CN113720394A

CN113720394A - Intelligent detection robot and search method thereof

Info

Publication number: CN113720394A
Application number: CN202111048193.4A
Authority: CN
Inventors: 刘霞; 方健; 姜丽丽
Original assignee: Suzhou Rongcui Special Robot Co ltd
Current assignee: Suzhou Rongcui Special Robot Co ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-11-30
Anticipated expiration: 2041-09-08
Also published as: CN113720394B

Abstract

The invention discloses an intelligent detection robot and a searching method thereof. The searching method of the invention realizes the large-range and non-leakage searching task of the underground buried object, including the drilling of the target object, the detection of vibration signals, the detection of gas information, the collection of samples, the detection of biological information and other works, and increases the cross comparison result of various information on the basis of a data fusion algorithm, thereby mutually verifying and improving the accuracy of the judgment of the underground buried object. Meanwhile, the method and the device can be suitable for areas with more complex environments, terrains and road conditions, the searching difficulty is reduced, the searching task can be completed by a small amount of workers, and the cost of manpower and material resources is reduced.

Description

Intelligent detection robot and search method thereof

Technical Field

The invention belongs to the field of intelligent robot application, and particularly relates to an intelligent detection robot and a searching method thereof.

Background

In some special cases, public security or military forces need a series of search tasks for detecting, excavating and identifying buried objects. At present, the search adopts an operation mode of mainly manual work and mechanically assisting and matching police dogs or military dogs. However, this approach generally has several problems:

1. for the area to be searched and searched which is large in area and complex in environment, terrain and road conditions, the whole searching difficulty is high, and buried objects are difficult to find;

2. the manual searching consumes time and labor, the manpower is limited, especially the manual digging time is long, and the efficiency is not high;

3. if the excavator is used for excavating, the excavating force is difficult to control, the buried objects are easy to damage, and the excavator cannot enter some terrains and surrounding environments;

4. the working time of police dogs or military dogs is relatively limited, and the olfactory function of the police dogs or military dogs is greatly related to the physical state.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the intelligent detection robot and the search method thereof, which can search buried objects in the ground in a large range without missing, and simultaneously reduce the cost of manpower and material resources required by detection.

In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:

an intelligent detection robot comprises a rack, a main controller, a driving mechanism, a positioning navigation module, a drilling mechanism, a vibration sensor, a sampling mechanism, an olfactory sensor, a biological detection device, a signal analysis processing module, a storage module, a wireless communication module, power supply equipment and user control equipment;

the driving mechanism is arranged at the lower part of the rack and is responsible for driving the intelligent detection robot to move;

the positioning navigation module is arranged in the rack and is responsible for determining the current position of the intelligent detection robot and planning the moving route and time of the intelligent detection robot according to a set search interval or a designated position;

the drilling mechanism is arranged outside the rack and is responsible for performing vertical drilling operation on the surface of a drilling object according to the drilling depth information sent by the main controller, and sending a drilling ending signal to the main controller after drilling at a corresponding depth is completed;

the vibration sensor is arranged on the drilling mechanism and is responsible for converting mechanical signals generated when the drilling mechanism drills holes into electric signals and collecting vibration signals through an internal amplification circuit;

the sampling mechanism is arranged outside the rack and is responsible for extending into the hole diameter drilled by the drilling mechanism, sampling suspicious targets at the bottom of the hole diameter and transferring the samples to the biological detection device;

the olfactory sensor is arranged on the sampling mechanism and is responsible for extending into the hole diameter drilled by the drilling mechanism along with the sampling mechanism, collecting gas information of a suspicious target object at the bottom of the hole diameter and detecting the category of gas emitted by the suspicious target object;

the biological detection device is arranged on the upper surface of the rack and is responsible for quickly and biologically detecting suspicious target samples collected by the sampling mechanism, and the biological detection items comprise microbial detection, pH value detection and the like;

the signal analysis processing module is arranged in the rack and is responsible for carrying out vibration signal processing and preliminary analysis on vibration signals acquired by the vibration sensor and carrying out material judgment on an object contacted by the drilling mechanism; the system is responsible for analyzing the components and frequency spectrum of the detected gas according to the category of the gas detected by the olfactory sensor and carrying out substance judgment on a suspicious target object emitting the detected gas; the biological detection device is used for carrying out substance discrimination on the suspicious target sample collected by the sampling mechanism according to the biological detection information detected by the biological detection device; and the system is responsible for carrying out cross comparison analysis on the three substance judgment results to obtain the final substance judgment result of the suspicious target object.

