技术领域technical field
本实用新型涉及智能探测机器人技术领域，特别是一种基于无线控制的智能机器人。The utility model relates to the technical field of intelligent detection robots, in particular to an intelligent robot based on wireless control.
背景技术Background technique
每年频繁发生的自然灾害和人为灾害,极大地威胁到人类的生命和财产安全。当灾害发生时,建筑物大面积倒塌,大量人员伤亡,如何第一时间实施快速高效的救援工作,尽可能地解救受困的幸存人员便成为最紧要的任务。灾难发生后的现场是一个未知的、复杂的并具有潜在二次伤害的危险环境,严重阻碍了搜救工作快速高效的开展。事故发生后,由于事故现场环境是未知的,原有的救援方式难以在第一时间展开救援工作。而且在救援工作中,救援人员的自身安全也时刻面临着挑战。此外,限于目前智能控制研究的发展及应用水平,现有搜救机器人不足以全自主地完成探测搜救工作。机器人人机交互技术,将人的智慧与搜救机器人的自主能力相结合,使得人参与到机器人的控制以及决策中,辅助搜救机器人实现快速高效地完成救援作业。Natural disasters and man-made disasters occur frequently every year, which greatly threaten the safety of human life and property. When a disaster occurs, buildings collapse in a large area and a large number of casualties occur. How to implement fast and efficient rescue work in the first place and rescue trapped survivors as much as possible becomes the most urgent task. The scene after the disaster is an unknown, complex and dangerous environment with potential secondary injuries, which seriously hinders the rapid and efficient development of search and rescue work. After the accident, due to the unknown environment of the accident scene, the original rescue method is difficult to start the rescue work in the first place. And in the rescue work, the safety of the rescuers is always facing challenges. In addition, limited by the current development and application level of intelligent control research, the existing search and rescue robots are not enough to complete the detection and rescue work autonomously. Robot human-computer interaction technology combines human intelligence with the autonomy of search and rescue robots, allowing people to participate in the control and decision-making of robots, and assisting search and rescue robots to complete rescue operations quickly and efficiently.
随着人类活动领域的不断扩展以及危险作业需求的快速增长,用于未知环境和危险区域的搜救机器人引起了广泛关注。因此,如何实现危险区域搜救机器人快速准确地完成作业以及搜救机器人与操作人员之间自然友好交流等技术,成为机器人研究领域的热点问题。在搜救机器人关键技术研究中,作为机器人适应性和高效性的先决条件，对机器人模型建立、控制技术、人机交互技术的研究尤为重要。With the continuous expansion of the field of human activities and the rapid growth of the demand for dangerous operations, search and rescue robots used in unknown environments and dangerous areas have attracted widespread attention. Therefore, how to realize the rapid and accurate completion of tasks by search and rescue robots in dangerous areas and the natural and friendly communication between search and rescue robots and operators have become hot issues in the field of robotics research. In the research on the key technologies of search and rescue robots, as the prerequisites for the adaptability and efficiency of robots, the research on robot model building, control technology, and human-computer interaction technology is particularly important.
实用新型内容Utility model content
本实用新型的目的是为了解决上述现有技术的缺陷，提供一种基于无线控制的智能机器人进行远程定位搜救。The purpose of the utility model is to solve the defects of the above-mentioned prior art, and provide an intelligent robot based on wireless control for remote positioning search and rescue.
