CN103495979A - Explosive-handling robot controlled through wireless and wired channels - Google Patents
Explosive-handling robot controlled through wireless and wired channels Download PDFInfo
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- CN103495979A CN103495979A CN201310456942.6A CN201310456942A CN103495979A CN 103495979 A CN103495979 A CN 103495979A CN 201310456942 A CN201310456942 A CN 201310456942A CN 103495979 A CN103495979 A CN 103495979A
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Abstract
The invention relates to an explosive-handling robot controlled through wireless and wired channels. The explosive-handling robot comprises a robot body, a control platform device used for sending command signals for controlling the robot body, a receiving and processing device used for receiving and processing the command signals, a wireless transmission device, a wired transmission device and a wireless/wired switchover switch arranged on the control platform device, and the wireless transmission device and the wired transmission device are connected between the control platform device and the receiving and processing device. The control platform device is operated to generate the command signals for controlling the robot body, the wireless/wired switchover switch is controlled to select the wireless transmission device or the wired transmission device to transmit the command signals to the control platform device according to the needs of an explosion handling field, and therefore the robot body is effectively and accurately controlled.
Description
Technical field
The present invention relates to robot, refer to particularly a kind of explosive-removal robot of controlling by Wireless/wired binary channels.
Background technology
Explosive-removal robot is that explosive personnel are for disposing or destroy the equipment special of suspicious explosive, it can be used for various complex-terrains and carries out explosive, and replace explosive personnel's carrying, transfer suspicious explosive product and other dangerous things, can avoid unnecessary casualties.
Due to explosive site environment complexity, therefore, under which kind of environment, adopt which kind of control mode can be effectively, accurately explosive-removal robot is controlled to the problem that becomes an important research.Controlled in wireless used is easily received the impact that in explosive scene, full range disturbs at present, thereby causes using, and has line traffic control easily to be subject to the impact of explosive on-the-spot complex-terrain environment.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art and provides a kind of by the explosive-removal robot of Wireless/wired binary channels control, this explosive-removal robot is can be according to concrete explosive environmental selection wireless or have the mode of line traffic control to be controlled, thereby can control efficiently and accurately explosive-removal robot.
Realize that the technical scheme that the object of the invention adopts is: a kind of explosive-removal robot of controlling by Wireless/wired binary channels comprises:
Robot body;
The console device, for sending the command signal of controlling described robot body;
Receiving and processing device, for the described command signal of reception & disposal;
Radio transmitting device, be connected between described console device and receiving and processing device, for the described command signal of wireless transmission;
Wired transmission device, be connected between described console device and receiving and processing device, for the described command signal of wire transmission; And
Wireless/wired change-over switch, be located on described console device, for selecting, described command signal transmitted by described wired transmission device or radio transmitting device.
The present invention produces the command signal of control body by the operating console device, select, by radio transmitting device or wired transmission device, command signal is transferred to the console device according to the explosive on-the-spot Wireless/wired change-over switch of control that needs, thereby realize control body efficiently and accurately.
The accompanying drawing explanation
Fig. 1 is that the present invention is by the structured flowchart of the explosive-removal robot of Wireless/wired binary channels control.
Fig. 2 is console device process chart of the present invention.
Fig. 3 is data collision process chart of the present invention.
Fig. 4 receiving and processing device process chart of the present invention.
Fig. 5 is that receiving and processing device of the present invention is to receiving the dissection process flow chart of data.
The specific embodiment
Below in conjunction with meeting, with specific embodiment, the present invention is further detailed explanation.
As shown in Figure 1, the explosive-removal robot that the present invention controls by Wireless/wired binary channels, comprise: robot body, console device and receiving and processing device are connected with respectively radio transmitting device and wired transmission device between console device and receiving and processing device.The console device is provided with Wireless/wired change-over switch, control Wireless/wired change-over switch by selection described command signal is transferred to receiving and processing device by radio transmitting device or wired transmission device, receiving and processing device receives also and transfers to robot body after the processing command signal, thereby realizes the action control to robot body.
The present invention controls explosive-removal robot by Wireless/wired binary channels and comprises: the processing that the console device is processed, wired transmission device conflicts to data, receiving and processing device processing, receiving and processing device are to receiving the dissection process of data, and detailed process is as follows respectively.
Console device handling process as shown in Figure 2, set timer after initialization data, then the read operation personnel, by the command signals data of console device input, control Wireless/wired change-over switch by selection command signals data are sent to receiving and processing device by radio transmitting device or wired transmission device.
If the timing of timer arrives, the communication monitoring module is sent the communication monitoring instruction to receiving and processing device.
If the timing of timer does not arrive, judge whether to receive the response data that receiving and processing device returns, if receive, judge that whether these data are normal, if normally resolve and pass through screen display, otherwise abandon this data.
If do not receive the response signal that receiving and processing device is beamed back in the time at communication monitoring, control described communications status display lamp and send emergent prompting, and control described emergency signal sending module by the console device and send the signal that makes described robot body make emergency action, make the timely stop motion of robot body, and alert is made corresponding detection.Monitor and increased robot control reliability by real-time Communication for Power.
For having prevented that traffic congestion from appearring in line traffic control, when the present invention sends data by wired transmission device at first detection line whether conflict is arranged, if any the conflict processing that conflicts, handling process as shown in Figure 3, comprises following concrete steps:
The initializing cable transmitting device, if this Wireline free time sends data, and carry out collision detection, the mode of collision detection be by the data of transmission with receive to such an extent that data compare by bit, if both are consistent, illustrates and conflicts; If both are inconsistent, conflict has occurred in explanation.
