CN108572397A - A kind of radiation hunting system and method based on heterogeneous robot - Google Patents
A kind of radiation hunting system and method based on heterogeneous robot Download PDFInfo
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- CN108572397A CN108572397A CN201810255940.3A CN201810255940A CN108572397A CN 108572397 A CN108572397 A CN 108572397A CN 201810255940 A CN201810255940 A CN 201810255940A CN 108572397 A CN108572397 A CN 108572397A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of nuclear radiation, e.g. of natural or induced radioactivity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses a kind of radiation hunting system and method based on heterogeneous robot passes through multi-rotor aerocraft ray data, image information acquisition, using regression analysis and data fusion method, generates the accurate multidimensional scene graph of radiation radiographic source in real time.Simultaneously by the radiation ray data of regression analysis land robot, multi-rotor aerocraft radiation search is assisted, to which high-precision direction recognition and space recognize, realizes radiation acquisition of information and precise positioning.Then path planning is carried out using the image information that multi-rotor aerocraft provides, completes the search of radiation.The tactile data that the image information and land robot of the radioactive source finally provided further according to multi-rotor aerocraft obtain is merged, and realizes force feedback, and then is controlled the mechanical arm that land robot carries and independently captured radioactive source.The present invention not only can carry out supervision disposition to known radioactive source, and accurate search can be also carried out to unknown radioactive source and is disposed, and is detected to aerial aerosol.
Description
Technical field
The invention belongs to radioactive substance detection and search technique fields, and in particular to a kind of putting based on heterogeneous robot
Penetrate the design of object hunting system and method.
Background technology
Since over half a century, China's nuclear energy utilizes cause stable development with nuclear technology.Currently, China has been formed more
Complete nuclear industry system, nuclear energy is in Optimization of Energy Structure, guarantee energy security, promotion pollution emission reduction and reply climate change etc.
Aspect has played important function；Nuclear technology is used widely in the fields such as industry, agricultural, national defence, medical treatment and scientific research, effectively
Socio-economic development is pushed.With military nuclear weapon, nuclear material and nuclear technology spread getting worse and Nuclear Accidents and
It is distinctive sudden to radiate terrorist incident, has great threat to social safety and national politics economy, be easy to cause large-scale
Casualties and extensive society are panic, and there is an urgent need for take more measure preventions to sell illegally nuclear material for countries in the world.China is to fear
It is afraid of one of maximum injured country of doctrine crime, the supervision of domestic various nuclear terrorist activities and the sternness that dominates the situation.Terrorist may
Using container, luggage or cask flask etc. smuggle radioactive material, once nuclear terrorism occur, it will to social stability with
Economic development causes long-term negative effect, already becomes the major hidden danger for threatening national security.In addition, in recent years domestic put
Source is penetrated by card event out of control, a large amount of personnel health's damages and environmental radiation contact scar is caused, has brought tremendous economic losses, very
To the social unrest for causing some areas.
Site environment, acquisition, processing and control ability of the individual machine people in information are disposed in nuclear accident complicated and changeable
Etc. there are limitations.And multi-rotor aerocraft integrates the modern technologies such as micro electronmechanical and new material, cooperation land machine is humanoid
At multi-level, the air-ground integrated acquiring technology of three-dimensional accident handling field data, can quickly performance objective search and rescue,
Disposing task.
Invention content
The purpose of the present invention is for individual machine people in existing radiation search technique information acquisition, processing and
There is limitation in control ability etc., it is proposed that a kind of radiation hunting system and side based on heterogeneous robot
Method, using heterogeneous multi-robot cooperation, the radiation acquisition of information of Multi-sensor Fusion, hyperspace scene rebuilding and multi-level
Space multistory method for searching can not only supervise known radioactive source, be disposed, and can also accurately be searched to unknown radioactive source
Disposition is sought, and aerial aerosol is detected.