本实用新型解决其技术问题所采用的技术方案是：基于无线控制的智能机器人，包括具有行走机构的移动平台，所述移动平台上安装有前置广角摄像头、后置广角摄像头、云台热成像仪、传感器组和主控板，所述前置广角摄像头、后置广角摄像头、云台热成像仪和传感器组分别电气连接所述主控板，所述前置广角摄像头安装于所述移动平台前方正中位置，用于监控机器人前方环境，作为机器人前行的眼睛；所述后置广角摄像头安装于所述移动平台后方正中位置，用于监控机器人后方环境，作用为机器人倒行可视；所述云台热成像仪通过转台可转动安装于所述移动平台上，可以根据需要做出适当的转动，以便于热成像仪能对准探测对象；所述传感器组至少包括有温度传感器、湿度传感器、有害气体传感器、红外传感器、超声波测距仪，所述移动平台正前方还安装有至少一套机械臂，所述机械臂前方安装可夹取物品的机械抓手或铲斗，所述机械臂上安装有跟随摄像头，所述跟随摄像头采用可移动摄像头，安装于所述机械抓手或铲斗后方，其作用为监控机械抓手或铲斗前方情况，辅助机械抓手或铲斗完成夹取物品的任务，而且还可以完成对前置广角摄像头和后置广角摄像头的监控死角区域的监控工作。该移动平台的行走机构采用履带式或轮式或履带式和轮式相结合，所述主控板电气连接并控制所述移动平台自动行走或遥控行走或停止。The technical solution adopted by the utility model to solve the technical problem is: an intelligent robot based on wireless control, including a mobile platform with a walking mechanism, and the mobile platform is equipped with a front wide-angle camera, a rear wide-angle camera, and a pan-tilt thermal imaging The front wide-angle camera, the rear wide-angle camera, the pan-tilt thermal imager and the sensor group are respectively electrically connected to the main control board, and the front wide-angle camera is installed on the mobile platform The central position in the front is used to monitor the environment in front of the robot, as the eyes of the robot moving forward; the rear wide-angle camera is installed in the central position behind the mobile platform, and is used to monitor the environment behind the robot. The pan-tilt thermal imager is rotatably installed on the mobile platform through a turntable, and can be rotated appropriately as required so that the thermal imager can be aligned with the detection object; the sensor group includes at least a temperature sensor, Humidity sensor, harmful gas sensor, infrared sensor, ultrasonic rangefinder, at least one set of mechanical arms is installed directly in front of the mobile platform, and a mechanical gripper or bucket that can grip objects is installed in front of the mechanical arm. A following camera is installed on the mechanical arm. The following camera adopts a movable camera and is installed behind the mechanical gripper or bucket. The task of picking up objects, but also can complete the monitoring work of the front wide-angle camera and the rear wide-angle camera to monitor the blind spot area. The traveling mechanism of the mobile platform adopts a crawler type or a wheel type or a combination of a crawler type and a wheel type. The main control board is electrically connected and controls the mobile platform to automatically walk or remotely walk or stop.
作为一种优选方案，还包括有数个移动控制终端装置，每一所述移动控制终端装置设有显示模块及信号接发模块，所述主控板上连接安装有无线电信号接发器，所述信号接发模块和所述无线电信号接发器通过无线通信网络互相接发数据。其中，所述无线电信号接发器和所述信号接发模块采用ZigBee无线通信网络互相接发数据，ZigBee网络具有低功耗、低成本、低速率、支持大量节点、支持多种网络拓扑、低复杂度、快速、可靠、安全等特点；所述移动控制终端装置采用手机，方便而且比较普及，省去额外购买一批移动控制终端装置的费用。As a preferred solution, it also includes several mobile control terminal devices, each of the mobile control terminal devices is provided with a display module and a signal transceiver module, and a radio signal transceiver is installed on the main control board. The signal transceiving module and the radio signal transponder exchange data with each other through the wireless communication network. Wherein, the radio signal transceiver and the signal transceiver module use the ZigBee wireless communication network to send and receive data to each other. The ZigBee network has low power consumption, low cost, low speed, supports a large number of nodes, supports multiple network topologies, and low Features such as complexity, speed, reliability, and safety; the mobile control terminal device uses a mobile phone, which is convenient and popular, and saves the cost of purchasing a batch of mobile control terminal devices.
作为一种优选方案，所述移动平台上还安装有自动灯光装置，在夜里或者黑暗的地方进行搜救，灯光是必不可少的；所述自动灯光装置主要由比较器、光敏电阻和发光二极管LED组成，所述比较器采用LM324四运放电路，具有电源电压范围宽，静态功耗小，可单电源使用，价格低廉等优点。As a preferred solution, an automatic light device is also installed on the mobile platform, and light is indispensable for search and rescue at night or in dark places; the automatic light device is mainly composed of a comparator, a photoresistor and a light-emitting diode LED. The comparator adopts LM324 four-operation amplifier circuit, which has the advantages of wide power supply voltage range, low static power consumption, single power supply, and low price.
作为一种优选方案，所述移动平台上还安装有声光报警装置。As a preferred solution, an audible and visual alarm device is also installed on the mobile platform.