Send a needed back off time of instruction if when conflict detected calculate, to instruction analysis and transmission priority is set, important instruction is preferentially sent when conflict.The back off time algorithm is: according to transfer rate calculate every command frame transmitting time, receive the Echo Frame time, the transmitting time of every command frame of back off time T=+reception Echo Frame time+routine processes time+Frame stand-by period.Calculate stand-by period employing binary system index algorithm, stand-by period t=(2
i-1) * interval basic time * preferred number.According to the severity level of message, preferred number is set, the low preferred number of rank is high.Basic time, the transmitting time value that is slightly larger than every command frame was got at interval, and i gets number of retransmissions N.
The flow process of receiving and processing device processing reception data as shown in Figure 4, specifically comprises: initialize receiving and processing device and also set timer time, if any data receiver, resolution data, and control body is carried out corresponding actions.If do not receive data in timer time, stop action.
Particularly, the flow process that receiving and processing device is processed the reception data as shown in Figure 5, if the starting character that receives data correctly judge that whether the length of data is correct, if correct judge whether these data are this machine human body's address, if it is judge that whether the BCC verification is correct, if correctly extract command frame, complete data and process.
By above-mentioned detailed operating process, the present invention can, according to the corresponding transmission means of the environmental selection at explosive scene, realize that the control body moves accordingly quickly and accurately.The present invention also has the following advantages:
1, the present invention can have Wireless/wired two kinds of control modes simultaneously, unified interface is provided, the Wireless/wired module that realizes program by Wireless/wired change-over switch is freely switched, and realizes that same operation interface has controlled in wireless and the function that line traffic control is arranged simultaneously, easy to operate simple and direct.
2, the present invention has added the collision detection processing when the wired transmission device data send, and has improved communication quality.Increase robot and controlled reliability.
3, in data communication process, there is the real-time Communication for Power monitoring function, in the time of can't receiving at the appointed time response, robot stops action automatically and alert is carried out link detecting, prevents from operating unexpected the generation.
4, receiving and processing device, through the multiple judgement of data and verification, has reduced the bit error rate, guarantees the correct execution of instruction.
Claims (7)
1. an explosive-removal robot of controlling by Wireless/wired binary channels comprises:
Robot body;
The console device, for sending the command signal of controlling described robot body;
Receiving and processing device, for the described command signal of reception & disposal;
It is characterized in that, also comprise:
Radio transmitting device, be connected between described console device and receiving and processing device, for the described command signal of wireless transmission;
Wired transmission device, be connected between described console device and receiving and processing device, for the described command signal of wire transmission; And
Wireless/wired change-over switch, be located on described console device, for selecting, described command signal transmitted by described wired transmission device or radio transmitting device.
2. the explosive-removal robot of controlling by Wireless/wired binary channels according to claim 1, it is characterized in that: described radio transmitting device carries out the signal transmission by the RS232 agreement.
3. the explosive-removal robot of controlling by Wireless/wired binary channels according to claim 2, it is characterized in that: described wired transmission device carries out the signal transmission by the RS485 agreement.
4. the explosive-removal robot of controlling by Wireless/wired binary channels according to claim 3, it is characterized in that: described receiving and processing device is provided with RS232 interface and RS485 interface, with described radio transmitting device, with wired transmission device, is connected respectively.
5. according to the described explosive-removal robot of controlling by Wireless/wired binary channels of claim 1～4 any one, it is characterized in that, described console device also comprises:
The communication monitoring module, the response signal of sending for monitoring described receiving and processing device;
The communications status display lamp, be connected with described communication monitoring module; And
The emergency signal sending module;
The communication monitoring module is not received described response signal in setting-up time, control described communications status display lamp and send emergent prompting, and control described emergency signal sending module by the console device and send the signal that makes described robot body make emergency action.
6. the explosive-removal robot of controlling by Wireless/wired binary channels according to claim 1, it is characterized in that: described wired transmission device is when sending command signal, carry out collision detection and the processing that conflicts, if when conflict detected calculate and send a needed back off time of instruction, to instruction analysis and transmission priority is set, important instruction is preferentially sent when conflict.
7. the explosive-removal robot of controlling by Wireless/wired binary channels according to claim 6 is characterized in that: the mode of described collision detection is by the data of transmission and receives to such an extent that data compare by bit, if both are consistent, do not conflict; If both are inconsistent, conflict has occurred.
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| CN201310456942.6A CN103495979B (en) | 2013-09-30 | 2013-09-30 | Explosive-handling robot controlled through wireless and wired channels |
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| CN201310456942.6A CN103495979B (en) | 2013-09-30 | 2013-09-30 | Explosive-handling robot controlled through wireless and wired channels |
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| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN106292671A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multiple spot distribution centralized Control cruising inspection system |
| CN106292672A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multi-platform control crusing robot |
| CN107081764A (en) * | 2017-03-27 | 2017-08-22 | 常州明景智能科技有限公司 | Light anti-interference explosive-removal robot and its application method |
| CN107297740A (en) * | 2016-04-14 | 2017-10-27 | 广明光电股份有限公司 | the control system of robot |
| CN107564256A (en) * | 2017-08-13 | 2018-01-09 | 惠州市德赛西威汽车电子股份有限公司 | A kind of vehicle audio RDS systems and software supervision method |
| CN108247632A (en) * | 2017-12-28 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of cooperation robot control system based on ROS |
| CN109140015A (en) * | 2018-09-10 | 2019-01-04 | 吉林省智鼎新能源科技有限公司 | A kind of valve positioner and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN107297740A (en) * | 2016-04-14 | 2017-10-27 | 广明光电股份有限公司 | the control system of robot |
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| CN108247632A (en) * | 2017-12-28 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of cooperation robot control system based on ROS |
| CN109140015A (en) * | 2018-09-10 | 2019-01-04 | 吉林省智鼎新能源科技有限公司 | A kind of valve positioner and control method |
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| CN103495979B (en) | 2015-06-24 |
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