The technical scheme is that：A kind of radiation hunting system based on heterogeneous robot, including more rotor flyings
Device and land robot.Multi-rotor aerocraft includes multi-rotor aerocraft controller, GPS positioning device, gyroscope, Image Acquisition
Sensor, the first radiation dose detector, portable eds detector and the first communication equipment；Multi-rotor aerocraft controller point
Not with GPS positioning device, gyroscope, image acquiring sensor, the first radiation dose detector, portable eds detector and
First communication apparatus communication connects.Land robot includes land robot data processor, motion controller, the second radiation agent
Measure detector, the second communication equipment, mechanical arm, robot arm end effector and touch sensor；Land robot data processing
Device is connect with motion controller, the second radiation dose detector and the second communication apparatus communication respectively, motion controller and machine
Tool arm connects, and mechanical arm tail end is provided with robot arm end effector, robot arm end effector and touch sensor communication link
It connects.Multi-rotor aerocraft and land robot pass through the first communication equipment and the wireless communication connection of the second communication equipment.
Further, multi-rotor aerocraft controller is used to control the information collecting device of multi-rotor aerocraft carrying and leads to
Letter equipment works.GPS positioning device is with gyroscope for obtaining the location information of multi-rotor aerocraft and more rotor flyings
Acceleration of the device on space X, tri- directions Y, Z and roll angle, the posture information of pitch angle and yaw angle.Image Acquisition senses
Device is used to acquire the ambient image information at radiation scene.First radiation dose detector is used to obtain the roentgen dose X at radiation scene
Data information.Portable eds detector is used to obtain the ray energy spectrum data information at radiation scene.First communication equipment is used for
It carries out wireless communication with land robot and is transmitted with information.
Further, robot data processor in land is for the regression analysis of data, establishment three-dimensional environment map, reconstruction
Multidimensional scene graph, processing multi-rotor aerocraft with the embedded radiation radiation profile of three-dimensional and energy intensity and land machine
The coordinate conversion of people judges the error for the location information that multi-rotor aerocraft is estimated with land robot, and more currently obtains
The radiation dose information taken and the preceding radiation dose information once obtained.Motion controller is for control machinery arm and mechanical arm end
Hold the motion mode of actuator.Second radiation dose detector is used to obtain the roentgen dose X data information at radiation scene.Second
Communication equipment is used to carry out wireless communication with multi-rotor aerocraft and be transmitted with information.Mechanical arm and robot arm end effector are used for
Complete the recycling and disposition to radiation.Touch sensor is used for during robot arm end effector disposes recycling pollutant
Feedback haptic data information.
The present invention also provides a kind of radiation method for searching based on heterogeneous robot, includes the following steps：
S1, the roentgen dose X data information that radiation scene is acquired using multi-rotor aerocraft, and pass through multi-rotor aerocraft
The roentgen dose X data information of acquisition obtains the value according to a preliminary estimate of radiation object location.
S2, the environmental information that radiation scene is acquired using multi-rotor aerocraft, and it is existing using the acquisition radiation of land robot
The roentgen dose X data information of field, and the roentgen dose X data for passing through the environmental information at the scene of radiation and being acquired with land robot
Information obtains the estimated value again of radiation object location.
S3, judge to radiate the value according to a preliminary estimate of object location and whether the error of estimated value is less than 5% again, if then entering
Step S4, otherwise return to step S1.
S4, the relative coordinate relationship for establishing multi-rotor aerocraft and land robot choose specific item using land robot
Punctuate simultaneously sends it to multi-rotor aerocraft, is carried out at the same time local paths planning, and control land robot reaches specific item punctuate.
S5, control multi-rotor aerocraft fly to above specific item punctuate, judge the ray that multi-rotor aerocraft currently obtains
Whether dose data information is more than the preceding roentgen dose X data information once obtained, if then entering step S6, otherwise enters step
Rapid S7.
S6, control land robot carry out recycling disposal to radiation, terminate this radiation search.
S7, judge whether the roentgen dose X data information that land robot currently obtains is more than the preceding ray agent once obtained
Otherwise amount data information enters step S9 if then entering step S8.
S8, control multi-rotor aerocraft fly to previous specific item punctuate, return to step S1.
S9, using the starting point of multi-rotor aerocraft as the center of circle, starting point to specific item punctuate be radius, control multi-rotor aerocraft around
Circle flight, until finding maximal rays dosage information point；Adjust multi-rotor aerocraft direction so that land robot is more
Rotor craft within sweep of the eye, return to step S1.
