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Mine searching multi- robot system based on wireless sensor network

A wireless sensor and multi-robot technology, applied in the field of search and detection, can solve the problems of rapid transmission of on-site environmental information and trapped personnel information, and achieve the effects of overcoming rapid transmission, strong environmental awareness, and high communication reliability

Inactive Publication Date: 2008-09-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-robot system for mine search and detection based on wireless sensor networks, so as to overcome the problem of rapid transmission of on-site environmental information and trapped personnel information that cannot be solved in the prior art

Method used

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  • Mine searching multi- robot system based on wireless sensor network
  • Mine searching multi- robot system based on wireless sensor network
  • Mine searching multi- robot system based on wireless sensor network

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specific Embodiment approach 1

[0009] Specific implementation mode one: the following combination figure 1 and figure 2 This embodiment will be specifically described. This embodiment is composed of the following devices: a multi-joint robot 1, which has a snake-shaped slender structure and adopts a crawler walking mode, which can meet the requirements of complex obstacles in the mine for the robot's terrain attachment ability and small volume; the multi-joint robot 1 has a loading compartment, which can carry multiple small detection robots 2; the multi-joint robot 1 has an information perception system, and can determine the position of trapped miners, detect the types of harmful gases, the content of harmful gases and Ambient temperature to determine the presence and location of open flames;

[0010] Small scouting robot 2, the small two-wheeled scouting robot has the characteristics of simple structure and easy to carry. After being released along the way, it becomes a monitoring node of the type of ...

specific Embodiment approach 2

[0015] Specific implementation mode two: the following combination figure 1 This embodiment will be specifically described. The difference between this embodiment and Embodiment 1 is that the cameras 1-9 are CCD infrared cameras, which are convenient for identifying the environment in the dark and searching for trapped persons.

specific Embodiment approach 3

[0016] Specific embodiment three: the difference between this embodiment and embodiment one is: the head unit 1-1 and the tail unit 1-2 are equipped with an infrared ray (IR) distance sensor so as to determine the distance and height of the obstacle ahead, etc. Thus providing effective information for path planning.

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Abstract

Based on the mine searching and detecting multiple robots of wireless sensor networks, the invention relates to the searching and detecting field for mines and underground accident site, which overcomes the problem that the existing technology can not transmit the site environment information and personnel information rapidly. The invention consists of the following devices: a multiple-joint robot which is provided with a long and thin structure in a snake shape, adopts the tract type walking mode, and is provided with a boarded bin that can carry a plurality of small investigation robots; a plurality of sensors carried by the robot which can confirm the location of the miners in danger and can detect the kinds, content, and environment temperature of harmful gases; small investigation robots, which realize the multiple-points information collection and long-distance communication through being released along the way; a remote operation and control terminal, which is arranged on the ground, forms a wireless sensor network with the multiple-joint detection robot and the small investigation robots, and builds the communication link between the operator and the robots; the rescuing personnel can operate each part of the robot in a remote end on a real-time basis and can obtain the site environment information and the information of the personnel in danger.

Description

technical field [0001] The invention relates to the field of search and detection of mines and underground accident sites, and more specifically relates to a mine search and detection multi-robot system using a mobile robot as a node and adopting wireless sensor network technology for multi-robot coordinated control. Background technique [0002] At present, the search and rescue work for mine accidents at home and abroad is still dominated by manual search and rescue. Only the United States and Japan have developed the prototype of a single underground rescue robot. Publication No. CN1931653A "A Crawler-Type Multi-joint Articulated Robot Applicable to Coal Mine Search and Detection" patent discloses a snake-shaped robot that is not easy to overturn, has better obstacle-surmounting ability, and can easily pass through narrow and long seams. A crawler-type multi-joint robot, but this patent does not disclose the two key issues of multi-point sensing and long-distance communic...

Claims

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Application Information

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IPC IPC(8): E21F17/18B25J13/00
CPCB08B9/045B25J9/065
Inventor 赵杰闫继宏刘刚峰樊继壮刘玉斌高永生
Owner HARBIN INST OF TECH
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