
Description of the drawings
Fig. 1 is the utility model structural principle block diagram.
Specific implementation mode
The utility model is described in further detail with reference to embodiments, but the utility model is not limited to these implementations
Example.
Remote probe device, including handheld terminal and actuating station；The handheld terminal includes handheld terminal controller module, handheld terminal
Attitude detection module, handheld terminal wireless transport module and rocking handle module；The handheld terminal attitude detection module is mounted on
In rocking handle module, the posture of rocking handle module is detected, and posture information is transmitted in handheld terminal controller module；The handheld terminal
Controller module is executed instruction by handheld terminal wireless transport module to actuating station transmission；The actuating station includes that actuating station is wireless
Transmission module, actuating station controller module, context detection module, actuating station attitude detection module, camera and 6DOF machine
Tool arm；The actuating station wireless transport module receives the instruction that handheld terminal wireless transport module is sent, by execution side controller mould
Block control 6DOF mechanical arm executes action；The picture signal of the camera acquisition actuating station, is input to execution side controller
In module；The actuating station attitude detection module detection detects the attitude signal of camera on the axis of camera, and
It is input in actuating station controller module；The context detection module includes for detecting the infrared of barrier and actuating station distance
Detection sub-module includes the pressure whether to collide on 6DOF mechanical arm, for detecting 6DOF mechanical arm
Detection sub-module further includes the Temperature and Humidity submodule for detecting actuating station ambient temperature and humidity.
The prior art is typically that rocking handle is arranged in handheld terminal, using the running position of rocking handle as control instruction, rather than with
The operating status of rocking handle is as control instruction, and handheld terminal attitude detection module is arranged in the utility model directly on rocking handle, to shaking
The attitudes vibration of handle is detected, and the signal of attitudes vibration is input in handheld terminal controller module in real time, realize with
Purpose of the operating status of rocking handle as control instruction.The rocking handle module of the utility model is equipped with crawl rocking handle, arm shakes upwards
The downward rocking handle of handle, arm, omnidirectional's rotation crank realize grabbing, taking the mesh rotated with 6DOF for actuating station 6DOF mechanical arm
, user can also increase and decrease rocking handle according to demand.
The handheld terminal further includes indicating lamp module；In indicator lamp quantity and rocking handle module that the indicating lamp module includes
All kinds of rocking handle quantity it is identical, and correspond.The setting of indicating lamp module, primarily to user use handheld terminal when more
Intuitively, and there is rocking handle module when something goes wrong, carry out fault location can be facilitated.
The handheld terminal further includes display module；The display module is connect with handheld terminal controller module.Display module
Can be used for show the attitude data of rocking handle module, the ambient parameter data of actuating station, the attitude data of actuating station, image and its
Its data.
The setting of camera is mainly used for obtaining the image information of actuating station local environment, when setting up camera, usually
It is only stabilized on carrier, its stability is artificially judged, but do not carry out substantive confirmation, this practicality
It is novel that for camera, actuating station attitude detection module is set, detect the attitudes vibration of camera, and by actuating station attitude detection mould
Block is arranged on the axis of camera, the misalignment angle of Real-time Feedback camera, and user can carry out angle by software program
Compensation can also be rotated using the anti-misalignment angle of driver drives camera, returned in the case of camera long time drift
It is in situ, it prevents because of angle tilt problem so that information collection is inaccurate.The driver is connect with actuating station controller module,
It controls lower driving camera rotation.
Infrared detection submodule, pressure detecting submodule and Temperature and Humidity submodule is mainly arranged in context detection module.
Infrared detection submodule is infrared sensor, and the actuating station of the utility model is mounted on carrier, such as intelligent carriage, infrared biography
Sensor detects intelligent carriage at a distance from barrier.Pressure detecting submodule is mounted on 6DOF mechanical arm, works as 6DOF
Mechanical arm collides with outer barrie object, and when cannot be correspondingly rotated by instruction execution, outer barrie object is to 6DOF machinery
Arm has applied force, pressure detecting submodule to sense applied force, be back to handheld terminal.Temperature and Humidity submodule senses actuating station institute
The humiture for locating environment, handheld terminal is back to by temperature-humidity signal.
6DOF mechanical arm have 6 degree of freedom, i.e., along the one-movement-freedom-degree of tri- rectangular co-ordinate axis directions of X, Y, Z with
And the rotational freedom around these three reference axis.6DOF mechanical arm carries out the movement of 6DOF under the control of rocking handle module
And rotation.
According to the difference of application scenario, Smoke Detection submodule, the cigarette are also set up in the context detection module of actuating station
The output end of mist detection sub-module is connect with actuating station controller module.It applies in the environment of detection, environment measuring mould
Block can also carry out smokescope
In actuating station, Carbon Monoxide Detection submodule, the output end and actuating station of Carbon Monoxide Detection submodule can be also set
Controller module connects, the carbonomonoxide concentration for detecting actuating station local environment.Carbon dioxide detection submodule can be also set
The output end of block, the carbon dioxide detection sub-module is connect with actuating station controller module, for detecting ring residing for actuating station
The gas concentration lwevel in border.
It applies and is detected in coal mine, when archaeology detects, GPS module, the GPS module and actuating station can be also set according to demand
Controller module connects, for obtaining the position where actuating station.
