CN108572397B - 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
- Publication number
- CN108572397B CN108572397B CN201810255940.3A CN201810255940A CN108572397B CN 108572397 B CN108572397 B CN 108572397B CN 201810255940 A CN201810255940 A CN 201810255940A CN 108572397 B CN108572397 B CN 108572397B
- Authority
- CN
- China
- Prior art keywords
- radiation
- rotor aerocraft
- robot
- land
- land robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- 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 figure of radiation radiographic source in real time.The radiation ray data for passing through regression analysis land robot simultaneously, assists the search of multi-rotor aerocraft radiation, so that high-precision direction recognition and space identification, realize 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 grabbed 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 technique
Since over half a century, China's nuclear energy and nuclear technology utilize cause stable development.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 diffusion get 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 countries in the world need that more measure preventions is taken to sell illegally nuclear material.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 healths' damages and environmental radioactive pollution 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 the modern technologies such as comprehensive micro electronmechanical and new material of multi-rotor aerocraft, cooperation land machine are humanoid
At multi-level, the air-ground integrated acquiring technology of three-dimensional accident handling field data, can quick execution target search and rescue,
Disposing task.
Summary of the invention
The purpose of the present invention is for individual machine people in existing radiation search technique the acquisition of information, processing and
There is limitation in control ability etc., propose a kind of radiation hunting system based on heterogeneous robot and side
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 solution of the present invention is as follows: 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
The connection of first communication apparatus communication.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；The processing of land robot data
Device is connect with motion controller, the second radiation dose detector and the second communication apparatus communication respectively, motion controller and machine
The connection of tool arm, mechanical arm tail end are 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 and gyroscope are used to obtain the location information and more rotor flyings of multi-rotor aerocraft
The posture information of acceleration of the device on space X, tri- directions Y, Z and roll angle, pitch angle and yaw angle.Image Acquisition sensing
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 used for the regression analysis of data, creation three-dimensional environment map, rebuilds
Multidimensional scene figure, processing multi-rotor aerocraft and land machine with the embedded radiation radiation profile of three-dimensional and energy intensity
The coordinate conversion of people judges the error for the location information that multi-rotor aerocraft and land robot estimate, and more currently obtains
The radiation dose information and the preceding radiation dose information once obtained taken.Motion controller is for controlling mechanical 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 transmit 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, comprising 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 pass through the environmental information at radiation scene and the roentgen dose X data acquired with land robot
Information obtains the estimated value again of radiation object location.
S3, judge radiate object location value according to a preliminary estimate and whether the error of estimated value less than 5% again, if then entering
Step S4, otherwise return step S1.
S4, the relative coordinate relationship for establishing multi-rotor aerocraft Yu land robot choose specific item using land robot
Punctuate simultaneously sends it to multi-rotor aerocraft, while carrying out local paths planning, and control land robot reaches specific item punctuate.
S5, control multi-rotor aerocraft fly to specific item punctuate, judge the ray that multi-rotor aerocraft currently obtains
Otherwise the roentgen dose X data information whether dose data information once obtains before being greater than enters step if then entering step S6
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 greater than the preceding ray agent once obtained
It measures data information and otherwise enters step S9 if then entering step S8.
S8, control multi-rotor aerocraft fly to previous specific item punctuate, return 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；Multi-rotor aerocraft direction is adjusted, so that land robot is more
Rotor craft within sweep of the eye, return step S1.
The beneficial effects of the present invention are:
(1) present invention carries out vacant lot to radiation dosage, gamma-spectrometric data, three-dimensional environment information using land sky heterogeneous robot
Integration obtains, and realizes the multidimensional scene figure of the data fusions such as environmental information and radiation gamma-spectrometric data, radiation intensity distribution,
So as to multi-angle of view, 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, effectively 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 using land sky heterogeneous robot, and path planning has real-time, 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 image information that the present invention is provided using multi-rotor aerocraft carries 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.
Detailed description of the invention
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 process 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 embodiment
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 model of the invention
It encloses.
Embodiment one:
The embodiment of the 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 and gyroscope 13 are used
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 transmission.