The beneficial effects of the invention are as follows：
(1) present invention carries out vacant lot using land sky heterogeneous robot to radiation dosage, gamma-spectrometric data, three-dimensional environment information
Integration obtains, and realizes the multidimensional scene graph of the data fusions such as environmental information and radiation gamma-spectrometric data, radiation intensity distribution,
So as to various visual angles, the reflection radiation situation of multiple features, and reduce scene rebuilding and calculate the time, improves the accurate of reconstruction
Property.
(2) present invention estimates the position of radiation, radiation intensity distribution using Bayesian regression method, avoids
Hauling type, inch-by-inch search, to improve emergency disposal decision timeliness, effective management and control causality loss reduces public safety
Risk provides strong technical support for China's Nuclear Accident Emergency acquisition of information and disposition.
(3) present invention cooperates with paths planning method, path planning to have real-time using land sky heterogeneous robot, not
It is confined to the use of static environment, is more suitable for dynamic or Uncertain environments.
(4) present invention is not limited solely to acquisition of information and search that radiation was fixed or moved on ground, but also can needle
Radioaerosol in air is detected.
(5) end that the present invention uses the image information that multi-rotor aerocraft provides to carry mechanical arm with land robot is held
Row device carry touch sensor information fusion, done with high accuracy force feedback, avoid land robot in operation process by
In visual sensor by radiate, visual angle is influenced.
Description of the drawings
Fig. 1 show a kind of radiation hunting system structural frames based on heterogeneous robot of the offer of the embodiment of the present invention one
Figure.
Fig. 2 show a kind of radiation method for searching flow based on heterogeneous robot provided by Embodiment 2 of the present invention
Figure.
Fig. 3 show the flow chart step by step of step S1 provided by Embodiment 2 of the present invention.
Fig. 4 show the flow chart step by step of step S2 provided by Embodiment 2 of the present invention.
Fig. 5 show the flow chart step by step of step S4 provided by Embodiment 2 of the present invention.
Fig. 6 show the flow chart step by step of step S46 provided by Embodiment 2 of the present invention.
Fig. 7 show the flow chart step by step of step S6 provided by Embodiment 2 of the present invention.
Specific implementation mode
Carry out detailed description of the present invention illustrative embodiments with reference to the drawings.It should be appreciated that shown in attached drawing and
The embodiment of description is only exemplary, it is intended that is illustrated the principle and spirit of the invention, and is not limited the model of the present invention
It encloses.
Embodiment one：
An embodiment of the present invention provides a kind of radiation hunting system based on heterogeneous robot, as shown in Figure 1, including more
Rotor craft 1 and land robot 2.
Wherein, multi-rotor aerocraft 1 includes multi-rotor aerocraft controller 11, GPS positioning device 12, gyroscope 13, figure
As acquisition sensor 14, the first radiation dose detector 15, portable eds detector 16 and the first communication equipment 17.More rotors
Controller of aircraft 11 is detected with GPS positioning device 12, gyroscope 13, image acquiring sensor 14, the first dose of radiation respectively
Device 15, portable eds detector 16 and the communication connection of the first communication equipment 17.Multi-rotor aerocraft controller 11 is for controlling
The information collecting device and communication equipment that multi-rotor aerocraft 1 processed carries work.GPS positioning device 12 is used with gyroscope 13
In the acceleration and rolling on space X, tri- directions Y, Z of location information and multi-rotor aerocraft 1 for obtaining multi-rotor aerocraft 1
The posture information of corner, pitch angle and yaw angle.Image acquiring sensor 14 is used to acquire the ambient image information at radiation scene.
First radiation dose detector 15 is used to obtain the roentgen dose X data information at radiation scene.Portable eds detector 16 is used for
Obtain the ray energy spectrum data information at radiation scene.First communication equipment 17 be used for land robot 2 carry out wireless communication with
Information is transmitted.
In the embodiment of the present invention, multi-rotor aerocraft controller 11 selects Pixhawk flight controllers, GPS positioning device
12 select NEO-7N UBLOX GPS positioning devices, gyroscope 13 that MPU6050 gyroscopes, image acquiring sensor 14 is selected to select
MYNT EYE S1010 imaging sensors, the first radiation dose detector 15 select GMV2 radiation dose detectors, portable energy
It composes detector 16 and selects the portable eds detectors of uSpec.
