Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot
A wireless self-organizing network and explosive-discharge robot technology, applied in the field of robots, can solve the problems of wired communication damage, failure to meet robot signal strength and network delay requirements, distributed antenna attenuation, etc., to prevent packet loss and solve IP address abnormalities , The effect of ensuring the safety of personnel
Active Publication Date: 2019-12-20
GUANGDONG UNIV OF TECH
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Problems solved by technology
In extreme cases, the wired communication may be destroyed, and the signal of the distributed antenna may be blocked by the long-distance multi-bend tunnel and attenuated severely, which cannot meet the signal strength and network delay requirements for the robot to enter the tunnel.
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Embodiment 1
[0031] figure 1 It is a schematic diagram of the signal transmission of the wireless ad hoc network adapting to the operation of the explosion-proof robot tunnel environment provided by Embodiment 1 of the present invention, figure 2 It is a flow chart of the signal transmission method of the wireless ad hoc network adapted to the operation of the explosion-discharge robot in the tunnel environment provided by the first embodiment of the present invention. Such as Figure 1-2 As shown, this embodiment adopts a centerless distributed network architecture, mainly including operation end node 1, relay node 2, end node 8 and robot mobile node 4, and attempts to establish a dedicated emergency communication network for operating robots. In practical applications, hardware such as the operating terminal, relay base stations, and robots, as well as the communication methods between them form an ad hoc network system. This system can build a communication network from the operation...
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The invention discloses a method for monitoring the change of a communication signal of a robot in an operation state in real time through the mutual cooperation of a base station module and a communication module, sending a control signal to a motion control module when the communication signal is obviously attenuated and delayed, and controlling an upper-layer carrier to actively arrange a basestation so as to ensure the strength of the communication signal. By using the relay base station provided by the invention, the operation space of the explosive-handling robot is greatly expanded, sothat the personnel safety is ensured. According to the ad hoc network system, the number of the relay base stations can be actually adjusted according to tasks, deployment is flexible, meanwhile, thesignal detection module is loaded, and arrangement of the relay base stations has enough initiative and flexibility. The ad hoc network system provided by the invention is special for a private network and does not depend on a public network which may be damaged in emergency. The ARQ transmission protocol is selected, the problem of packet loss is prevented, the reliability of the data transmission process is ensured, and the real-time transmission of multiple paths of audios and videos is sufficiently met.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a wireless ad-hoc network signal transmission method adapted to the environment operation of an explosion-discharge robot in a tunnel. Background technique [0002] With the gradual improvement of domestic infrastructure, tunnels have become a relatively common transportation facility in people's lives. While tunnels passing through mountains bring convenience to human life, they must also make plans for possible dangerous events. According to the general definition of road tunnels, tunnels with a length of more than 500 meters are long-distance tunnels. Semi-autonomous or remote-controlled robots enter the tunnel to complete actions and require human control. In order to ensure the safety of operators, a sufficient safety distance must be maintained between humans and robots. There may be multiple turns in the tunnel, blockage by large obstacles, etc., resulting in serious los...
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IPC IPC(8): H04W16/18H04W24/08H04W40/22H04W84/18H04L1/18
CPCH04W16/18H04W84/18H04W40/22H04W24/08H04L1/18
Inventor 王小霞邹遇高赫
Owner GUANGDONG UNIV OF TECH