In the embodiment of the present invention, multi-rotor aerocraft controller 11 selects Pixhawk flight controller, GPS positioning device
12 select NEO-7N UBLOX GPS positioning device, and gyroscope 13 selects MPU6050 gyroscope, and image acquiring sensor 14 is selected
MYNT EYE S1010 imaging sensor, the first radiation dose detector 15 select GMV2 radiation dose detector, portable energy
It composes detector 16 and selects the portable eds detector 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, creation three-dimensional ring
Condition figure rebuilds the multidimensional scene figure with three-dimensional embedded radiation radiation profile and energy intensity, the more rotor flyings of processing
The conversion of the coordinate of device 1 and land robot 2, the mistake for judging the location information that multi-rotor aerocraft 1 and land robot 2 estimate
Difference, and the radiation dose information and the preceding radiation dose information once obtained that more currently obtain.Motion controller 22 is used for
Control the motion mode of mechanical 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 transmit with information.
Mechanical arm 25 and robot arm end effector 26 are used to complete the recycling and disposition to radiation.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 pie, motion controller
22 select STM32F104 as main control chip, and the second radiation dose detector 23 selects FJ2000 dosimeter, mechanical arm end
Actuator 26 is held to select ROBOTIQ 2-figure-85 actuator, touch sensor 27 selects Robotiq FT300 tactile sensing
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 module is can be selected in the first communication equipment 17 and the second communication equipment 24.
Embodiment two:
The embodiment of the 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 fly to certain altitude by remote control control multi-rotor aerocraft, will
Multi-rotor aerocraft is switched to self-navigation mode.
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 that the second communication equipment is received by land robot data processor 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 pass through the environmental information at radiation scene and the roentgen dose X data 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 that the second communication equipment is received by the map building module 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-dimensional space 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, level will be radiated by coordinate mapping relations in the data fusion module of land robot data processor
Coordinate information, the three-dimensional space radiation intensity distribution of radiation, ray energy spectrum data information and three-dimensional environment map is set to melt in real time
It closes, rebuilds the hyperspace scene figure with three-dimensional embedded radiation radiation profile, obtain the estimation again of radiation object location
Value.
S3, judge radiate object location value according to a preliminary estimate and whether the error of estimated value less than 5% again, if then entering
Step S4, otherwise return step S1.
S4, the relative coordinate relationship for establishing multi-rotor aerocraft Yu land robot choose specific item using land robot
Punctuate simultaneously sends it to multi-rotor aerocraft, while carrying out 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:
S41, the coordinate system for establishing multi-rotor aerocraft, land robot coordinate system and world coordinate system.
S42, according to the coordinate system of multi-rotor aerocraft, the coordinate system and world coordinate system of land robot, by step S23
In be converted to by the three-dimensional environment map that the observation information of multi-rotor aerocraft is established and believed by the observation of land robot
Cease established three-dimensional environment map, conversion relational expression are as follows:
Wherein ρk=(xk,yk,zk) indicate coordinate of the radiation scene object M under the coordinate system of multi-rotor aerocraft, ρp
=(xp,yp,zp) indicate coordinate 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,Respectively indicate ρp、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, environmental informations all 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 specific item punctuate coordinate is sent to by multi-rotor aerocraft by the second communication equipment.
The formula of specific item punctuate is chosen using land robot are as follows:
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
Distance of the current location to specific item punctuate, the distance of the estimated value again of h (P) expression specific item punctuate to radiation object location.
S46, according to specific item punctuate coordinate, 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 successively pass through the key of polygon in optimal path according to optimal path from starting point
Node eventually arrives at specific item punctuate.
S5, control multi-rotor aerocraft fly to specific item punctuate, judge the ray that multi-rotor aerocraft currently obtains
Otherwise the roentgen dose X data information whether dose data information once obtains before being greater than enters step if then entering step S6
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 step S1.
The image information of S62, the image acquiring sensor acquisition radiation carried using multi-rotor aerocraft, 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 grab, recycle and dispose radiation
Object, avoid land robot in radiation environment operation image acquiring sensor because being radiated, the influence of the limitations such as visual angle.
