CN104184781A - Unknown environment exploration-oriented mobile robot self-deploying sensing network - Google Patents
Unknown environment exploration-oriented mobile robot self-deploying sensing network Download PDFInfo
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Abstract
1. The invention provides an unknown environment exploration-oriented mobile robot self-deploying sensing network, and a system includes a remote control platform, a ZigBee wireless sensor network system and a mobile robot platform. The mobile robot platform carries a ZigBee wireless sensor network node to enter. 2. An unknown environment is explored, in the exploration process, sensor network nodes are continuously deployed according to the need, a wireless sensor network node is put in and joints a network, a radio frequency module of itself is utilized as communication relay to increase control distance of a robot, an environmental sensor module of itself is utilized to monitor environment in real time, thereby expanding a monitoring range, and location information of itself is used as a positioning anchor point to assist robot positioning. The unknown environment exploration-oriented mobile robot self-deploying sensing network in the invention can well realize rapid exploration and relatively precise positioning of an unknown environment by the robot, and can be well applied to the field of exploration of unknown environments of disaster relief, environment survey and the like.
Description
Technical field
The present invention relates to the fields such as wireless sensor network, robot control, disaster relief, be specifically related to a kind of node of surveying towards circumstances not known from mobile robot's sensing network of disposing.
Background technology
In recent years, rescue and sniffing robot are one of study hotspots outside Now Domestic.Exploration to circumstances not knowns such as disaster scenes and Real-Time Monitoring, become focus and the difficult point of this area research.In the time that disaster occurs, need to search for fast and comprehensively monitoring disaster scene, be convenient to rescue personnel and launch timely and effective rescue work.But site environment after disaster is damaged more serious, exist uncertain significantly, sometimes or even completely unknown environment, and environment is severe dangerous, have potential hazard, easily human body damaged, and therefore needs robot to enter hazardous environment and bears detection operations.The job task of surveying in order to complete robot circumstances not known, robot must can carry out self-contained navigation under circumstances not known in a big way, and telecommunication and reliably location are robot navigation's bases.
The localization method of existing detection and rescue robot is for known environment mostly, and based on priori cartographic information, utilization sets in advance road sign at environment and positions.And for circumstances not known, how existing method only relies on the inertial navigation of self to carry out self poisoning, or in many assumptions' environments, there is the abundant physical feature that is easy to extraction, after robot entered environment, these features measured and estimated, and carrying out self poisoning by them.But in the middle of practical application, environment to be detected mostly is circumstances not known, and in real circumstances not known, often there is no the sufficient geometric properties that is easy to extraction, only rely on the constantly accumulation of inertial navigation position error, therefore existing method infeasible.
Wireless sensor network (Wireless Sensor Network, WSN), as a kind of emerging advanced technology, be chose as one of ten large emerging technologies of changing future world and one of the large high and new technology in futures four that may start new industry tide, obtained applying more and more widely in fields such as military affairs, industry and security monitorings.WSN has the node of dense distribution, and disaster scene global context information and variation tendency can be provided.WSN is applied in the middle of robot system, can greatly expands the environment sensing ability of robot, WSN can also be served as the medium of robot communication and calculating simultaneously, extends the communication of robot and improves its controlled efficiency.
Summary of the invention
For circumstances not known detection aspect the deficiencies in the prior art, the invention provides a kind of mobile robot who surveys towards circumstances not known from disposing sensing network, wireless sensor network is combined with mobile robot, utilize wireless sensor network low-power consumption, MANET, low complex degree, fast, the characteristic such as reliable, safety, extend the command range of mobile robot platform, expand monitoring range, auxiliary robot location, can complete detection and monitoring task to circumstances not known preferably simultaneously.
Technical scheme of the present invention is: the mobile robot who surveys towards circumstances not known, from disposing sensing network, comprises ZigBee wireless sensor network system, robot moving platform and remote control table.Robot moving platform carries ZigBee wireless sensor network node and enters circumstances not known and survey, therebetween as required, automatic deployment sensor network nodes, utilize sensor network nodes to extend the command range of robot as communication repeating on the one hand, utilize on the other hand sensor network nodes to carry out environmental monitoring, moreover, as location anchor point, robot is carried out to assist location, cut down preferably the accumulated error of robot inertial navigation.