作为一种优选方案，所述机械臂包括动臂、动臂油缸、斗杆、斗杆油缸和连杆机构，所述动臂采用整体式弯动臂，所述动臂一端铰接于所述移动平台上，另一端与所述斗杆铰接，所述斗杆的另一端连接所述机械抓手或铲斗，所述连杆机构一端安装于所述斗杆上，所述连杆机构另一端连接所述机械抓手或铲斗，使之成为一个具有3个自由度的机械结构；所述动臂油缸的数量为两个，分别安装于所述动臂的两侧，这样的双动臂在结构上起到加强筋的作用，所述动臂油缸安装于所述移动平台上，所述动臂油缸的活塞杆连接所述动臂，所述斗杆油缸安装于所述动臂上，所述斗杆油缸的活塞杆连接所述斗杆。As a preferred solution, the mechanical arm includes a boom, a boom cylinder, a stick, a stick cylinder and a linkage mechanism, the boom adopts an integral bent boom, and one end of the boom is hinged to the moving On the platform, the other end is hinged with the arm, the other end of the arm is connected to the mechanical gripper or bucket, one end of the link mechanism is installed on the arm, and the other end of the link mechanism Connect the mechanical gripper or bucket to make it a mechanical structure with 3 degrees of freedom; the number of the boom cylinders is two, which are respectively installed on both sides of the boom. Such a double boom Playing the role of reinforcing ribs in structure, the boom cylinder is installed on the mobile platform, the piston rod of the boom cylinder is connected to the boom, the stick cylinder is installed on the boom, The piston rod of the stick cylinder is connected to the stick.
本实用新型还公开一种利用该基于无线控制的智能机器人进行迅速集合搜救的方法：先设定一台移动控制终端装置为主控机，调整基于无线控制的智能机器人行走的方向与路径，其他搜救人员分别持有一台其他的移动控制终端装置在安全区域进行分散搜救；然后对基于无线控制的智能机器人下达自动行走指令，基于无线控制的智能机器人自动行走期间，所述云台热成像仪不停旋转对四周进行生命体征以及其他危险物品的探测，并将所述温度传感器、湿度传感器、有害气体传感器、跟随摄像头、前置广角摄像头和后置广角摄像头采集到的信息实时传输给主控机，当超声波测距仪探测到前方5m方向有障碍物时，基于无线控制的智能机器人转为遥控行走模式，等待主控机下达清除障碍物的指令或者指定新的路径自动行走；当云台热成像仪探测到生命体征以及其他危险物品时，基于无线控制的智能机器人转为遥控行走模式，声光报警器报警，并将当前所述温度传感器、湿度传感器、有害气体传感器、跟随摄像头、前置广角摄像头和后置广角摄像头采集到的信息实时以广播形式传输给附近30m内所有的移动控制终端装置以及主控机，迅速纠集附近的搜救人员对遇险人员或危险物品进行抢救处理，提高搜救效率。The utility model also discloses a method for quickly collecting and rescuing the intelligent robot based on wireless control: first, a mobile control terminal device is set as the main control unit, and the walking direction and path of the intelligent robot based on wireless control are adjusted. The search and rescue personnel hold one other mobile control terminal device to carry out scattered search and rescue in the safe area; then issue an automatic walking command to the intelligent robot based on wireless control, and during the automatic walking of the intelligent robot based on wireless control, the thermal imager of the pan/tilt Rotate continuously to detect vital signs and other dangerous objects around, and transmit the information collected by the temperature sensor, humidity sensor, harmful gas sensor, following camera, front wide-angle camera and rear wide-angle camera to the main controller in real time When the ultrasonic range finder detects an obstacle 5m ahead, the intelligent robot based on wireless control will switch to the remote control walking mode, waiting for the command from the main controller to clear the obstacle or specify a new path to walk automatically; when the pan/tilt When the thermal imager detects vital signs and other dangerous objects, the intelligent robot based on wireless control will switch to the remote control walking mode, the sound and light alarm will alarm, and the current temperature sensor, humidity sensor, harmful gas sensor, following camera, front The information collected by the wide-angle camera and the rear wide-angle camera is transmitted to all mobile control terminal devices and the main control unit within 30m in real time in the form of broadcast, and quickly gathers nearby search and rescue personnel to rescue people in distress or dangerous objects, improving search and rescue efficiency.