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 greater 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 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；Multi-rotor aerocraft direction is adjusted, so that land robot is more
Rotor craft within sweep of the eye, return 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 disclosed the technical disclosures can make according to the present invention and various 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 (7)
1. a kind of radiation method for searching based on heterogeneous robot, which comprises 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 radiation scene and the roentgen dose X data information acquired with land robot
Obtain the estimated value again of radiation object location；
S3, judge radiate object location value according to a preliminary estimate and whether the error of estimated value less than 5% again, if then entering step
S4, otherwise return step S1；
S4, the relative coordinate relationship for establishing multi-rotor aerocraft Yu land robot choose specific item punctuate using land robot
And multi-rotor aerocraft being sent it to, while carrying out local paths planning, control land robot reaches specific item punctuate；
S5, control multi-rotor aerocraft fly to specific item punctuate, judge the roentgen dose X that multi-rotor aerocraft currently obtains
Otherwise the roentgen dose X data information whether data information once obtains before being greater than 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 greater 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 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；Multi-rotor aerocraft direction is adjusted, so that land robot is in more rotors
Aircraft within sweep of the eye, return step S1.
2. radiation method for searching according to claim 1, 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 by remote control control multi-rotor aerocraft and fly to certain altitude, will revolve more
Rotor aircraft is switched to self-navigation mode；
S12, believed using the roentgen dose X data that the first radiation dose detector that multi-rotor aerocraft carries obtains radiation scene
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 that the second communication equipment receives is returned by land robot data processor
Return analysis, obtains the value according to a preliminary estimate of radiation object location.
3. radiation method for searching according to claim 1, 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 that the second communication equipment is received by the map building module 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-dimensional space radiation intensity distribution estimated, and respectively obtain multi-rotor aerocraft and land robot estimation radiation
Location coordinate information；
S25, pass through coordinate mapping relations in the data fusion module of land robot data processor for radiation object location seat
Mark information, the three-dimensional space radiation intensity distribution of radiation, ray energy spectrum data information and three-dimensional environment map real time fusion, weight
The hyperspace scene figure with three-dimensional embedded radiation radiation profile is built, the estimated value again of radiation object location is obtained.
4. radiation method for searching according to claim 3, which is characterized in that the step S4 include it is following step by step:
S41, the coordinate system for establishing multi-rotor aerocraft, land robot coordinate system and world coordinate system；
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, environmental informations all in two-dimensional map are built into a set, all barriers are built into a subset and are 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 specific item punctuate coordinate is sent to multi-rotor aerocraft；
S46, according to specific item punctuate coordinate, local paths planning is carried out on two-dimensional map using path planning algorithm, and control
Land robot reaches specific item punctuate.
5. radiation method for searching according to claim 4, 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
Tie up the relational expression of environmental map are as follows:
Wherein ρk=(xk,yk,zk) indicate coordinate of the radiation scene object M under the coordinate system of multi-rotor aerocraft, ρp=
(xp,yp,zp) indicate coordinate 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,Respectively indicate ρp、ρk、Tp、TkDerivative；
The formula of specific item punctuate is chosen in the step S45 using land robot are as follows:
Min f (P)=g (P)+h (P) (3)
Wherein P is specific item punctuate, and min f (P) indicates to reach the shortest path of specific item punctuate, and g (P) indicates that land robot is current
Distance of the position to specific item punctuate, the distance of the estimated value again of h (P) expression specific item punctuate to radiation object location.
6. radiation method for searching according to claim 4, 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, guarantee 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 successively pass through the crucial section of polygon in optimal path according to optimal path from starting point
Point eventually arrives at specific item punctuate.