Land robot 2 includes land robot data processor 21, motion controller 22, the second radiation dose detector
23, the second communication equipment 24, mechanical arm 25, robot arm end effector 26 and touch sensor 27.At the robot data of land
It manages device 21 to communicate to connect with motion controller 22, the second radiation dose detector 23 and the second communication equipment 24 respectively, movement
Controller 22 is connect with mechanical arm 25, and 25 end of mechanical arm is provided with robot arm end effector 26, robot arm end effector
26 communicate to connect with touch sensor 27.Land robot data processor 21 is used for the regression analysis of data, creates three-dimensional ring
Condition figure rebuilds the multidimensional scene graph with three-dimensional embedded radiation radiation profile and energy intensity, the more rotor flyings of processing
The mistake for the location information that multi-rotor aerocraft 1 is estimated with land robot 2 is converted, judged to the coordinate of device 1 and land robot 2
Difference, and the radiation dose information more currently obtained and the preceding radiation dose information once obtained.Motion controller 22 is used for
The motion mode of control machinery arm 25 and robot arm end effector 26.Second radiation dose detector 23 is existing for obtaining radiation
The roentgen dose X data information of field.Second communication equipment 24 is used to carry out wireless communication with multi-rotor aerocraft 1 and be transmitted with information.
Mechanical arm 25 and robot arm end effector 26 are for completing the recycling to radiation and disposition.Touch sensor 27 is used in machine
Feedback haptic data information during the disposition recycling pollutant of tool arm end effector 26.
In the embodiment of the present invention, land robot data processor 21 selects 3 data processor of Raspberry Pi, motion controller
22 select STM32F104 as main control chip, and the second radiation dose detector 23 selects FJ2000 dosimeters, mechanical arm end
Hold actuator 26 that ROBOTIQ 2-figure-85 actuators, touch sensor 27 is selected to select Robotiq FT300 tactile sensings
Device.
Multi-rotor aerocraft 1 and land robot 2 are wirelessly communicated by the first communication equipment 17 and the second communication equipment 24
Connection.In the embodiment of the present invention, EM770W wireless communication modules can be selected in the first communication equipment 17 and the second communication equipment 24.
Embodiment two：
An embodiment of the present invention provides a kind of radiation method for searching based on heterogeneous robot, as shown in Fig. 2, include with
Lower step S1-S9：
S1, the roentgen dose X data information that radiation scene is acquired using multi-rotor aerocraft, and pass through multi-rotor aerocraft
The roentgen dose X data information of acquisition obtains the value according to a preliminary estimate of radiation object location.
As shown in figure 3, step S1 includes following S11-S13 step by step：
S11, enter radiation scene using land robot carrying multi-rotor aerocraft, open the locking machine of land robot
Structure keeps being in same position with land robot and flying arriving certain altitude by remote control control multi-rotor aerocraft, will
Multi-rotor aerocraft is switched to self-navigation pattern.
S12, the roentgen dose X number that radiation scene is obtained using the first radiation dose detector that multi-rotor aerocraft carries
It is believed that ceasing, and roentgen dose X data information is sent to the second communication equipment of land robot by the first communication equipment.
S13, the roentgen dose X data information received by land the second communication equipment of robot data processor pair into
Row regression analysis obtains the value according to a preliminary estimate of radiation object location.
S2, the environmental information that radiation scene is acquired using multi-rotor aerocraft, and it is existing using the acquisition radiation of land robot
The roentgen dose X data information of field, and the roentgen dose X data for passing through the environmental information at the scene of radiation and being acquired with land robot
Information obtains the estimated value again of radiation object location.
As shown in figure 4, step S2 includes following S21-S25 step by step：
S21, the first radiation dose detector carried using multi-rotor aerocraft, portable eds detector, image are adopted
Collection sensor, GPS positioning device and gyroscope obtain the roentgen dose X data information at radiation scene, ray energy spectrum data respectively
Information, ambient image information, the position of multi-rotor aerocraft and posture information, and sent out above- mentioned information by the first communication equipment
Give the second communication equipment of land robot.