本实用新型相对于现有技术具有如下的有益效果：本实用新型的搜救机器人移动平台上配备有云台摄像机、热成像仪、前后广角摄像头,移动机械臂前端小臂上安装有摄像头。通过以上视频采集设备,救援人员可以获知当前的作业环境以及目标物信息,从而准确地操作移动平台及移动机械手；在浓烟、多灰尘等视线不良条件下,热成像仪所采集温度图像信息,将辅助救援人员进行相应的遥操作。Compared with the prior art, the utility model has the following beneficial effects: the mobile platform of the search and rescue robot of the utility model is equipped with a pan-tilt camera, a thermal imager, front and rear wide-angle cameras, and a camera is installed on the front forearm of the mobile mechanical arm. Through the above video collection equipment, rescuers can know the current working environment and target information, so as to accurately operate the mobile platform and mobile manipulator; under the conditions of poor sight such as thick smoke and dust, the temperature image information collected by the thermal imager, Rescuers will be assisted in the corresponding teleoperation.
此外,热成像仪更可以被利用来在复杂的事故现场搜索幸存的受困人员。系统平台上同时配备有环境参数信息监测系统,可实时采集回传事故现场温度及CH4,CO,H2S等多种气体信息。搜救机器人兼具有本身状态参数信息监测的能力。In addition, thermal imaging cameras can be used to search for surviving trapped persons in complex accident scenes. The system platform is also equipped with an environmental parameter information monitoring system, which can collect and transmit the accident site temperature and various gas information such as CH4, CO, H2S, etc. in real time. The search and rescue robot also has the ability to monitor its own state parameter information.
遥操作人员通过获取到的搜救机器人本体的状态信息,对机器人救援作业进行准确的介入和操作。同时,通过本体状态信息的采集,机器人本身也可以采取相应的行为保证自身的安全性。本体状态信息主要包括通过三维姿态传感器所获取的相对于水平地面机器人本体的航向角、横滚角以及俯仰角,通过编码器所获取的移动机械臂当前的姿态,以及通过绝对式编码器所获取的前端摆臂当前的角度及速度,在这些信息的基础上加以控制防止其侧翻或是倾覆,以确保机器人本体的安全性。此外本体信息还包含有机器人内部多点的温度、当前机器人电池电量、电源系统工作情况、通信质量等信息。The teleoperator can accurately intervene and operate the robot rescue operation through the obtained state information of the search and rescue robot body. At the same time, through the collection of body state information, the robot itself can also take corresponding actions to ensure its own safety. The body state information mainly includes the heading angle, roll angle and pitch angle relative to the horizontal ground robot body obtained by the three-dimensional attitude sensor, the current attitude of the mobile manipulator obtained by the encoder, and the absolute encoder obtained by the absolute encoder. The current angle and speed of the front end swing arm of the robot are controlled on the basis of this information to prevent it from rolling over or overturning, so as to ensure the safety of the robot body. In addition, the main body information also includes information such as the temperature of multiple points inside the robot, the current battery level of the robot, the working status of the power system, and communication quality.
通过使用该基于无线控制的智能机器人可以进行迅速集合搜救方案，实现快速高效地完成救援作业。By using the intelligent robot based on wireless control, it is possible to quickly assemble a search and rescue plan, and complete rescue operations quickly and efficiently.
附图说明Description of drawings
图1为本实用新型的结构简单示意图；Fig. 1 is a simple schematic diagram of the structure of the utility model;
图2为本实用新型的机械臂结构示意图；Fig. 2 is the mechanical arm structure schematic diagram of the present utility model;
图3为本实用新型的超声波测距仪超声波发送电路图；Fig. 3 is the ultrasonic transmission circuit diagram of the ultrasonic range finder of the present utility model;
图4为本实用新型的超声波测距仪超声波接收电路图。Fig. 4 is the ultrasonic receiving circuit diagram of the ultrasonic range finder of the present invention.
具体实施方式detailed description
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型基于无线控制的智能机器人进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。In order to make the purpose, technical solution and advantages of the utility model clearer, the intelligent robot based on wireless control of the utility model will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.
