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Search and rescue system based on crawler robots

A technology of robots and reptiles, which is applied in the field of search and rescue systems based on reptile robots, can solve the problems of insufficient influence of wireless transmission signals in robot rescue systems, and achieve the effect of shortening the rescue time

Active Publication Date: 2013-02-06
金纯
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing robot rescue system has deficiencies in dynamic network construction, voice data transmission, infrared image acquisition, and the influence of mine roadways on wireless transmission signals.

Method used

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  • Search and rescue system based on crawler robots
  • Search and rescue system based on crawler robots
  • Search and rescue system based on crawler robots

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Experimental program
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Effect test

specific Embodiment approach 1

[0030] Embodiment 1: A search and rescue system based on reptile robots can be divided into three categories according to the type of ZigBee nodes they carry, namely tail-end robots (carrying ZigBeeCoordinator), relay robots (carrying ZigBeeRouter), front-end robots (carrying ZigBeeEndDevice ). Between multiple robots can follow the figure 1 The steps shown form a dynamic search and rescue network. When the first FFD device is activated, it first scans the default effective channel of the physical layer to detect interference. At the same time, the detected channels are sorted by energy value. Then perform an active scanning process to select an optimal channel as the current working channel. The coordinator is the first successfully established network node (in the MSSTATE_LRWPAN protocol stack, the coordinator node does not perform channel scanning during the network establishment process, and directly uses the designated channel for communication according to the design ...

specific Embodiment approach 2

[0032] Specific implementation mode two: use the system to realize the recognition and positioning of the state of the trapped person. Such as image 3 In the robot search and rescue network shown, the front-end robot carries an infrared thermal imager. When the robot is searching, it can take infrared images from time to time, and the relay robot can receive all the information obtained by the front-end robot through various sensors or infrared devices. , The monitoring center can further understand the posture of the trapped underground people and the surrounding environment information based on the infrared image. The positioning between robot nodes adopts the combination of RSSI positioning of ZigBee and underground RFID-assisted positioning. After ZigBee establishes the basic network, the distance calculation is performed by the size of the RSSI value received by the node, and then the position of the positioning node (blind node) is calculated by the distance and the po...

specific Embodiment approach 3

[0033] Specific implementation mode three: use the system to complete voice intercom. The crawling robot has a switch between search and rescue mode and voice mode. The robot is in the search and rescue mode when it starts working, and it tries to build a Bluetooth network during the search and networking process, and records the location where the construction failed. When the robot finds a person in distress, it transmits the image information of the scene to the client, and the client determines Whether to switch to voice mode to communicate with the victims on the scene. Complete the unfinished Bluetooth network by supplementing the relay robot. The search and rescue mode can be implemented according to the aforementioned ZigBee networking strategy. Considering the limited bandwidth of ZigBee, the voice mode is implemented here using Bluetooth voice communication technology. Microphones and audio power amplifiers are integrated on the front-end robot carrying the ZigBee ...

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Abstract

The invention discloses a search and rescue system based on crawler robots. A network system consists of three types of crawler robots, i.e. a relay robot, a front-end robot and a tail-end robot; the robots are networked and communicated through a ZigBee technology; a search and rescue network is built through the advance of the robots; and trapped person search and rescue, position determination, thermal infrared image transmission and Bluetooth voice intercom are contained in the whole system. The system has the benefits that a rapid networking strategy of ZigBee is applied to robot bodies, the underground rescue network is networked and built by utilizing the dynamic and parallel advance of the robots, and the positioning of underground staff when mine disasters occur and the acquisition of environmental information are realized.

Description

technical field [0001] The invention belongs to the field of robot rescue communication systems, specifically relates to the dynamic parallel networking and positioning of reptile robots and the transmission and forwarding of related data, graphics and voice, and is a search and rescue system based on reptile robots. Background technique [0002] At present, great progress has been made in the research and application of safety systems in coal mines in China. However, with the continuous increase of energy demand, the mining intensity of coal mines is also increasing, but mine accidents are also increasing. Once a mining disaster occurs, the underground communication facilities are mostly damaged and cannot be used, and the underground environment is complex and dangerous. The rescue robot can first complete the positioning of underground personnel and obtain environmental information, thereby providing effective information support for personnel rescue. [0003] With the ...

Claims

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Application Information

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IPC IPC(8): E21F11/00H04W84/18
Inventor 金纯
Owner 金纯
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