Wireless sensor network node comprises controller, environment monitoring sensor module, radio-frequency module, power module and indicator light.Environment monitoring sensor module is connected with the pin of controller, comprise the modules such as temperature sensor, humidity sensor, harmful gas concentration transducer, light intensity sensor and infrared sensor of the human body, be used for gathering environmental information, can be configured according to specific environment and actual needs.Whether relay indicating light is used to indicate this node and works.Radio-frequency module is used for launching reception wireless signal.Power module is node power supply.
In the network system of disposing, wireless sensor network node comprises three types, i.e. gateway node, routing node and mobile node.Wireless sensor network adopts Zigbee protocol.Gateway node is ZigBee telegon, is connected by serial ports with remote control table, is responsible for whole network to organize and manage, and carries out data interaction with remote control table.Routing node is ZigBee route, is moved robot platform Dynamical Deployment in circumstances not known, as data relay, has increased the area coverage of network, thereby has realized the prolongation of robot communication distance, the expansion of monitoring range.Moreover the node of being thrown in, obtains the positional information of self by robot, as location anchor point, robot is carried out to assist location.Mobile node, be fixed on robot platform, communicate by letter by serial ports robot platform, for connecting robot platform and sensor network, while is as the detecting unit of signal strength signal intensity, for selecting the reception of the input opportunity of node and the assist location signal of robot.
Mobile robot platform, by controller, keep away barrier module, inertial navigation module, node putting module, ZigBee wireless communication module, environment detection sensor assembly and power module and form.Keep away barrier module and comprise laser radar, ultrasonic wave module, for keeping away barrier; Inertial navigation module comprises that accelerometer, gyroscope etc. carry out inertial navigation to robot; ZigBee wireless communication module is ZigBee mobile node, for communicating with sensor network; Environment detection sensor assembly comprises temperature sensor, humidity sensor, harmful gas concentration transducer, light intensity sensor, infrared sensor of the human body, harmful gas concentration sensor, and environment is carried out to multi-faceted detection; Node putting module is thrown in node for file, and XM is thrown in task; Power module is used to each module for power supply.
The operation of system is divided into two stages: detection phase and loitering phase.
In the detection phase, robot needs fast traversal disaster scene, carries out personnel's search and rescue and to the controlling of global context, and disposes sensor network nodes scene is monitored.The step in this stage is as follows:
Step 1: detection phase preparation.Open mobile robot's power supply, carry out module initialization, on robot platform, load the abundant sensor network nodes configuring, and be positioned over circumstances not known entrance, set up ZigBee-network simultaneously;
Step 2: detection process stage.Mobile robot uses keeping away of self to hinder transducer and inertial navigation sensors is surveyed in disaster scene;
Step 3: node deployment stage.In detection process, the wireless signal strength of wireless communication module detection in real time and upper hop node in robot, once lower than the threshold values of setting, robot is new sensor network nodes of automatic deployment just.After newly deployed sensing network node is thrown in, add immediately network, as data relay, the intensity of inhibit signal.This node, as monitor node, utilizes self-contained environment monitoring sensor to start to monitor surrounding environment simultaneously;
Step 4: node locating stage.Robot can position the node of new input according to self inertia navigation, and positional information is informed this node by wireless mode.Node is stored after receiving self-position information, for coming auxiliary robot location as location anchor point;
Step 5: constantly repeating step 3 and step 4 process, until whole environment detection finishes.
In loitering phase, after the detection phase finishes, robot starts to go on patrol disaster scene, and transducer networking is repaired.Due to the restriction of the factors such as node volume and disposal ability, number of sensors and type that it carries are limited, robot can go to each sensitizing range according to having disposed the environmental information that sensor network nodes measures, and more fully transducer and equipment are more fully surveyed these sensitizing ranges and processes accordingly to rely on self.In the process of going to sensitizing range, it is larger that the position error of inertial navigation is accumulated, and now sensor network relies on the positional information of self to position robot, can the fine site error by robot be controlled in less scope.
The positioning strategy of system, in order to take into account the speed of detection to circumstances not known of robot platform and the positioning precision in environment, carries out combination by the cumulative errors inertial navigation that has of robot with the location of the sensor network nodes with absolute error.Inertial navigation position error is directly proportional to robot range ability, and in short distance, error is less, and constantly accumulative total of error after long distance running.And the position error at transducer networking is relatively large, but its random device people range ability and accumulating not.Therefore disposing the node stage, because range ability is shorter, the inertial navigation of robot is less with respect to the position error of sensor network, relies on the inertial navigation of robot to position node; And in the time of robot patrol disaster scene, the error of inertial navigation has been accumulated to a certain degree, now rely on the node of having disposed to revise the inertial navigation location of robot, thereby solved well the contradiction of robot probe's rapidity and the accuracy of location.