如图1所示，基于无线控制的智能机器人，包括具有行走机构的移动平台1，所述移动平台1上安装有前置广角摄像头4、后置广角摄像头5、云台热成像仪6、传感器组7和主控板8，所述前置广角摄像头4、后置广角摄像头5、云台热成像仪6和传感器组7分别电气连接所述主控板8()，所述前置广角摄像头4安装于所述移动平台1前方正中位置，用于监控机器人前方环境，作为机器人前行的眼睛；所述后置广角摄像头5安装于所述移动平台1后方正中位置，用于监控机器人后方环境，作用为机器人倒行可视；所述云台热成像仪6通过转台可转动安装于所述移动平台1上，可以根据需要做出适当的转动，以便于热成像仪能对准探测对象；所述传感器组7至少包括有温度传感器、湿度传感器、有害气体传感器、红外传感器、超声波测距仪，但不局限于此5种传感器。传感器组7在主控板8的控制下工作，传感器组7采集到的信息由主控板8进行数据处理，主控板8再反馈到机器人的行走系统以及操作人员手持移动控制终端装置。所述移动平台1正前方还安装有至少一套机械臂2，所述机械臂2前方安装可夹取物品的机械抓手或铲斗，所述机械臂2上安装有跟随摄像头3，所述跟随摄像头3采用可移动摄像头，安装于所述机械抓手或铲斗后方，其作用为监控机械抓手或铲斗前方情况，辅助机械抓手或铲斗完成夹取物品的任务，而且还可以完成对前置广角摄像头4和后置广角摄像头5的监控死角区域的监控工作。该移动平台1的行走机构采用履带式或轮式或履带式和轮式相结合，所述主控板8电气连接并控制所述移动平台1自动行走或遥控行走或停止。As shown in Figure 1, the intelligent robot based on wireless control includes a mobile platform 1 with a walking mechanism, and the mobile platform 1 is equipped with a front wide-angle camera 4, a rear wide-angle camera 5, a pan-tilt thermal imager 6, a sensor Group 7 and main control board 8, the front wide-angle camera 4, rear wide-angle camera 5, pan-tilt thermal imager 6 and sensor group 7 are electrically connected to the main control board 8 (), the front wide-angle camera 4 is installed in the middle position in front of the mobile platform 1, and is used to monitor the environment in front of the robot, as the eyes of the robot moving forward; the rear wide-angle camera 5 is installed in the middle position behind the mobile platform 1, and is used to monitor the robot The rear environment is used for the robot to see backwards; the pan-tilt thermal imager 6 is rotatably installed on the mobile platform 1 through a turntable, and can be rotated appropriately as required so that the thermal imager can be aligned and detected Object: the sensor group 7 includes at least a temperature sensor, a humidity sensor, a harmful gas sensor, an infrared sensor, and an ultrasonic range finder, but is not limited to these five types of sensors. The sensor group 7 works under the control of the main control board 8, and the information collected by the sensor group 7 is processed by the main control board 8, and then the main control board 8 feeds back to the walking system of the robot and the mobile control terminal device held by the operator. At least one set of mechanical arm 2 is also installed directly in front of the mobile platform 1, a mechanical gripper or a bucket that can grip objects is installed in front of the mechanical arm 2, and a following camera 3 is installed on the mechanical arm 2. The following camera 3 adopts a movable camera and is installed behind the mechanical gripper or the bucket. Complete the monitoring work of the monitoring blind spot area of the front wide-angle camera 4 and the rear wide-angle camera 5. The traveling mechanism of the mobile platform 1 adopts a crawler type or a wheel type or a combination of a crawler type and a wheel type. The main control board 8 is electrically connected and controls the mobile platform 1 to automatically walk or remotely walk or stop.
