CN106313061A - Multifunctional robot capable of flying in disaster scene - Google Patents
Multifunctional robot capable of flying in disaster scene Download PDFInfo
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- CN106313061A CN106313061A CN201510401444.0A CN201510401444A CN106313061A CN 106313061 A CN106313061 A CN 106313061A CN 201510401444 A CN201510401444 A CN 201510401444A CN 106313061 A CN106313061 A CN 106313061A
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Abstract
The invention discloses a multifunctional robot capable of flying in a disaster scene. The multifunctional robot comprises a control module, a sensing module, a mechanical hand module, a wireless data transmission module, a navigation positioning module, a flying movement module, a power driving module, an image collection and processing module, a man-machine interaction module and a first aid material library module. The sensing module, the mechanical hand module, the wireless data transmission module, the navigation positioning module, the flying movement module, the image collection and processing module, the man-machine interaction module and the first aid material library module are all connected to the control module, and both the mechanical hand module and the flying movement module are connected to the power driving module. The search and rescue robot has high artificial intelligence, can rapidly reach the specific position, and is high in man-machine interaction, strong in obstacle crossing ability, high in navigation positioning precision, high in data transmission speed, capable of detecting the content of various gas ingredients in air and giving necessary rescue after finding trapped persons, and strong in search and rescue flexibility and environment adaptability.
Description
Technical field
The present invention relates to a kind of search and rescue device, especially a kind of fly able multi-function robot of disaster field.
Background technology
Take the robot that advanced science and technology is developed for rescue, such as earthquake rescue robot, it be a kind of be specifically designed to violent earthquake after in the ruins of market place builet below the ground looking for survivors perform the robot of rescue task.This robot is equipped with color video camera, thermal imaging system and communication system.China is the Eleventh Five-Year Plan period, list " ruins search and assisting rescue robot " project in National 863 key project, undertaken development by Shenyang Institute of Automation robotics National Key Laboratory of the Chinese Academy of Sciences and Earthquake In China emergency rescue center complex, and successfully develop " ruins deformable search and rescue robot, robotization life-detection instrument, rotor wing unmanned aerial vehicle " three sections of robots.These three sections of robots be once chosen as Eleventh Five-Year Plan by State Seismological Bureau since one of 10 scientific and technological achievements most applying actual effect.On April 20th, 2013, after the earthquake, Shenyang Institute of Automation scientific research personnel reacts rapidly Ya'an Sichuan province, goes disaster area urgently in company with robot carry out rescue work in the interim team that searches and rescues of composition afternoon on the 20th.
Suffering from the destruction of countless nature or man power disaster the most every year, what after disaster generation, rescuer was urgent wants to understand on-the-spot concrete situation, searches trapped personnel.Scene after disaster itself possesses great uncertainty, and in the case of cannot ensureing that rescue personnel enters the scene of the accident safely, rescue personnel is difficult to accurately judge field condition, it is difficult to carries out and searches and rescues trapped personnel timely and effectively.And in this case, the intervention of robot just can be effectively reduced rescuer and injure probability, improve the work efficiency of rescue simultaneously.
Existing search and rescue robot exists a lot of not enough, and intelligence, uses wheeled construction mostly not, and obstacle climbing ability is the strongest；Man-machine interaction is weak；Can not quickly arrive appointment position；Navigation and positioning accuracy is the highest；Message transmission rate is slow；Air each gas componant content can not be detected；The relief of necessity can not be awarded after searching and rescuing trapped personnel；Service time of battery is short, thus causes robot accommodative ability of environment more weak.
Summary of the invention
Deficiency for above-mentioned technology, the present invention provides a kind of fly able multi-function robot of disaster field, this search and rescue robot has higher artificial intelligence, can quickly arrive appointment position, and man-machine interaction is high, obstacle climbing ability is strong, navigation and positioning accuracy is high, and message transmission rate is fast, and can detect air each gas componant content, can award the relief of necessity after searching and rescuing trapped personnel, robot searches and rescues motility and accommodative ability of environment is stronger.