S22, the roentgen dose X data that radiation scene is obtained using the second radiation dose detector that land robot carries
Information.
S23, the ring received by the second communication equipment of map building module pair in the robot data processor of land
Border image information carries out feature extraction, characteristic matching, matching optimization, Attitude Calculation, closed loop detection and optimization processing, establishes radiation
The three-dimensional environment map at scene.
S24, the roentgen dose X data information acquired respectively according to multi-rotor aerocraft and land robot, in land machine
Using radiation levels calculation formula and Bayesian regression method to putting in the radiation position estimation module of personal data processor
The three dimensions radiation intensity distribution for penetrating object estimated, and respectively obtains putting for multi-rotor aerocraft and the estimation of land robot
Penetrate object location coordinate information.
S25, by coordinate mapping relations level will be radiated in the data fusion module of land robot data processor
Coordinate information, the three dimensions radiation intensity distribution of radiation, ray energy spectrum data information and three-dimensional environment map is set in real time to melt
It closes, rebuilds the hyperspace scene graph with three-dimensional embedded radiation radiation profile, obtain the estimation again of radiation object location
Value.
S3, judge to radiate the value according to a preliminary estimate of object location and whether the error of estimated value is less than 5% again, if then entering
Step S4, otherwise return to step S1.
S4, the relative coordinate relationship for establishing multi-rotor aerocraft and land robot choose specific item using land robot
Punctuate simultaneously sends it to multi-rotor aerocraft, is carried out at the same time local paths planning, and control land robot reaches specific item punctuate.
As shown in figure 5, step S4 includes following S41-S46 step by step：
The coordinate system and world coordinate system of S41, the coordinate system for establishing multi-rotor aerocraft, land robot.
S42, according to the coordinate system of multi-rotor aerocraft, the coordinate system and world coordinate system of land robot, by step S23
In the three-dimensional environment map established by the observation information of multi-rotor aerocraft be converted to and believed by the observation of land robot
The established three-dimensional environment map of breath, conversion relational expression are：
Wherein ρk=(xk,yk,zk) indicate coordinates of the radiation scene object M under the coordinate system of multi-rotor aerocraft, ρp
=(xp,yp,zp) indicate coordinates of the object M under the coordinate system of land robot, TkFor contain multi-rotor aerocraft relative to
The posture of world coordinate system and 4 × 4 homogeneous matrix of translational coordination, TpTo contain land robot relative to world coordinate system
Posture and translational coordination 4 × 4 homogeneous matrix,ρ is indicated respectivelyp、ρk、Tp、TkDerivative.
S43, the three-dimensional environment that will be established by the observation information of land robot using the gloomy Durham Line Algorithm of mine-laying
Map maps are the two-dimensional map that can be used for actually navigating.
S44, all environmental informations in two-dimensional map are built into a set, all barriers is built into a subset
It closes, and obtains boundary information of each barrier on two-dimensional map.
S45, according to two-dimensional map and radiate object location estimated value again, using land robot choose specific item punctuate,
And sub-goal point coordinates is sent to by multi-rotor aerocraft by the second communication equipment.
Using land robot choose specific item punctuate formula be：
Minf (P)=g (P)+h (P) (3)
Wherein P is specific item punctuate, and minf (P) indicates to reach the shortest path of specific item punctuate, and g (P) indicates land robot
Current location to specific item punctuate distance, h (P) indicate specific item punctuate to radiate object location estimated value again distance.
S46, according to sub-goal point coordinates, local paths planning is carried out on two-dimensional map using path planning algorithm, and
It controls land robot and reaches specific item punctuate.
As shown in fig. 6, step S46 includes following S461-S464 step by step：
S461, the barrier for radiating site environment space using Polygons Representation of different shapes in two-dimensional map.
S462, the starting point by land robot obtains, specific item punctuate and all barriers vertex connect, protect
Card line is not passed through polygonal internal region.
S463, land robot is obtained from starting point to the optimal path of specific item punctuate using differential evolution algorithm.
S464, control land robot pass through the key of polygon in optimal path according to optimal path successively from starting point
Node eventually arrives at specific item punctuate.
