Search and rescue system based on crawler robots

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

Active Publication Date: 2014-09-17
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

[0029] Specific implementation mode 1: A search and rescue system based on crawler robots can be divided into three categories according to the types of ZigBee nodes that carry ZigBee nodes, which are tail end robots (carrying ZigBeeCoordinator), relay robots (carrying ZigBeeRouter), and front end robots (carrying ZigBeeEndDevice ). Multiple robots can follow 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 to communicate ac...

specific Embodiment approach 2

[0031] Specific implementation manner 2: Use the system to realize the identification and positioning of the trapped persons. 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 shoot infrared images from time to time. 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 and the surrounding environment information based on the infrared image. The positioning between the robot nodes adopts the combination of ZigBee's RSSI positioning and underground RFID auxiliary positioning. After ZigBee builds a basic network, the distance is calculated 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 position of the reference node, and ...

specific Embodiment approach 3

[0032] Specific implementation manner 3: Use the system to complete voice intercom. The crawling robot can switch between search and rescue mode and voice mode. At the beginning of work, the robot is in search and rescue mode, and it tries to build a Bluetooth network during the search and networking process, and records the location of the failure. When the robot finds a victim, the scene image information is transmitted to the client, and the client determines according to the image information Whether to switch to the voice mode, used 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 bandwidth-limited voice mode of ZigBee, the Bluetooth voice communication technology is used here. A microphone and audio power amplifier device are integrated on the front-end robot carrying a ZigBee t...

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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, and specifically relates to the dynamic parallel networking and positioning of crawler robots and the transmission and forwarding of related data, graphics and voice, and is a search and rescue system based on crawler robots. Background technique [0002] At present, the research and application of the safety system of coal mines in China has made great progress. However, as the demand for energy continues to increase, the mining intensity of coal mines is also increasing, but mining accidents also increase. Once a mine disaster occurs, the underground communication facilities are mostly destroyed and cannot be used, and the underground environment is complex and dangerous. The rescue robot can first complete the positioning of underground personnel and the acquisition of environmental information, so as to provide effective information support for personnel rescue. [0003] With the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E21F11/00H04W84/18
Inventor 金纯
Owner 金纯
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