A kind of fly able multi-function robot of disaster field, including control module, sensing module, manipulator, wireless data transfer module, navigation positioning module, flight mobile module, power drive module, image acquisition and processing module, human-computer interaction module, emergency aid articles library module forms；
Described control module is made up of ARM controller；By realizing other modules are carried out input and output control to ARM controller programming；
Described sensory perceptual system is made up of infrared obstacle sensor, pyroelectric sensor, gas detection sensor；Sensory perceptual system effect, infrared obstacle sensor is as the barrier judgment in robot traveling process, and pyroelectric sensor is used for detecting human body, and gas detection sensor can detect the gases such as the carbon dioxide in disaster field, carbon monoxide, methane；
Described manipulator is made up of mechanical hand；Effect is that in robot traveling process, article capture and troubleshooting；
Described wireless data transfer module is made up of 3G/4G and satellite communication module；Can be used for big data quickly to transmit；
Described navigation positioning module is made up of big-dipper satellite alignment system, architecture system；Location in robot advances and real-time navigation.Navigation positioning module is the most embedded Big Dipper chip and architecture technology, freely can switch in the middle of two kinds of location modes, can position with base station manner when terminal is searched less than satellite when, and arrive outdoor and once searched star success, terminal can automatically switch to Big Dipper location.Two kinds of technology toggle, and are provided that positional information the most accurately；
Described flight mobile module is made up of eight axle rotor crafts and Athey wheel；Eight axle rotor crafts provide flying power for offline mode state, and Athey wheel is for providing power in ground running state；
Described power drive module is made up of large-capacity battery pack and wireless charging module；Power drive module is respectively eight axle rotor crafts, Athey wheel and mechanical hand and provides power, can be carried out auxiliary charging by wireless charging module, extend the use time during robot manipulating task；
Described image acquisition is made up of high definition photographic head, dsp processor, flash storage with processing module；For obtaining the real time imaging of disaster field；
Described human-computer interaction module is made up of manual remote control mode, speech recognition mode, independent searching pattern；Complete the man-machine interaction with robot；
Described emergency aid articles library module is made up of emergency aid articles storehouse；The square basket composition that emergency aid articles storehouse is made of metal, can require to carry oxygen cylinder, fire extinguisher and emergency aid articles according to difference, and the trapped personnel for searching and rescuing proposes the relief of enough necessity；
Sensing module, manipulator, wireless data transfer module, navigation positioning module, flight mobile module, image acquisition and processing module, human-computer interaction module, emergency aid articles library module will be connected to control module, manipulator and flight mobile module will be connected to power drive module.
There is advantages that
A kind of fly able multi-function robot of disaster field, this search and rescue robot has higher artificial intelligence, can quickly arrive appointment position, man-machine interaction is high, and obstacle climbing ability is strong, and navigation and positioning accuracy is high, message transmission rate is fast, and air each gas componant content can be detected, and the relief of necessity can be awarded after searching and rescuing trapped personnel, robot searches and rescues motility and accommodative ability of environment is stronger.
Accompanying drawing explanation
Fig. 1 is rescue robot structure diagram.
Detailed description of the invention
The invention will be further elaborated below in conjunction with the accompanying drawings, but is not limitation of the invention.
A kind of fly able multi-function robot of disaster field, including control module 1, sensing module 2, manipulator 3, wireless data transfer module 4, navigation positioning module 5, flight mobile module 6, power drive module 7, image acquisition and processing module 8, human-computer interaction module 9, emergency aid articles library module 10 forms.
Described control module 1 is made up of ARM controller 1-1；By realizing other modules are carried out input and output control to the programming of ARM controller 1-1.
Described sensory perceptual system 2 is made up of infrared obstacle sensor 2-1, pyroelectric sensor 2-2, gas detection sensor 2-3；Infrared obstacle sensor 2-1 is as the barrier judgment in robot traveling process, and pyroelectric sensor 2-2 is used for detecting that human body, gas detection sensor 2-3 can detect the gases such as the carbon dioxide in disaster field, carbon monoxide, methane.
Described manipulator 3 is made up of mechanical hand 3-1；Effect is that in robot traveling process, article capture and troubleshooting.
Described wireless data transfer module 4 is made up of 3G/4G and satellite communication module；Can be used for big data quickly to transmit.
Described navigation positioning module 5 is made up of big-dipper satellite alignment system 5-1, architecture system 5-2；Location in robot advances and real-time navigation.Navigation positioning module 5 is the most embedded Big Dipper chip and architecture technology, freely can switch in the middle of two kinds of location modes, can position with base station manner when terminal is searched less than satellite when, and arrive outdoor and once searched star success, terminal can automatically switch to Big Dipper location.Two kinds of technology toggle, and are provided that positional information the most accurately.
Described flight mobile module 6 is made up of eight axle rotor craft 6-1 and Athey wheel 6-2；Eight axle rotor craft 6-1 provide flying power for offline mode state, and Athey wheel 6-2 is for providing power in ground running state.
Described power drive module 7 is made up of large-capacity battery pack 7-1 and wireless charging module 7-2；Power drive module 7 is respectively eight axle rotor craft 6-1, Athey wheel 6-2 and mechanical hand 3-1 provides power, can be carried out auxiliary charging by wireless charging module 7-2, extend the use time during robot manipulating task.
Described image acquisition is made up of high definition photographic head 8-1, dsp processor 8-2, flash storage 8-3 with processing module 8；For obtaining the real time imaging of disaster field.