Advantage of the present invention and good effect are:
(1) mobile robot platform portability wireless sensor network node, throw in and dispose in disaster scene, build wireless sensor network system, the wireless multi-hop communication composition data communication repeating forming, the control range of robot be can effectively expand, current wire cable and the limited drawback of wireless remote control distance overcome.
(2)multiple sensors that sensor network nodes that rescue robot carries and throws in is integrated, can the comprehensive field data of Real-time Obtaining, expands monitoring and the search and rescue region of robot system, gives rescue robot with stronger observation and search capability.
(3) wireless sensor network node of disposing in real time, by the location anchor point forming in rescue robot motion process, for robot provides assist location information, contribute to subdue accumulated error and the displacement data error of Airborne Inertial transducer, the real time position data of Obtaining Accurate robot and search target thereof.
Brief description of the drawings
Fig. 1 system schematic of the present invention
Fig. 2 structural representation of the present invention
Fig. 3 ZigBee wireless sensor node structural representation
Fig. 4 robot architecture schematic diagram
Fig. 5 node delivery device structural representation
Fig. 6 node delivery device is thrown in actuator's schematic diagram
Fig. 7 node Dynamical Deployment flow chart
Fig. 8 node auxiliary robot positioning principle schematic diagram
1. remote control table in Fig. 1,2. gateway node, 3. routing node, 4. mobile robot platform;
41. fixed front panels in Fig. 5,42. node storage silo, 43. long right angle support frames, 44. yielding rubber sheets, 45. slideways, 46. steering wheels, 47. slider-crank mechanisms, 48. pull bars, 49. sensor network nodes.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described further.
Referring to Fig. 1 and Fig. 2, the mobile robot who surveys towards circumstances not known is from disposing sensing network, and by wireless sensor network system, mobile robot platform and remote control table three parts form.Robot carries abundant wireless sensor node, under the control of remote control table, by autonomous or remote control mode in the circumstances not knowns such as disaster scene, survey and dispose wireless sensor network node, reach prolongation command range, expand monitoring range, the objects such as assist location.
The wireless sensor network system that system is disposed comprises gateway node, routing node and mobile node.Wireless sensor network adopts Zigbee protocol, and Node Controller hardware platform is selected CC2530, have low cost, low-power consumption, MANET, low complex degree, fast, the characteristic such as reliable, safety.Gateway node is ZigBee telegon, is connected by serial ports with remote control table, is responsible for whole network to organize and manage, and carries out data interaction with remote control table.Routing node is moved robot platform Dynamical Deployment to circumstances not known.After node is deployed, add immediately network, become data relay, strengthened robot platform and be connected signal strength signal intensity with remote control table, keep the reliability of transfer of data.The routing node of being thrown in as environment measuring point simultaneously, utilize self-contained environmental detection sensor, as the ability such as temperature sensor, humidity sensor, harmful gas concentration transducer, light intensity sensor and infrared sensor of the human body are monitored in real time to environment, overcome the shortcoming that supervisory control of robot is limited in scope, greatly expanded the monitoring range of environment.Moreover the node of being thrown in, obtains by robot after the positional information of self, as location anchor point, robot is carried out to assist location, subdue the accumulation of inertial navigation error.Mobile node, be fixed on robot platform, communicate by letter by serial ports robot platform, be used for connecting robot platform and sensor network, as the detecting unit of signal strength signal intensity, disposed the assist location of sensor network to robot for selecting the input opportunity of node and the signal strength signal intensity of acceptance location anchor point to realize simultaneously.Mobile node utilizes ZigBee-network dynamic characteristic, though position constantly changes, network can be adjusted its father node automatically, keeps mobile node all the time in the middle of network.
Referring to Fig. 3, wireless sensor network node comprises controller, environment monitoring sensor module, radio-frequency module, power module and indicator light.Environment monitoring sensor module is connected with the pin of controller, comprise the modules such as temperature sensor, humidity sensor, harmful gas concentration transducer, light intensity sensor and infrared sensor of the human body, be used for gathering environmental information, can be configured according to specific environment and actual needs.Whether relay indicating light is used to indicate this node and works.Radio-frequency module is used for launching reception wireless signal.Power module is node power supply.