S5, control multi-rotor aerocraft fly to above specific item punctuate, judge the ray that multi-rotor aerocraft currently obtains
Whether dose data information is more than the preceding roentgen dose X data information once obtained, if then entering step S6, otherwise enters step
Rapid S7.
S6, control land robot carry out recycling disposal to radiation, terminate this radiation search.
As shown in fig. 7, step S6 includes following S61-S66 step by step：
S61, judge whether land robot searches radiation, if then entering step S62, otherwise return to step S1.
S62, the image information that radiation is acquired using the image acquiring sensor that multi-rotor aerocraft carries, and pass through the
One communication equipment is sent to land robot.
S63, the tactile data that radiation is obtained using land robot arm end effector and touch sensor.
S64, in the robot data processor of land to multi-rotor aerocraft acquisition image information and land robot
The tactile data of acquisition is merged, and realizes force feedback.
S65, the mechanical arm that robot carrying in land is controlled by motion controller independently capture, recycle and dispose radiation
Object, avoid land robot in radiation environment operation image acquiring sensor because by radiate, the limitations such as visual angle are influenced.
S66, control multi-rotor aerocraft and land robot exit radiation scene, terminate this radiation search.
S7, judge whether the roentgen dose X data information that land robot currently obtains is more than the preceding ray agent once obtained
Data information is measured, there are shelters in multi-rotor aerocraft direction if then showing radiation, enter step S8, otherwise enter step
Rapid S9.
S8, control multi-rotor aerocraft fly to previous specific item punctuate, return to step S1.
S9, using the starting point of multi-rotor aerocraft as the center of circle, starting point to specific item punctuate be radius, control multi-rotor aerocraft around
Circle flight, until finding maximal rays dosage information point；Adjust multi-rotor aerocraft direction so that land robot is more
Rotor craft within sweep of the eye, return to step S1.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field
Those of ordinary skill can make according to the technical disclosures disclosed by the invention various does not depart from the other each of essence of the invention
The specific variations and combinations of kind, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of radiation hunting system based on heterogeneous robot, which is characterized in that including multi-rotor aerocraft and land machine
Device people；
The multi-rotor aerocraft include multi-rotor aerocraft controller, GPS positioning device, gyroscope, image acquiring sensor,
First radiation dose detector, portable eds detector and the first communication equipment；The multi-rotor aerocraft controller difference
With GPS positioning device, gyroscope, image acquiring sensor, the first radiation dose detector, portable eds detector and
One communication apparatus communication connects；
The land robot includes land robot data processor, motion controller, the second radiation dose detector, second
Communication equipment, mechanical arm, robot arm end effector and touch sensor；The land robot data processor respectively with fortune
Movement controller, the second radiation dose detector and the connection of the second communication apparatus communication, the motion controller connect with mechanical arm
It connects, the mechanical arm tail end is provided with robot arm end effector, and the robot arm end effector is communicated with touch sensor
Connection；
The multi-rotor aerocraft and land robot pass through the first communication equipment and the wireless communication connection of the second communication equipment.
2. radiation hunting system according to claim 1, which is characterized in that the multi-rotor aerocraft controller is used for
The information collecting device and communication equipment that control multi-rotor aerocraft carries work；
Location information and multi-rotor aerocraft of the GPS positioning device with gyroscope for obtaining multi-rotor aerocraft are in space
X, the acceleration on tri- directions Y, Z and roll angle, the posture information of pitch angle and yaw angle；
Described image acquisition sensor is used to acquire the ambient image information at radiation scene；
First radiation dose detector is used to obtain the roentgen dose X data information at radiation scene；
The portable eds detector is used to obtain the ray energy spectrum data information at radiation scene；
First communication equipment is used to carry out wireless communication with land robot and be transmitted with information.
3. radiation hunting system according to claim 1, which is characterized in that the land robot data processor is used
In the regression analysis of data, establishment three-dimensional environment map, rebuild with three-dimensional embedded radiation radiation profile and energy intensity
Multidimensional scene graph, processing multi-rotor aerocraft and land robot coordinate conversion, judge multi-rotor aerocraft and land machine
The error of the location information of device people estimation, and the radiation dose information more currently obtained and the preceding dose of radiation once obtained
Information；
The motion controller is used for the motion mode of control machinery arm and robot arm end effector；
Second radiation dose detector is used to obtain the roentgen dose X data information at radiation scene；
Second communication equipment is used to carry out wireless communication with multi-rotor aerocraft and be transmitted with information；
The mechanical arm and robot arm end effector are for completing the recycling to radiation and disposition；
The touch sensor is used for feedback haptic data information during robot arm end effector disposes recycling pollutant.