其中，超声波测距仪负责水平方向距离并以数值反馈，超声波测距仪系统硬件主要包括超生波功率放大、信号放大与整形、温度检测、CAN通信、报警与显示、BDM接口等模块，超声波测距主要通过超声波发送电路和超声波接收电路实现，超声波发送电路包括超声频率信号的产生、放大及能量转换。超声波频率信号产生可采用软件发生法和硬件发生法，前者利用软件产生大于20kHz的超声波频率信号,通过控制器输出脚输出至放大电路,经功率放大后推动换能器产生超声波，这种方法的特点是充分利用软件编程,灵活性好,但需要设计一个驱动电流为100mA以上的驱动电路；后者通常利用555等电路产生超声频率信号,并直接驱动换能器产生超声波，这种方法的特点是无需驱动电路,但缺乏灵活性。换能器分为电气方式与机械方式两种,电气方式有压电型、电动型、磁致伸缩型等；机械方式有液哨和气流旋笛等。如图3所示，本设计采用DG128的TIMER0定时器编程产生40kHz方波信号，经X端口输出至Q601对信号放大，再送变压器实现阻抗匹配与升压，并驱动换能器UCM40T发出40kHZ脉冲超声波。超声波频率的产生、停止均通过对TIMER0定时器编程完成。超声波碰到障碍物反射回来,引起接收换能器产生压电效应，由于换能器仅输出mV级电压信号,必需进行放大,加之环境中各种频率信号的干扰,也必须对信号进行滤波处理。如图4所示，本设计接收头采用与发射头配对的UCM40R，放大电路由两片精密运算放大器OP37和R、C网络构成。OP37是高速宽带运算放大器,其转换速率达17V/μs，增益带宽为63MHz,设计中采用汽车电源12V供电。回波信号经OP37二级放大后加至LM567。LM567是带有锁定环的音频译码集成电路，内部压控振荡器中心频率f＝1/RC，调节R、C的值使之锁定发射频率，当LM567输入信号大于25mV时，其输出端第8引脚将产生下降沿跳变信号[2]，利用这个跳变信号向DG128外部中断引脚发出中断请求。Among them, the ultrasonic rangefinder is responsible for the distance in the horizontal direction and gives numerical feedback. The hardware of the ultrasonic rangefinder system mainly includes modules such as ultrasonic power amplification, signal amplification and shaping, temperature detection, CAN communication, alarm and display, and BDM interface. The distance is mainly realized by the ultrasonic sending circuit and the ultrasonic receiving circuit. The ultrasonic sending circuit includes the generation, amplification and energy conversion of the ultrasonic frequency signal. Ultrasonic frequency signal can be generated by software generation method and hardware generation method. The former uses software to generate an ultrasonic frequency signal greater than 20kHz, outputs it to the amplifier circuit through the output pin of the controller, and pushes the transducer to generate ultrasonic waves after power amplification. It is characterized by making full use of software programming and good flexibility, but it needs to design a driving circuit with a driving current of more than 100mA; the latter usually uses a 555 circuit to generate ultrasonic frequency signals, and directly drives the transducer to generate ultrasonic waves. The characteristics of this method It does not require a drive circuit, but lacks flexibility. There are two kinds of transducers: electrical and mechanical. The electrical methods include piezoelectric, electric, and magnetostrictive; the mechanical methods include liquid whistle and airflow whistle. As shown in Figure 3, this design uses DG128's TIMER0 timer programming to generate a 40kHz square wave signal, which is output to Q601 through the X port to amplify the signal, and then sent to the transformer to achieve impedance matching and boosting, and drives the transducer UCM40T to emit 40kHZ pulsed ultrasonic waves . The generation and stop of the ultrasonic frequency are completed by programming the TIMER0 timer. Ultrasonic waves hit obstacles and reflect back, causing the receiving transducer to produce a piezoelectric effect. Since the transducer only outputs a mV-level voltage signal, it must be amplified. In addition to the interference of various frequency signals in the environment, the signal must also be filtered. . As shown in Figure 4, the receiving head of this design uses UCM40R paired with the transmitting head, and the amplifying circuit is composed of two precision operational amplifiers OP37 and R, C networks. OP37 is a high-speed broadband operational amplifier with a slew rate of 17V/μs and a gain bandwidth of 63MHz. The design uses a 12V automotive power supply. The echo signal is added to LM567 after being amplified by OP37. LM567 is an audio decoding integrated circuit with a locked loop. The center frequency of the internal voltage-controlled oscillator is f=1/RC. Adjust the value of R and C to lock the transmission frequency. When the input signal of LM567 is greater than 25mV, its output terminal Pin 8 will generate a falling edge transition signal [2], and use this transition signal to send an interrupt request to the DG128 external interrupt pin.