Referring to Fig. 4, mobile robot platform, forms by keeping away barrier module, inertial navigation module, node putting module, ZigBee wireless communication module, environment detection sensor assembly and power module.Keep away barrier module and comprise laser radar, ultrasonic wave module, for keeping away barrier; Inertial navigation module comprises that accelerometer, gyroscope etc. carry out inertial navigation to robot; ZigBee wireless communication module is ZigBee mobile node; Environment detection sensor assembly comprises temperature sensor, humidity sensor, harmful gas concentration transducer, light intensity sensor, infrared sensor of the human body, harmful gas concentration sensor, and environment is carried out to multi-faceted detection; Power module is used to each module for power supply.
Referring to Fig. 5 and Fig. 6, node putting module comprises fixed front panel 41, node storage silo 42, long right angle support frame 43, yielding rubber sheet 44, slideway 45, steering wheel 46, slider-crank mechanism 47, pull bar 48.Whole device is " mouth " font, is inclined cross in robot, is fixed on robot platform by fixed front panel 41 and pull bar 48.Main body is made up of the symmetrical independent throwing mechanism in both sides, comprises node storage silo 42, long right angle support frame 43, yielding rubber sheet 44, steering wheel 46, slider-crank mechanism 47, is connected with slideway 45 by fixed front panel 41.Node storage silo 42 is fixed on long right angle support frame 43, stores sensor network nodes to be put 49 in storehouse, and itself and ground form an angle and makes node 49 can rely on self gravitation to glide; Yielding rubber sheet 44 is fixed on long right angle support frame 43, is positioned at node storage silo 42 mouth of pipe places, the speed-buffering while dropping for node 49 and attitude correction; Steering wheel 46, slider-crank mechanism 47, slideway 45 have formed the actuator of described node putting module.Steering wheel 46 is connected with the controller of mobile robot platform by control line, and the axle of steering wheel 46 is connected with the connecting rod of slider-crank mechanism 47.Slider-crank mechanism 47 is fixed on slideway 45, in order to the circular motion in certain angle is converted into rectilinear motion by the axle of steering wheel 46, node is released to slideway 45.While throwing in node, controller sends input instruction, the axle of controlling steering wheel 46 turns an angle, drive slider-crank mechanism 47 to move, the slide block of slider-crank mechanism 47 is released, node is released to slideway 45, the axle of steering wheel 46 revolution afterwards, the slide block of slider-crank mechanism 47 is regained, thereby realized the continuous input of node.
The operation of system is divided into two stages: exploratory stage and loitering phase.
Referring to Fig. 7, the implementation step of detection phase is as follows:
Step 1: detection phase preparation.Open mobile robot's power supply, the each module of robot is carried out to initialization.Open ZigBee coordinator node, set up a ZigBee-network, and be connected with remote control table.On robot platform, load the abundant sensor network nodes configuring, and control is according to artificial assigned direction entered environment, starts to survey operation;
Step 2: detection process stage.Mobile robot uses keeping away of self to hinder transducer and inertial navigation sensors is navigated in disaster scene.By self environmental detection sensor, on-the-spot environmental information is gathered and personnel's search, and return in real time remote control table, the emergency in investigative range is processed simultaneously;
Step 3: node deployment stage.In the middle of detection process, wireless communication module in robot (being mobile node) detect in real time with previous dive node RSSI value (signal strength signal intensity of wireless receiving), once RSSI value is lower than the threshold values of setting, robot is new sensor network nodes of automatic deployment just.After newly deployed sensing network node is thrown in, add immediately network, and obtain network address participation communication unique in this network.Newly deployed node can be served as data relay, the intensity of inhibit signal.This node, as monitor node, utilizes self-contained environment monitoring sensor monitoring surrounding environment, and returns in real time remote control table simultaneously.
Step 4: node locating stage.Due in compared with short distance, the error of robot self inertia navigation is less, so time robot can position the node of new input according to self inertia navigation, obtain positional information and store, and inform this node by wireless mode.Node is stored after receiving self-position information, for locating as location anchor point auxiliary robot.
Step 5: constantly repeating step 3 and step 4 process, until whole environment detection finishes.
It should be noted that, about choosing of RSSI threshold values, should choose according to the actual conditions of circumstances not known and actual demand.RSSI threshold values choose the density degree that affects sensor network, sensor network is closeer for threshold values larger (RSSI value is along with weakening of signal strength signal intensity reduces), otherwise more sparse.The positioning precision of closeer sensor network is higher, but the speed of detection of Hui Shi robot is slack-off; Otherwise lower, but speed of detection is faster.Speed of detection is being required to higher occasion, and RSSI threshold values correspondingly arranges smaller; In the occasion higher to positioning accuracy request, RSSI threshold values correspondingly arranges larger.