4. a kind of radiation method for searching based on heterogeneous robot, which is characterized in that include the following steps：
S1, the roentgen dose X data information that radiation scene is acquired using multi-rotor aerocraft, and acquired by multi-rotor aerocraft
Roentgen dose X data information obtain radiation object location value according to a preliminary estimate；
S2, the environmental information that radiation scene is acquired using multi-rotor aerocraft, and utilize land robot acquisition radiation scene
Roentgen dose X data information, and pass through the environmental information at the scene of radiating and the roentgen dose X data information acquired with land robot
Obtain the estimated value again of radiation object location；
S3, judge to radiate the value according to a preliminary estimate of object location and whether the error of estimated value is less than 5% again, if then entering step
S4, otherwise return to step S1；
S4, the relative coordinate relationship for establishing multi-rotor aerocraft and land robot choose specific item punctuate using land robot
And multi-rotor aerocraft is sent it to, it is carried out at the same time local paths planning, control land robot reaches specific item punctuate；
S5, control multi-rotor aerocraft fly to above specific item punctuate, judge the roentgen dose X that multi-rotor aerocraft currently obtains
Otherwise whether data information more than the preceding roentgen dose X data information once obtained enters step S7 if then entering step S6；
S6, control land robot carry out recycling disposal to radiation, terminate this radiation search；
S7, judge whether the roentgen dose X data information that land robot currently obtains is more than the preceding roentgen dose X number once obtained
It is believed that breath, if then entering step S8, otherwise enters step S9；
S8, control multi-rotor aerocraft fly to previous specific item punctuate, return to step S1；
S9, using the starting point of multi-rotor aerocraft as the center of circle, starting point to specific item punctuate be radius, control multi-rotor aerocraft around circle fly
Row, until finding maximal rays dosage information point；Adjust multi-rotor aerocraft direction so that land robot is in more rotors
Aircraft within sweep of the eye, return to step S1.
5. radiation method for searching according to claim 4, which is characterized in that the step S1 include it is following step by step：
S11, enter radiation scene using land robot carrying multi-rotor aerocraft, open the retaining mechanism of land robot,
It keeps being in same position with land robot and flying by remote control control multi-rotor aerocraft arriving certain altitude, will revolve more
Rotor aircraft is switched to self-navigation pattern；
S12, the roentgen dose X data that radiation scene is obtained using the first radiation dose detector that multi-rotor aerocraft carries are believed
It ceases, and roentgen dose X data information is sent to the second communication equipment of land robot by the first communication equipment；
S13, the roentgen dose X data information received by land the second communication equipment of robot data processor pair return
Return analysis, obtains the value according to a preliminary estimate of radiation object location.
6. radiation method for searching according to claim 4, which is characterized in that the step S2 include it is following step by step：
S21, the first radiation dose detector carried using multi-rotor aerocraft, portable eds detector, Image Acquisition are passed
Sensor, GPS positioning device and gyroscope obtain the roentgen dose X data information at radiation scene, ray energy spectrum data letter respectively
Breath, ambient image information, the position of multi-rotor aerocraft and posture information, and sent above- mentioned information by the first communication equipment
To the second communication equipment of land robot；
S22, the roentgen dose X data information that radiation scene is obtained using the second radiation dose detector that land robot carries；
S23, the environment map received by the second communication equipment of map building module pair in the robot data processor of land
As information carries out feature extraction, characteristic matching, matching optimization, Attitude Calculation, closed loop detection and optimization processing, foundation radiation scene
Three-dimensional environment map；
S24, the roentgen dose X data information acquired respectively according to multi-rotor aerocraft and land robot, in land machine number
Use radiation levels calculation formula and Bayesian regression method to radiation according in the radiation position estimation module of processor
Three dimensions radiation intensity distribution estimated, and respectively obtain multi-rotor aerocraft and land robot estimation radiation
Location coordinate information；
S25, in the data fusion module of land robot data processor by coordinate mapping relations will radiate object location sit
Mark information, the three dimensions radiation intensity distribution of radiation, ray energy spectrum data information and three-dimensional environment map real time fusion, weight
The hyperspace scene graph with three-dimensional embedded radiation radiation profile is built, the estimated value again of radiation object location is obtained.