The attitude detector of rocking handle module, is used as the instruction of actuating station, and the practical executive condition of actuating station, perhaps with finger
Order is deviated, and the utility model is additionally provided with mechanical arm attitude detection module, mechanical arm attitude detection module peace in actuating station
On 6DOF mechanical arm, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module, then is returned
Into handheld terminal controller module, for judging 6DOF mechanical arm whether according to executing operation.
The utility model carries out attitude detection, the inspection of handheld terminal posture in rocking handle module, camera and 6DOF mechanical arm
The construction for surveying module, actuating station attitude detection module and mechanical arm attitude detection module is identical, is attitude transducer, includes
Three-axis gyroscope, three axis accelerometer and three axle electronic compass obtain mending through excess temperature by embedded low-power consumption arm processor
The 3 d pose and bearing data repaid.
Actuating station wireless transport module and handheld terminal wireless transport module are transmitted in a manner of Zigbee, and ZigBee is
A kind of highly reliable wireless data sending network, communication distance from 75m to hundreds of meter, several kilometers, and support wireless extensions.Therefore, it is
Expand detection range, it may be necessary to multiple actuating stations are set, in this case, coordinator can be added, coordinator is set up
ZigBee-network, each actuating station wireless transport module and handheld terminal wireless transport module are transmitted using ZigBee-network,
Respective PIN ID and channel are added in the network that coordinator is established, when any one actuating station wireless transport module leads to
When letter interrupts, the signal transmission of other actuating stations is not interfered with, when communication recovery is normal, ad hoc network can be also realized, automatically access
In network.
The utility model provides remote probe device, and the accuracy to improve detection environment and the accuracy for executing operation carry
For circuit support and structural support, the improvement of program it is not related to.
Claims (9)
1. remote probe device, it is characterised in that：
Including handheld terminal and actuating station；
The handheld terminal include handheld terminal controller module, handheld terminal attitude detection module, handheld terminal wireless transport module and
Rocking handle module；The handheld terminal attitude detection module is mounted in rocking handle module, detects the posture of rocking handle module, and posture is believed
Breath is transmitted in handheld terminal controller module；The handheld terminal controller module is by handheld terminal wireless transport module to actuating station
Transmission executes instruction；
The actuating station includes actuating station wireless transport module, actuating station controller module, context detection module, actuating station posture
Detection module, camera and 6DOF mechanical arm；The actuating station wireless transport module receives handheld terminal wireless transport module
The instruction sent executes action by actuating station controller module control 6DOF mechanical arm；The camera acquisition actuating station
Picture signal is input in actuating station controller module；Axis of the actuating station attitude detection module detection mounted on camera
On line, the attitude signal of camera is detected, and is input in actuating station controller module；The context detection module includes being used for
The infrared detection submodule of barrier and actuating station distance is detected, including is mounted on 6DOF mechanical arm, for detecting 6 certainly
The pressure detecting submodule whether to be collided by degree mechanical arm further includes the humiture for detecting actuating station ambient temperature and humidity
Detection sub-module.
2. remote probe device according to claim 1, it is characterised in that：
The rocking handle module includes crawl rocking handle, the upward rocking handle of arm, the downward rocking handle of arm, omnidirectional's rotation crank.
3. remote probe device according to claim 2, it is characterised in that：
The handheld terminal further includes indicating lamp module；The indicator lamp quantity that the indicating lamp module includes is in the block each with rocking handle mould
Class rocking handle quantity is identical, and corresponds.
4. remote probe device according to claim 1, it is characterised in that：The handheld terminal further includes display module；Institute
Display module is stated to connect with handheld terminal controller module.
5. remote probe device according to claim 1, it is characterised in that：
The context detection module of the actuating station further includes Smoke Detection submodule；The output end of the Smoke Detection submodule with
Actuating station controller module connects.
6. remote probe device according to claim 1, it is characterised in that：
The context detection module of the actuating station further includes carbon dioxide detection sub-module；The carbon dioxide detection sub-module
Output end is connect with actuating station controller module.
7. remote probe device according to claim 1, it is characterised in that：The actuating station further includes GPS module；It is described
GPS module is connect with actuating station controller module.
8. remote probe device according to claim 1, it is characterised in that：
The actuating station further includes driver, and under the control of actuating station controller module, driving camera turns the driver
It is dynamic.
9. remote probe device according to claim 1, it is characterised in that：
The actuating station further includes mechanical arm attitude detection module；The mechanical arm attitude detection module is mounted on 6DOF machine
On tool arm, the posture of 6DOF mechanical arm is detected, and is input in actuating station controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820484689.3U CN208059935U (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820484689.3U CN208059935U (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208059935U true CN208059935U (en) | 2018-11-06 |
Family
ID=63984557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820484689.3U Expired - Fee Related CN208059935U (en) | 2018-04-08 | 2018-04-08 | Remote probe device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208059935U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
-
2018
- 2018-04-08 CN CN201820484689.3U patent/CN208059935U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318082A (en) * | 2018-04-08 | 2018-07-24 | 桂林航天工业学院 | Remote probe device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181106 Termination date: 20190408 |
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| CF01 | Termination of patent right due to non-payment of annual fee |