Moving and flying multi-robot system used for gallery detection and search-and-rescue
A flying robot, multi-robot technology, applied in manipulators, mining devices, mining equipment and other directions, to achieve the effect of extending the detection distance, efficient flight and detection
Active Publication Date: 2014-04-02
CHINA UNIV OF MINING & TECH
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Problems solved by technology
[0004] The purpose of the present invention is to solve the defects of the existing tunnel detection and search and rescue robots, and provide a multi-robot system in which the mobile robot and the flying robot cooperate with the tunnel detection and search and rescue, through the combination of movement and flight, and the combination of optical fiber and wireless communication , combining laser guidance and autonomous navigation to realize long-distance detection in tunnels
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[0027] The present invention will be further described below in conjunction with drawings and embodiments.
[0028] Such as figure 1 As shown, the mobile and flying multi-robot system for tunnel detection and search and rescue is a semi-autonomous detection multi-robot system, including the command terminal 1 outside the tunnel, the control terminal 2, the mobile carrier robot 4 and the flying robot 5;
[0029] The control terminal 2 includes a robot control device, a monitoring module, a data storage module, an optical fiber communication module, a wireless communication module, and an environment detection module, and performs information interaction with the mobile carrier robot 4 and the flying robot 5 through the optical fiber communication module and the wireless communication module, so as to realize Control of the robot, collection, display and storage of environmental information; and communicate with the command terminal 1 outside the tunnel;
[0030] figure 1 , 2...
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A moving and flying multi-robot system used for gallery detection and search-and-rescue comprises an out-of-gallery commanding terminal (1), a controlling terminal (2), a moving carrier robot (4) and flying robots (5). The moving carrier robot and the controlling terminal are in communication through an optical fiber (2), the flying robots are carried to enter a gallery in a control mode of remote-control guiding and automatic obstacle avoiding, flying of a takeoff flying robot can be guided by generating a laser beam (9) through a laser generating module (8), a wireless communication network is automatically established among the robots through a wireless communication module, and the flying robots fly under combined control of laser guiding, remote control and automatic obstacle avoidance modules, transmit detection information back to the moving carrier robot and further transmit on-site detection information to the controlling terminal and the out-of-gallery commanding terminal through the moving carrier robot. Long-distance detection and search-and-rescue in the gallery are realized by adopting a mode combining moving with flying and combining the optical fiber with wireless communication.
Description
Technical field [0001] The invention relates to a mobile and flying multi-robot system for tunnel detection and search and rescue, belonging to the field of detection and search and rescue robots. Background technique [0002] Detection and search and rescue robots have always been a research hotspot in the field of robotics. One branch is tunnel detection and search and rescue robots. detection, detection of natural caves. The research purpose of the tunnel detection and search and rescue robot is to enter the tunnel, detect the tunnel layout, terrain environment and structural characteristics, detect the gas environment and life information, and transmit the detection data to the remote operator. There are the following difficulties in this research: First, the problem of entry. The terrain environment in the tunnel is often unstructured and complex. For example, there are often intricate equipment, falling roofs, stagnant water and mires in tunnels after mine disasters...
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Login to View More IPC IPC(8): B25J13/00B25J5/00B25J11/00E21F17/18
Inventor 李允旺葛世荣田丰王勇赵德龙王雪李彬代阳阳
Owner CHINA UNIV OF MINING & TECH