作为一种优选方案，还包括有数个移动控制终端装置，每一所述移动控制终端装置设有显示模块及信号接发模块，所述主控板上连接安装有无线电信号接发器，所述信号接发模块和所述无线电信号接发器通过无线通信网络互相接发数据。其中，所述无线电信号接发器和所述信号接发模块采用ZigBee无线通信网络互相接发数据，ZigBee网络具有低功耗、低成本、低速率、支持大量节点、支持多种网络拓扑、低复杂度、快速、可靠、安全等特点；所述移动控制终端装置采用手机，方便而且比较普及，省去额外购买一批移动控制终端装置的费用，先让手机读取主控板8信息，通过点播方式发送到协调器，协调器通过手机安卓串口调试助手打印出来。安卓串口调试助手对终端采集的控制，协调器通过广播的方式进行串口透传，最终实现了手机无线资料采集、发送、控制的人机交互功能。As a preferred solution, it also includes several mobile control terminal devices, each of the mobile control terminal devices is provided with a display module and a signal transceiver module, and a radio signal transceiver is installed on the main control board. The signal transceiving module and the radio signal transponder exchange data with each other through the wireless communication network. Wherein, the radio signal transceiver and the signal transceiver module use the ZigBee wireless communication network to send and receive data to each other. The ZigBee network has low power consumption, low cost, low speed, supports a large number of nodes, supports multiple network topologies, and low Complexity, fast, reliable, safe, etc.; the mobile control terminal device uses a mobile phone, which is convenient and popular, and saves the cost of purchasing an additional batch of mobile control terminal devices. First, let the mobile phone read the information of the main control board 8, and pass The on-demand mode is sent to the coordinator, and the coordinator prints it out through the Android serial port debugging assistant of the mobile phone. The Android serial port debugging assistant controls the terminal collection, and the coordinator performs serial port transparent transmission through broadcasting, and finally realizes the human-computer interaction function of mobile phone wireless data collection, transmission, and control.
作为一种优选方案，所述移动平台1上还安装有自动灯光装置9，在夜里或者黑暗的地方进行搜救，灯光是必不可少的；所述自动灯光装置9主要由比较器、光敏电阻和发光二极管LED电气连接组成，随着周围环境的光照强度的增加，光敏电阻的阻值下降，经比较器对比后确定所述发光二极管LED的亮灭，所述比较器采用LM324四运放电路，具有电源电压范围宽，静态功耗小，可单电源使用，价格低廉等优点。As a preferred solution, an automatic lighting device 9 is also installed on the mobile platform 1, and lights are indispensable for searching and rescue at night or in dark places; the automatic lighting device 9 is mainly composed of a comparator, a photoresistor and The light-emitting diode LED is electrically connected. With the increase of the light intensity of the surrounding environment, the resistance value of the photoresistor decreases, and the light-emitting diode LED is determined to be on or off after comparison with a comparator. The comparator adopts LM324 four-operation amplifier circuit, It has the advantages of wide power supply voltage range, low static power consumption, single power supply, and low price.
作为一种优选方案，所述移动平台1上还安装有声光报警装置10。As a preferred solution, an audible and visual alarm device 10 is also installed on the mobile platform 1 .
作为一种优选方案，如图2所示，所述机械臂2包括动臂21、动臂油缸22、斗杆23、斗杆油缸24和连杆机构25，所述动臂采用整体式弯动臂，所述动臂21一端铰接于所述移动平台1上，另一端与所述斗杆23铰接，所述斗杆23的另一端连接所述机械抓手或铲斗26，所述连杆机构25一端安装于所述斗杆23上，所述连杆机构25另一端连接所述机械抓手或铲斗26，使之成为一个具有3个自由度的机械结构；所述动臂油缸22的数量为两个，分别安装于所述动臂21的两侧，这样的双动臂在结构上起到加强筋的作用，所述动臂油缸22安装于所述移动平台1上，所述动臂油缸22的活塞杆连接所述动臂21并驱动所述动臂21摆动，所述斗杆油缸24安装于所述动臂21上，所述斗杆油缸24的活塞杆连接所述斗杆23并驱动所述斗杆23摆动。As a preferred solution, as shown in Figure 2, the mechanical arm 2 includes a boom 21, a boom cylinder 22, a stick 23, a stick cylinder 24 and a linkage mechanism 25, and the boom adopts an integral bending One end of the moving arm 21 is hinged on the mobile platform 1, and the other end is hinged on the stick 23. The other end of the stick 23 is connected to the mechanical gripper or bucket 26, and the connecting rod One end of the mechanism 25 is installed on the arm 23, and the other end of the linkage mechanism 25 is connected to the mechanical gripper or bucket 26, making it a mechanical structure with three degrees of freedom; the boom cylinder 22 The number is two, respectively installed on both sides of the boom 21, such a double boom structurally plays the role of reinforcing ribs, the boom cylinder 22 is installed on the mobile platform 1, the The piston rod of the boom cylinder 22 is connected to the boom 21 and drives the boom 21 to swing, the stick cylinder 24 is installed on the boom 21, and the piston rod of the stick cylinder 24 is connected to the bucket Rod 23 and drives the arm 23 to swing.