Described human-computer interaction module 9 is made up of manual remote control mode 9-1, speech recognition mode 9-2, independent searching pattern 9-3；Complete the man-machine interaction with robot.
Described emergency aid articles library module 10 is made up of emergency aid articles storehouse；The square basket composition that emergency aid articles storehouse is made of metal, can require to carry oxygen cylinder 10-1, fire extinguisher 10-2 and emergency aid articles 10-3 according to difference, and the trapped personnel for searching and rescuing proposes the relief of enough necessity.
Sensing module 2, manipulator 3, wireless data transfer module 4, navigation positioning module 5, flight mobile module 6, image acquisition and processing module 8, human-computer interaction module 9, emergency aid articles library module 10 will be connected to control module 1, manipulator 3 and flight mobile module 6 will be connected to power drive module 7.
Embodiment:
After disaster occurs, eight axle rotor craft 6-1 providing onward impulses to fly disaster generation area, after flight to disaster generation area, variable Athey wheel 6-2 and the eight axle rotor device 6-1 two kinds of motor patterns that fly that turn to perform tasks.Large-capacity battery pack 7-1 is respectively eight axle rotor craft 6-1 and Athey wheel 6-2 and provides power.
By sensing module 2 behind robot arrival disaster generation area, the tactile data of robot is provided, it is the barrier judgment in traveling process including infrared obstacle sensor 2-1, pyroelectric sensor 2-2 detects human body, rotated by driven by motor pyroelectric sensor 2-2 simultaneously, such that it is able to guarantee that pyroelectric sensor 2-2 and human body have relative motion all the time, such that it is able to detect the static and human body of motion.Gas detection sensor 2-3 detects the gases such as the carbon dioxide in disaster field, carbon monoxide, methane.
After robot arrives working region, also needing Real-time Collection image scene, the collection of image is completed with processing module 8 by image acquisition.The collection of image uses dsp processor 8-2, can realize various digital signal processing algorithm real-time, meet the requirement of the high real-time of native system.Photographic head use high definition photographic head 8-1, it is possible to achieve night video acquisition.
Sensing module 2 and image acquisition and processing module 8 work in combination simultaneously, it is equipped with lifting, revolution, pitching 3-dimensional freedom platform, can effectively expand sensor and photographic head working range, can the most accurately search and rescue trapped personnel, traditional search and rescue classes robot can be improved and only rely on photographic head and carry out the situation that people search's search efficiency is the highest.
Cure by oxygen therapy if desired for trapped personnel after trapped personnel being detected, then mechanical hand 3-1 captures oxygen cylinder 10-1 from emergency aid articles storehouse 10 and awards trapped personnel.As in scene of fire, then mechanical hand 3-1 captures fire extinguisher 10-2 from emergency aid articles storehouse 10 and puts out trapped personnel fire at one's side.Emergency aid articles 10-3 includes food and medicine simultaneously.
The navigation of robot is carried out navigator fix by navigation positioning module 5, reports current location information by wireless data transfer module 4 simultaneously.Use Big Dipper high-accuracy data acquisition unit positioning precision up to 1 meter, meet system requirements.
Robot is transmitted with the data of operator and communicates and is transmitted by wireless data transfer module 4.
When robot runs into barrier, mechanical hand 3-1 carry out troubleshooting.The power of mechanical hand 3-1 is provided by large-capacity battery pack 7-1.
The operation of robot is completed by human-computer interaction module 9, including manual remote control mode 9-1, speech recognition mode 9-2, and independent searching pattern 9-3.Manual remote control mode 9-1 is that rescue worker's tele-manipulator performs search and rescue task, and wherein sound identification module 9-2 act as after searching trapped personnel, by the state of voice inquiry captive it is thus possible to quickly take to succour accordingly.Present in disaster, robot also can be operated in independent searching pattern 9-3, the most robot autonomous completes trapped personnel search, image scene collection and award the relief that trapped personnel is necessary.
Claims (10)
1. the fly able multi-function robot of disaster field, it is characterized in that, sensing module, manipulator, wireless data transfer module, navigation positioning module, flight mobile module, image acquisition and the processing module, human-computer interaction module, emergency aid articles library module, power drive module and power drive module, manipulator and the flight mobile module that including control module, are connected with control module respectively are also connected with power drive module.
Multi-function robot the most according to claim 1, it is characterised in that: described sensory perceptual system is made up of infrared obstacle sensor, pyroelectric sensor, gas detection sensor.
Multi-function robot the most according to claim 1, it is characterised in that: described manipulator is made up of mechanical hand；Article are captured and troubleshooting by robot traveling process.
Multi-function robot the most according to claim 1, it is characterised in that: described wireless data transfer module is made up of 3G/4G and satellite communication module.