In loitering phase, after the detection phase finishes, robot starts to go on patrol disaster scene, and transducer networking is repaired.Due to the restriction of the factors such as node volume and disposal ability, number of sensors and type that it carries are limited, robot can go to each sensitizing range according to having disposed the environmental information that sensor network nodes measures, and more fully transducer and equipment are more fully surveyed these sensitizing ranges and processes accordingly to rely on self.In the process of going to sensitizing range, it is larger that the position error of inertial navigation is accumulated, and now sensor network relies on the positional information of self to position robot, can the fine site error by robot be controlled in less scope.
The positioning strategy of system, in order to take into account speed of detection and the positioning precision of robot, carries out combination by the cumulative errors inertial navigation that has of robot with the location of the sensor network nodes with absolute potential difference.Inertial navigation position error is directly proportional to robot range ability, and in short distance, error is less, and constantly accumulative total of error after long distance running.And the position error at transducer networking is relatively large, but its not random device people range ability and accumulative total.Therefore dispose the node stage, relying on the inertial navigation of robot to position node; And be to rely on node to revise the inertial navigation location of robot, thereby solved well the contradiction of the accuracy of rapidity that circumstances not known is surveyed and location in robot patrol disaster scene.
Referring to Fig. 8, at loitering phase transducer, sensor network auxiliary robot locates to subdue the accumulated error of robot inertial navigation.Robot is searched for neighbor node and is broadcasted Location Request by mobile node.The neighbor node of mobile node is received after Location Request, connects to mobile node and sends data, measures respectively its RSSI value, and utilize formula 1 to calculate the distance d of each node to mobile node by mobile node
1, d
2d
n.
（1）
Wherein n is signal propagation constant, relevant with the transmission environment of signal; D is the distance between receiving node and sending node; A is the signal strength signal intensity during apart from 1 meter of sending node.
Utilize afterwards the method such as centroid method, maximum likelihood method to position mobile node, mobile robot platform is positioned.
Claims (2)
1. the mobile robot who surveys towards circumstances not known is made up of ZigBee sensor network, mobile robot and remote control table from disposing sensing network; Mobile robot platform carries ZigBee wireless sensor network circuit node and enters circumstances not known and survey, and in detection process, constantly disposes sensor network nodes according to demand; The sensing network node of having disposed, utilizes the radio-frequency module of self as communication repeating, extends command range, and utilizes self-contained environment monitoring sensor to monitor the environment around self, simultaneously as anchor point auxiliary robot location, location; It is characterized in that: the operation of system is divided into two stages such as detection, patrol, realize the detection of circumstances not known and the deployment of sensor network nodes in the detection phase, go to target area in loitering phase according to the data guided robot of disposing transducer collection, the sensor network nodes that system utilization has during this time been disposed carries out assist location to robot, proofreaies and correct the error of inertial navigation long-play accumulation.
2. the mobile robot who surveys towards circumstances not known described in disposes sensing network certainly, it is characterized in that, the execution step of system detection phase is:
Step 1: the detection phase, while preparation, is carried out initialization to the each module of robot; Open ZigBee coordinator node and set up ZigBee-network, and be connected with remote control table; On robot platform, load the abundant sensor network nodes configuring, and control is according to assigned direction entered environment, starts to survey operation;
Step 2: detection process stage, mobile robot uses keeping away of self to hinder transducer and inertial navigation sensors is navigated in disaster scene, by self environmental detection sensor, on-the-spot environmental information is gathered and personnel's search, and return in real time remote control table, the emergency in investigative range is processed simultaneously;
Step 3: node deployment stage, in the middle of detection process, wireless communication module in robot (being mobile node) detect in real time with previous dive node RSSI value (signal strength signal intensity of wireless receiving), once RSSI value is lower than the threshold values of setting, robot is new sensor network nodes of automatic deployment just; After newly deployed sensing network node is thrown in, add immediately network, participate in the work of system;
Step 4: in the node locating stage, navigation positions the node of new input according to self inertia in robot, stores, and inform this node by wireless mode after acquisition positional information, and node is stored after receiving self-position information;
Step 5: constantly repeating step 3 and step 4 process, until whole environment detection finishes.
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