7. radiation method for searching according to claim 6, which is characterized in that the step S4 include it is following step by step：
The coordinate system and world coordinate system of S41, the coordinate system for establishing multi-rotor aerocraft, land robot；
S42, according to the coordinate system of multi-rotor aerocraft, the coordinate system and world coordinate system of land robot, will lead in step S23
It crosses the three-dimensional environment map that the observation information of multi-rotor aerocraft is established and is converted to observation information institute by land robot
The three-dimensional environment map of foundation；
S43, the three-dimensional environment map that will be established by the observation information of land robot using the gloomy Durham Line Algorithm of mine-laying
It is mapped as the two-dimensional map that can be used for actually navigating；
S44, all environmental informations in two-dimensional map being built into a set, all barriers, which are built into a subset, to be closed,
And obtain boundary information of each barrier on two-dimensional map；
S45, according to two-dimensional map and the estimated value again of object location is radiated, chooses specific item punctuate using land robot, and leads to
It crosses the second communication equipment and sub-goal point coordinates is sent to multi-rotor aerocraft；
S46, according to sub-goal point coordinates, local paths planning is carried out on two-dimensional map using path planning algorithm, and control
Land robot reaches specific item punctuate.
8. radiation method for searching according to claim 7, which is characterized in that more rotors will be passed through in the step S42
The three-dimensional environment map that the observation information of aircraft is established is converted to three established by the observation information of land robot
Dimension environmental map relational expression be：
Wherein ρk=(xk,yk,zk) indicate coordinates of the radiation scene object M under the coordinate system of multi-rotor aerocraft, ρp=
(xp,yp,zp) indicate coordinates of the object M under the coordinate system of land robot, TkTo contain multi-rotor aerocraft relative to generation
The posture of boundary's coordinate system and 4 × 4 homogeneous matrix of translational coordination, TpTo contain land robot relative to world coordinate system
4 × 4 homogeneous matrix of posture and translational coordination,ρ is indicated respectivelyp、ρk、Tp、TkDerivative；
It is using the formula of land robot selection specific item punctuate in the step S45：
Min f (P)=g (P)+h (P) (3)
Wherein P is specific item punctuate, and minf (P) indicates to reach the shortest path of specific item punctuate, and g (P) indicates that land robot is current
Position to specific item punctuate distance, h (P) indicate specific item punctuate to radiate object location estimated value again distance.
9. radiation method for searching according to claim 7, which is characterized in that the step S46 include it is following step by step：
S461, the barrier for radiating site environment space using Polygons Representation of different shapes in two-dimensional map；
S462, the starting point by land robot obtains, specific item punctuate and all barriers vertex connect, ensure to connect
Line is not passed through polygonal internal region；
S463, land robot is obtained from starting point to the optimal path of specific item punctuate using differential evolution algorithm；
S464, control land robot pass through the crucial section of polygon in optimal path according to optimal path successively from starting point
Point eventually arrives at specific item punctuate.
10. radiation method for searching according to claim 4, which is characterized in that the step S6 include it is following step by step：
S61, judge whether land robot searches radiation, if then entering step S62, otherwise return to step S1；
S62, the image information that radiation is acquired using the image acquiring sensor that multi-rotor aerocraft carries, and it is logical by first
Letter equipment is sent to land robot；
S63, the tactile data that radiation is obtained using land robot arm end effector and touch sensor；
S64, the image information and land robot of multi-rotor aerocraft acquisition are obtained in the robot data processor of land
Tactile data merged, realize force feedback；
S65, the mechanical arm that robot carrying in land is controlled by motion controller independently capture, recycle and dispose radiation；
S66, control multi-rotor aerocraft and land robot exit radiation scene, terminate this radiation search.
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