7. radiation method for searching according to claim 1, 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 step S1；
The image information of S62, the image acquiring sensor acquisition radiation carried using multi-rotor aerocraft, 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 grab, recycle and dispose radiation；
S66, control multi-rotor aerocraft and land robot exit radiation scene, terminate this radiation search.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255940.3A CN108572397B (en) | 2018-03-27 | 2018-03-27 | A kind of radiation hunting system and method based on heterogeneous robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255940.3A CN108572397B (en) | 2018-03-27 | 2018-03-27 | A kind of radiation hunting system and method based on heterogeneous robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108572397A CN108572397A (en) | 2018-09-25 |
| CN108572397B true CN108572397B (en) | 2019-07-02 |
Family
ID=63574601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810255940.3A Active CN108572397B (en) | 2018-03-27 | 2018-03-27 | A kind of radiation hunting system and method based on heterogeneous robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108572397B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110611877B (en) * | 2019-04-24 | 2020-09-29 | 西南科技大学 | Violence abnormal behavior monitoring system and method based on unmanned aerial vehicle |
| CN114765781B (en) * | 2022-06-14 | 2022-08-19 | 西南科技大学 | Communication perception map construction method facing emergency robot |
| CN116300480B (en) * | 2023-05-23 | 2023-08-01 | 西南科技大学 | Radioactive source searching method based on improved particle filtering and biological heuristic neural network |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5286973A (en) * | 1991-11-13 | 1994-02-15 | Odetics, Inc. | Radiation mapping system |
| KR101469756B1 (en) * | 2013-02-28 | 2014-12-11 | 김복수 | Flying robot for monitoring gas |
| AU2014292775A1 (en) * | 2013-07-15 | 2016-01-28 | Fission 3.0 Corp. | System and method for aerial surveying or mapping of radioactive deposits |
| CN103823232A (en) * | 2014-03-18 | 2014-05-28 | 黑龙江省科学院技术物理研究所 | Radiation detection aircraft |
| CN203941294U (en) * | 2014-05-20 | 2014-11-12 | 西南科技大学 | A kind of nuclear radiation monitoring system based on air-robot |
| CN104330814B (en) * | 2014-10-29 | 2017-06-20 | 西南科技大学 | A kind of radioactive source localization method and system |
| CN104460671B (en) * | 2014-11-12 | 2017-01-18 | 西南科技大学 | Cross positioning method and system for radioactive source in three-dimensional space |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| CN105911579A (en) * | 2016-04-19 | 2016-08-31 | 成都新核泰科科技有限公司 | Unmanned plane mounted nuclear radiation detection device |
| CN106324651B (en) * | 2016-08-10 | 2019-02-01 | 中国船舶重工集团公司第七一九研究所 | A kind of radiation-resource intelligent search engine and its working method |
| CN206140520U (en) * | 2016-10-19 | 2017-05-03 | 西南科技大学 | A robot for $monitoring nuclear and radiation ring border |
| CN107117312A (en) * | 2017-05-22 | 2017-09-01 | 中国原子能科学研究院 | A kind of unmanned vehicle low latitude radiation monitoring system |
-
2018
- 2018-03-27 CN CN201810255940.3A patent/CN108572397B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108572397A (en) | 2018-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104932001B (en) | A kind of 3D nuclear radiation environments in real time rebuild monitoring system | |
| CN108572397B (en) | A kind of radiation hunting system and method based on heterogeneous robot | |
| CN103135550B (en) | Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection | |
| CN109901580A (en) | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method | |
| CN105048533B (en) | Small-sized multi-rotor unmanned aerial vehicle automatic charging system | |
| CN108832997A (en) | A kind of unmanned aerial vehicle group searching rescue method and system | |
| CN102288176B (en) | Coal mine disaster relief robot navigation system based on information integration and method | |
| CN105416584B (en) | Life tracking UAS after a kind of calamity | |
| CN104460671B (en) | Cross positioning method and system for radioactive source in three-dimensional space | |
| CN106898249B (en) | A kind of map constructing method for earthquake-stricken area communication failure region | |
| EP3564658A1 (en) | Security inspection system and method | |
| CN101382429A (en) | Earth-air special-shaped multi-robot searching and rescuing system | |
| CN101968913B (en) | Flame tracing method for forest fire area | |
| TWM348676U (en) | Environmental survey robot | |
| US11479369B2 (en) | Baggage cart | |
| CN102176232A (en) | Individual safety locating and guiding operating system and application method thereof | |
| CN106447579A (en) | Space-ground-air integrated coordinated search and rescue system suitable for complex mountain scenic areas | |
| CN113155880A (en) | Method for detecting heavy metal pollution of soil by adopting unmanned aerial vehicle and XRF technology | |
| CN109521781A (en) | Unmanned plane positioning system, unmanned plane and unmanned plane localization method | |
| CN107783544A (en) | A kind of method for controlling single rotor plant protection unmanned plane avoidance flight | |
| CN110298854A (en) | The snakelike arm co-located method of flight based on online adaptive and monocular vision | |
| CN107521678A (en) | The UAS and its method for positioning and capturing for nuclear radiation radioactive source | |
| CN116540784B (en) | Unmanned system air-ground collaborative navigation and obstacle avoidance method based on vision | |
| CN107402578A (en) | Unmanned plane panorama obstacle cognitive method, device, equipment and storage medium | |
| CN209402517U (en) | A kind of unmanned aerial vehicle group searching rescue system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |