CN104192219B - A kind of colliery search and rescue robot and cognitive behavior rescue method thereof - Google Patents
A kind of colliery search and rescue robot and cognitive behavior rescue method thereof Download PDFInfo
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- CN104192219B CN104192219B CN201410413199.0A CN201410413199A CN104192219B CN 104192219 B CN104192219 B CN 104192219B CN 201410413199 A CN201410413199 A CN 201410413199A CN 104192219 B CN104192219 B CN 104192219B
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Abstract
The invention discloses a kind of colliery search and rescue robot and cognitive behavior rescue method thereof.Colliery search and rescue robot comprises robot actr and cognitive behavior controller.Robot actr comprises robot body and detecting devices, detecting devices is arranged on robot body, the sidepiece of robot body is provided with wheels, detecting devices connects cognitive behavior controller, cognitive behavior controller extracts the characteristic information that detects of detecting devices and to compare process, and according to the action of result control actr.Robot actr is active in one's movements, obstacle climbing ability is strong, reliability is high.Use cognitive behavior rescue method, the information caught independently is analyzed, from main separation action scheme, there is autonomous cognitive ability, more can adapt to complicated underground coal mine environment.
Description
Technical field
The present invention relates to a kind of colliery search and rescue robot and cognitive behavior rescue method thereof.
Background technology
As everyone knows, underground coal mine circumstance complication, once there is safety misadventure, the detection scene of the accident and to search and rescue underground work personnel all very difficult.
The subsurface environment that colliery search and rescue robot is unknown in the face of local, dynamic, dangerous, complicated, its task is different from ground running robot, requires intelligent and compatible with environment higher and extracts to the self-organizing realizing road sign and identify.But, current most of robot does not possess cognitive control in the complicated particular surroundings in down-hole and autonomous search and rescue behavior, realization that can not be completely autonomous is to the spatial cognition of environment, and the behavior particularly repeated, can not realize the incremental learning of autonomous extensive knowledge.Owing to cannot understand dangerous situation under mine in time, this brings very large problems to salvage work, causes great personal casualty and huge property damage.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention proposes a kind of colliery search and rescue robot.At mechanism section, adopt the travel configuration that obstacle climbing ability is strong, reliability is high, more motor-driven; In control, adopt cognitive behavior rescue method, the information caught independently is analyzed, from main separation action scheme, there is autonomous cognitive ability.
The present invention adopts following technical scheme:
A kind of colliery search and rescue robot, comprise robot actr and cognitive behavior controller, described robot actr comprises robot body and detecting devices, detecting devices is arranged on robot body, the sidepiece of robot body is provided with wheels, detecting devices connects cognitive behavior controller, and cognitive behavior controller extracts characteristic information that detecting devices detects and to compare process, and according to the action of result control actr.
Described wheels have four, are respectively front left wheels, front right wheels, rear left wheels and rear right wheels, driven respectively be connected between front left wheels with rear left wheels and between front right wheels with rear right wheels by rotating band.
Described four wheels are made up of drive wheel and flower wheel respectively, drive wheel and flower wheel are linked into an integrated entity by driven belt, the wheel shaft of drive wheel connects the wheel shaft of flower wheel by crank, flower wheel is fixedly connected with crank by flower wheel set pin, and crank is connected with crank drive shaft.
Described detecting devices comprises opto-electronic pickup, laser sensor, high-definition camera and night vision device, opto-electronic pickup and laser sensor are arranged on the front portion of robot body, high-definition camera is arranged on the rear portion of robot body, and night vision device is located at the front-end and back-end of robot body respectively.
Described high-definition camera is 360 degree and rotates high-definition camera, and opto-electronic pickup is elevating and telescopic type opto-electronic pickup, and laser sensor is elevating and telescopic type laser sensor.