本实用新型还公开一种利用该基于无线控制的智能机器人进行迅速集合搜救的方法：先设定一台移动控制终端装置为主控机，调整基于无线控制的智能机器人行走的方向与路径，其他搜救人员分别持有一台其他的移动控制终端装置在安全区域进行分散搜救；然后对基于无线控制的智能机器人下达自动行走指令，基于无线控制的智能机器人自动行走期间，所述云台热成像仪不停旋转对四周进行生命体征以及其他危险物品的探测，并将所述温度传感器、湿度传感器、有害气体传感器、跟随摄像头、前置广角摄像头和后置广角摄像头采集到的信息实时传输给主控机，当超声波测距仪探测到前方5m方向有障碍物时，基于无线控制的智能机器人转为遥控行走模式，等待主控机下达清除障碍物的指令或者指定新的路径自动行走；当云台热成像仪探测到生命体征以及其他危险物品时，基于无线控制的智能机器人转为遥控行走模式，声光报警器报警，并将当前所述温度传感器、湿度传感器、有害气体传感器、跟随摄像头、前置广角摄像头和后置广角摄像头采集到的信息实时以广播形式传输给附近30m内所有的移动控制终端装置以及主控机，迅速纠集附近的搜救人员对遇险人员或危险物品进行抢救处理，提高搜救效率。The utility model also discloses a method for quickly collecting and rescuing the intelligent robot based on wireless control: first, a mobile control terminal device is set as the main control unit, and the walking direction and path of the intelligent robot based on wireless control are adjusted. The search and rescue personnel hold one other mobile control terminal device to carry out scattered search and rescue in the safe area; then issue an automatic walking command to the intelligent robot based on wireless control, and during the automatic walking of the intelligent robot based on wireless control, the thermal imager of the pan/tilt Rotate continuously to detect vital signs and other dangerous objects around, and transmit the information collected by the temperature sensor, humidity sensor, harmful gas sensor, following camera, front wide-angle camera and rear wide-angle camera to the main controller in real time When the ultrasonic range finder detects an obstacle 5m ahead, the intelligent robot based on wireless control will switch to the remote control walking mode, waiting for the command from the main controller to clear the obstacle or specify a new path to walk automatically; when the pan/tilt When the thermal imager detects vital signs and other dangerous objects, the intelligent robot based on wireless control will switch to the remote control walking mode, the sound and light alarm will alarm, and the current temperature sensor, humidity sensor, harmful gas sensor, following camera, front The information collected by the wide-angle camera and the rear wide-angle camera is transmitted to all mobile control terminal devices and the main control unit within 30m in real time in the form of broadcast, and quickly gathers nearby search and rescue personnel to rescue people in distress or dangerous objects, improving search and rescue efficiency.
以上所述，仅为本实用新型专利优选的实施例，但本实用新型专利的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型专利所公开的范围内，根据本实用新型专利的技术方案及其实用新型专利构思加以等同替换或改变，都属于本实用新型专利的保护范围。The above is only a preferred embodiment of the utility model patent, but the protection scope of the utility model patent is not limited thereto. The equivalent replacement or change of the technical solution of the utility model patent and the concept of the utility model patent all belong to the protection scope of the utility model patent.
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| CN106078808B (en) | 2018-09-28 |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20170517 Termination date:20170812 |