Multi-function robot the most according to claim 1, it is characterised in that: described navigation positioning module is made up of big-dipper satellite alignment system, architecture system.
Multi-function robot the most according to claim 1, it is characterised in that: described flight mobile module is made up of eight axle rotor crafts and Athey wheel；Eight axle rotor crafts provide flying power for offline mode state, and Athey wheel is for providing power in ground running state.
Multi-function robot the most according to claim 1, it is characterised in that: described power drive module is made up of large-capacity battery pack and wireless charging module；Power drive module is respectively eight axle rotor crafts, Athey wheel and mechanical hand and provides power, can be carried out auxiliary charging by wireless charging module, extend the use time during robot manipulating task.
Multi-function robot the most according to claim 1, it is characterised in that: described image acquisition is made up of high definition photographic head, dsp processor, flash storage with processing module；For obtaining the real time imaging of disaster field.
Multi-function robot the most according to claim 1, it is characterised in that: described human-computer interaction module is made up of manual remote control mode, speech recognition mode, independent searching pattern.
Multi-function robot the most according to claim 1, it is characterised in that: described emergency aid articles library module is made up of emergency aid articles storehouse；The square basket composition that emergency aid articles storehouse is made of metal.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053134A (en) * | 2017-03-15 | 2017-08-18 | 谢立波 | Intelligent emergent rescue robot and its intelligent control method |
| CN107082115A (en) * | 2017-05-04 | 2017-08-22 | 安徽工程大学 | A kind of disaster field infrared imaging flying robot |
| CN107145146A (en) * | 2017-04-21 | 2017-09-08 | 成都梵辰科技有限公司 | The unmanned plane and its rescue method searched and rescued for disaster area |
| CN107342782A (en) * | 2017-06-06 | 2017-11-10 | 芜湖航飞科技股份有限公司 | Embedded emergency communication device based on the Big Dipper |
| CN107854790A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | A kind of intelligent fire robot |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN109298721A (en) * | 2018-10-30 | 2019-02-01 | 佛山市神风航空科技有限公司 | A kind of multi-rotor aerocraft of express delivery handling |
| CN109922309A (en) * | 2019-01-04 | 2019-06-21 | 浙江海洋大学 | A kind of engineering explosion operation field emergency management and rescue resource information management system |
| CN110341946A (en) * | 2018-04-02 | 2019-10-18 | 武汉理工大学 | City high-altitude fire-fighting unmanned plane |
| CN112077848A (en) * | 2020-09-08 | 2020-12-15 | 金陵科技学院 | Fire control unmanned aerial vehicle software mechanical arm control system based on optimize and preset performance |
| CN114832260A (en) * | 2022-05-31 | 2022-08-02 | 中国科学技术大学 | Multi-mode intelligent fire-extinguishing robot and use method thereof |
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- 2015-07-10 CN CN201510401444.0A patent/CN106313061A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053134A (en) * | 2017-03-15 | 2017-08-18 | 谢立波 | Intelligent emergent rescue robot and its intelligent control method |
| CN107053134B (en) * | 2017-03-15 | 2023-12-01 | 谢立波 | Intelligent emergency rescue robot and intelligent control method thereof |
| CN107145146A (en) * | 2017-04-21 | 2017-09-08 | 成都梵辰科技有限公司 | The unmanned plane and its rescue method searched and rescued for disaster area |
| CN107082115B (en) * | 2017-05-04 | 2023-02-17 | 安徽工程大学 | Disaster site infrared imaging flying robot |
| CN107082115A (en) * | 2017-05-04 | 2017-08-22 | 安徽工程大学 | A kind of disaster field infrared imaging flying robot |
| CN107342782A (en) * | 2017-06-06 | 2017-11-10 | 芜湖航飞科技股份有限公司 | Embedded emergency communication device based on the Big Dipper |
| CN107854790A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | A kind of intelligent fire robot |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN110341946A (en) * | 2018-04-02 | 2019-10-18 | 武汉理工大学 | City high-altitude fire-fighting unmanned plane |
| CN109298721A (en) * | 2018-10-30 | 2019-02-01 | 佛山市神风航空科技有限公司 | A kind of multi-rotor aerocraft of express delivery handling |
| CN109922309A (en) * | 2019-01-04 | 2019-06-21 | 浙江海洋大学 | A kind of engineering explosion operation field emergency management and rescue resource information management system |
| CN112077848A (en) * | 2020-09-08 | 2020-12-15 | 金陵科技学院 | Fire control unmanned aerial vehicle software mechanical arm control system based on optimize and preset performance |
| CN114832260A (en) * | 2022-05-31 | 2022-08-02 | 中国科学技术大学 | Multi-mode intelligent fire-extinguishing robot and use method thereof |
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