Propose cognitive behavior rescue method in conjunction with above-mentioned a kind of colliery search and rescue robot, described cognitive behavior rescue method is the behavioral approach of robot actr Cognitive Spaces environment, process automatically, comprises the steps:
(1) in the reaction equation memory cell of cognitive behavior controller, stress reaction data set is provided with, stress reaction data set is made up of multiple stress reaction data subset, each stress reaction data subset include corresponding to paired data value and paired data value stress control program; The space-time experience data set of robot actr is contained in the space-time experience memory cell of cognitive behavior controller;
(2) space environment in detecting devices real-time detection colliery, and the data detected are transferred to cognitive behavior controller, cognitive behavior controller extracts data;
(3) if the data extracted are without valid data value, cognitive behavior controller control actr performs former action, repeats step (2) afterwards;
(4) the valid data value extracted and space-time experience data set comparison, if identical with the data value that certain space-time experiences data centralization, cognitive behavior controller control actr performs control program corresponding to this data value, repeats step (2) afterwards;
(5) if the valid data value extracted and space-time experience data set comparison, if different from the data value that space-time experiences data centralization, comparison stress reaction data subset searched by cognitive behavior controller in stress reaction data set, if valid data value is identical with the paired data value of certain stress reaction subset, perform corresponding to this paired data value stress control program, and upgrade the space-time experience data set of space-time experience memory cell, repeat step (2) afterwards.
The data that in described step (2), detecting devices detects comprise location information and the colliery spatial information of robot actr.
The comparison that the valid data value extracted in described step (4) and space-time experience data set adopts space-time associative memory network math modeling.
Described control program comprises craspedodrome, obstacle detouring, retrogressing, left-hand rotation, right-hand rotation and sends early warning signal.
Advantageous Effects of the present invention:
A kind of colliery search and rescue robot, comprise robot actr and cognitive behavior controller, described robot actr comprises robot body and detecting devices, detecting devices is arranged on robot body, the sidepiece of robot body is provided with wheels, detecting devices connects cognitive behavior controller, and cognitive behavior controller extracts characteristic information that detecting devices detects and to compare process, and according to the action of result control actr.Robot actr is active in one's movements, obstacle climbing ability is strong, reliability is high.Adopt cognitive behavior rescue method, the information caught independently is analyzed, from main separation action scheme, there is autonomous cognitive ability.
Wheels have four, driven respectively be connected between front left wheels with rear left wheels and between front right wheels with rear right wheels by rotating band.Robot actr is more firm, acts in concert.
Flower wheel is fixedly connected with crank by flower wheel set pin, and crank is connected with crank drive shaft, and crank rotation drives drive wheel to rise or declines, and realizes obstacle detouring or descending action.
High-definition camera is 360 degree and rotates high-definition camera, and opto-electronic pickup is elevating and telescopic type opto-electronic pickup, and laser sensor is elevating and telescopic type laser sensor.Can the space environment in accurately detecting colliery.
Accompanying drawing explanation
Fig. 1 is robot actuator structure schematic diagram.
Fig. 2 is that cognitive behavior rescue method performs block diagram.
Detailed description of the invention
1 to 2 pair of the specific embodiment of the present invention is described further by reference to the accompanying drawings:
A kind of colliery search and rescue robot, comprises robot actr and cognitive behavior controller.Robot actr comprises robot body 1 and detecting devices, detecting devices is arranged on robot body, the sidepiece of robot body is provided with wheels, detecting devices connects cognitive behavior controller, cognitive behavior controller extracts the characteristic information that detects of detecting devices and to compare process, and according to the action of result control actr.
Wheels have four, are respectively front left wheels, front right wheels, rear left wheels and rear right wheels, driven respectively be connected between front left wheels with rear left wheels and between front right wheels with rear right wheels by rotating band 2.Four wheels are made up of drive wheel 9 and flower wheel 5 respectively, drive wheel 9 and flower wheel 5 are linked into an integrated entity by driven belt 6, the wheel shaft of drive wheel connects the wheel shaft of flower wheel by crank 8, flower wheel 5 is fixedly connected with crank 8 by flower wheel set pin 4, crank 8 is connected with crank drive shaft, crank rotation drives drive wheel to rise or declines, and realizes obstacle detouring or descending action.Front left wheels and front right wheel packet size identical, rear left wheels and rear right wheel packet size identical.
Detecting devices comprises opto-electronic pickup 11, laser sensor 10, high-definition camera 3 and night vision device 7.Opto-electronic pickup 11 and laser sensor 10 are arranged on the front portion of robot body 1, and high-definition camera 3 is arranged on the rear portion of robot body 1, and night vision device is located at the front-end and back-end of robot body respectively.High-definition camera 3 is 360 degree and rotates high-definition camera, and opto-electronic pickup 11 is elevating and telescopic type opto-electronic pickup, and laser sensor 10 is elevating and telescopic type laser sensor, the original data of detection different distance.Detecting devices may detect borehole image, the location information of robot actr, and obstacle distance.
Propose cognitive behavior rescue method in conjunction with above-mentioned a kind of colliery search and rescue robot, the method is the behavioral approach of robot actr Cognitive Spaces environment, process automatically, comprises the steps:
(1) in the reaction equation memory cell of cognitive behavior controller, stress reaction data set is provided with, stress reaction data set is made up of multiple stress reaction data subset, each stress reaction data subset include corresponding to paired data value and paired data value stress control program; The space-time experience data set of robot actr is contained in the space-time experience memory cell of cognitive behavior controller.
(2) space environment in detecting devices real-time detection colliery, and the data detected are transferred to cognitive behavior controller, cognitive behavior controller extracts data;
The data that detecting devices detects comprise location information and the colliery spatial information of robot actr.Effective value refers to the data value of the robot actr action threshold value exceeding setting.
(3) if the data extracted are without valid data value, cognitive behavior controller control actr performs former action, repeats step (2) afterwards.
(4) the valid data value extracted and space-time experience data set comparison, if identical with the data value that certain space-time experiences data centralization, cognitive behavior controller control actr performs control program corresponding to this data value, repeats step (2) afterwards;
The experience comparison that the valid data value extracted and space-time experience cell stores adopts space-time associative memory network math modeling.
(5) if the valid data value extracted and space-time experience data set comparison, if different from the data value that space-time experiences data centralization, comparison stress reaction data subset searched by cognitive behavior controller in stress reaction data set, if valid data value is identical with the paired data value of certain stress reaction subset, perform corresponding to this paired data value stress control program, and upgrade the space-time experience data set of space-time experience memory cell, repeat step (2) afterwards.
Control program comprises the craspedodrome of control actr, obstacle detouring, retrogressing, left-hand rotation, right-hand rotation and sends early warning signal.
Use cognitive behavior rescue method, the information caught independently is analyzed, from main separation action scheme, there is autonomous cognitive ability, more can adapt to complicated underground coal mine environment.
Certainly; more than illustrate and be only preferred embodiment of the present invention; the present invention is not limited to enumerate above-described embodiment; should be noted that; any those of ordinary skill in the art are under the guidance of this specification sheets; made all equivalently to substitute, obvious form of distortion, within the essential scope all dropping on this specification sheets, protection of the present invention ought to be subject to.
Claims (5)
1. the cognitive behavior rescue method of a colliery search and rescue robot, described colliery search and rescue robot, comprise robot actr and cognitive behavior controller, described robot actr comprises robot body and detecting devices, detecting devices is arranged on robot body, the sidepiece of robot body is provided with wheels, detecting devices connects cognitive behavior controller, cognitive behavior controller extracts the characteristic information that detects of detecting devices and to compare process, and according to the action of result control actr;
Described wheels have four, are respectively front left wheels, front right wheels, rear left wheels and rear right wheels, driven respectively be connected between front left wheels with rear left wheels and between front right wheels with rear right wheels by rotating band;
Described four wheels are made up of drive wheel and flower wheel respectively, drive wheel and flower wheel are linked into an integrated entity by driven belt, the wheel shaft of drive wheel connects the wheel shaft of flower wheel by crank, flower wheel is fixedly connected with crank by flower wheel set pin, and crank is connected with crank drive shaft;
It is characterized in that, described cognitive behavior rescue method is the behavioral approach of robot actr Cognitive Spaces environment, process automatically, comprises the steps:
(1) in the reaction equation memory cell of cognitive behavior controller, stress reaction data set is provided with, stress reaction data set is made up of multiple stress reaction data subset, each stress reaction data subset include corresponding to paired data value and this paired data value stress control program; The space-time experience data set of robot actr is contained in the space-time experience memory cell of cognitive behavior controller;
(2) space environment in detecting devices real-time detection colliery, and the data detected are transferred to cognitive behavior controller, cognitive behavior controller extracts data;
(3) if the data extracted are without valid data value, cognitive behavior controller control actr performs former action, repeats step (2) afterwards;
(4) the valid data value extracted and space-time experience data set comparison, if identical with the data value that certain space-time experiences data centralization, cognitive behavior controller control actr performs control program corresponding to this data value, repeats step (2) afterwards;
(5) if the valid data value extracted and space-time experience data set comparison, if different from the data value that space-time experiences data centralization, comparison stress reaction data subset searched by cognitive behavior controller in stress reaction data set, if valid data value is identical with the paired data value of certain stress reaction subset, perform corresponding to this paired data value stress control program, and upgrade the space-time experience data set of space-time experience memory cell, repeat step (2) afterwards.
2. the cognitive behavior rescue method of a kind of colliery according to claim 1 search and rescue robot, it is characterized in that, described detecting devices comprises opto-electronic pickup, laser sensor, high-definition camera and night vision device, opto-electronic pickup and laser sensor are arranged on the front portion of robot body, high-definition camera is arranged on the rear portion of robot body, and night vision device is located at the front-end and back-end of robot body respectively.
3. the cognitive behavior rescue method of a kind of colliery according to claim 2 search and rescue robot, it is characterized in that, described high-definition camera is 360 degree and rotates high-definition camera, and opto-electronic pickup is elevating and telescopic type opto-electronic pickup, and laser sensor is elevating and telescopic type laser sensor.
4. the cognitive behavior rescue method of a kind of colliery according to claim 1 search and rescue robot, is characterized in that, the data that in described step (2), detecting devices detects comprise location information and the colliery spatial information of robot actr.
5. the cognitive behavior rescue method of a kind of colliery according to claim 1 search and rescue robot, is characterized in that, described control program comprises craspedodrome, obstacle detouring, retrogressing, left-hand rotation, right-hand rotation and sends early warning signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410413199.0A CN104192219B (en) | 2014-08-21 | 2014-08-21 | A kind of colliery search and rescue robot and cognitive behavior rescue method thereof |
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| CN201410413199.0A CN104192219B (en) | 2014-08-21 | 2014-08-21 | A kind of colliery search and rescue robot and cognitive behavior rescue method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination |
| CN104537945B (en) * | 2015-01-09 | 2017-04-26 | 山东科技大学 | Underground coal wall hole drilling robot simulation experiment machine and work method of underground coal wall hole drilling robot simulation experiment machine |
| CN105922271B (en) * | 2016-05-30 | 2018-03-09 | 上海理工大学 | A kind of search and rescue robot |
| CN109693724B (en) * | 2019-01-07 | 2020-03-27 | 哈尔滨理工大学 | Walking type mine detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61110678A (en) * | 1984-11-01 | 1986-05-28 | Hitachi Ltd | Traveling robot in dangerous ambience |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flame-proof type robot platform for search operation in coal mine well |
| CN101417674B (en) * | 2008-11-20 | 2010-05-12 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN101746423B (en) * | 2008-11-28 | 2012-09-26 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN103046961B (en) * | 2013-01-15 | 2014-09-17 | 西安科技大学 | Robot and method for independently establishing wireless communication network for mine emergency rescue |
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Inventor after: Su Chunjian Inventor after: Wang Yongxiao Inventor after: Xu Tingting Inventor after: Zhang Shuai Inventor after: Song Jian Inventor after: Dong Xinghua Inventor after: Zhang Peng Inventor after: Wang Xuetao Inventor after: Li Ning Inventor after: Zhao Junmin Inventor before: Su Chunjian Inventor before: Zhang Shuai Inventor before: Song Jian Inventor before: Dong Xinghua Inventor before: Zhang Peng Inventor before: Wang Xuetao Inventor before: Li Ning Inventor before: Zhao Junmin Inventor before: Wang Yongxiao |
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