The storage module is arranged in the rack and is responsible for storing all data information including waveform information, smell information, biological information and the like of various substances to form an information base;

the wireless communication module is arranged in the rack and is responsible for receiving input information from the user control equipment, wherein the input information comprises pose information (including positions and angles), search area range information, search interval information, excavation depth information and the like required by search work; meanwhile, the intelligent detection robot is responsible for sending output information sensed or detected by the intelligent detection robot to the user control equipment, wherein the output information comprises current pose information, communication state information, detection value information, alarm information, analysis result information and the like;

the main controller is arranged inside the rack and is in signal connection with the driving mechanism, the positioning navigation module, the drilling mechanism, the vibration sensor, the sampling mechanism, the olfactory sensor, the biological detection device, the signal analysis and processing module, the storage module and the wireless communication module respectively; the main controller is responsible for communicating with the user control equipment through the wireless transmission module; the system is responsible for receiving current position information from the positioning navigation module and planned moving route and time information; the device is used for controlling the work of the driving mechanism, the drilling mechanism and the sampling mechanism; the sensor is responsible for receiving the sensing signals from the vibration sensor, the olfactory sensor and the biological detection device and forwarding the sensing signals to the signal analysis and processing module; the storage module is responsible for storing information into the storage module; the device is responsible for calling the information in the storage module and forwarding the information to the signal analysis processing module; the signal analysis and processing module is used for receiving a substance judgment result from the signal analysis and processing module;

the power supply equipment is arranged in the rack and is responsible for providing power for the main controller, the driving mechanism, the positioning and navigation module, the drilling mechanism, the vibration sensor, the sampling mechanism, the smell sensor, the biological detection device, the signal analysis and processing module, the storage module and the wireless communication module;

the user control equipment is used for a user to operate remotely and is responsible for sending input information set by the user to the wireless communication module, wherein the input information comprises pose information (including positions and angles), search area range information, search interval information, mining depth information and the like required by search work; and the intelligent detection robot is also responsible for receiving and displaying output information sensed or detected by the intelligent detection robot and sent by the wireless communication module, wherein the output information comprises current pose information, communication state information, detection value information, alarm information, analysis result information and the like.

Further, actuating mechanism includes DC brushless motor, planetary reducer, motor drive, four motor drive wheels and linkage, four the motor drive wheel is respectively through corresponding the linkage sets up the left and right sides at both ends around the frame, DC brushless motor planetary reducer with motor drive all installs the inside of frame, motor drive with DC brushless motor connects, DC brushless motor passes through planetary reducer respectively with four motor drive connects.

Furthermore, the positioning navigation module mainly comprises a GPS device, a gyroscope, an encoder and the like.

Further, drilling mechanism sets up the outside of frame mainly comprises arm, spiral column drill bit, drill bit motor driver and distance sensor, the arm is installed the outside of frame, drill bit motor driver with the drill bit motor is all installed on the arm, the drill bit motor by drill bit motor driver drives, spiral column drill bit with distance sensor all installs on the drill bit motor, just distance sensor court the extending direction parallel alignment of spiral column drill bit.

Further, the olfactory sensor is a MEMS gas sensor.

Further, the signal analysis processing module comprises a vibration signal processing unit, an olfactory signal processing unit, a biological signal processing unit and a decision unit; wherein,

the vibration signal processing unit comprises a vibration signal preprocessing unit, a vibration signal conversion unit and a vibration signal comparison unit; the vibration signal preprocessing unit is responsible for smoothing vibration signals acquired by the vibration sensor and outputting filtering signals; the vibration signal transformation unit is responsible for performing wavelet transformation on the filtering signal to extract a characteristic value; the vibration signal comparison unit is responsible for comparing and analyzing the vibration signal characteristic value and vibration waveforms of all substances stored in the storage module in advance through calculating a correlation coefficient, and if the correlation coefficient obtained through calculation is higher than a threshold value, the waveform of a matched target object is found;

the olfactory signal processing unit is responsible for extracting gas substances from the gas signals detected by the olfactory sensor to obtain a spectral analysis chart, comparing the spectral analysis chart with odor information of all substances in the storage module, and analyzing to obtain substances to which suspicious target objects possibly belong;

the biological signal processing unit is responsible for carrying out microorganism discrimination on biological detection information detected by the biological detection device, analyzing a microorganism composition diagram, comparing the microorganism composition diagram with microorganism information of all substances in the storage module, and analyzing to obtain substances to which suspicious target objects possibly belong;

the decision unit is responsible for carrying out cross comparison analysis on three discrimination results made by the vibration signal processing unit, the olfactory signal processing unit and the biological signal processing unit, and finally obtaining a substance discrimination result of a suspicious target object and feeding the substance discrimination result back to the main controller.

A search method of an intelligent detection robot comprises the following steps:

s1, setting input information including a search target object, an initial search point, a search area range, a search point distance, a path track and a digging depth by a user through user control equipment;

the path track is manually planned by a user through user control equipment, or is automatically planned and generated by a positioning navigation module on the rack according to a search area range and a search point interval, and is sent to the user control equipment through a wireless communication module and displayed by a main controller on the rack; and the types of the searched target objects are one or more;

s2, the user control equipment communicates with the wireless communication module on the rack to transmit the input information set by the user to the main controller on the rack, and the main controller confirms the initial search point, the search area range, the path track, the target of the object, the distance between the search points and the excavation depth of the task according to the received input information;

s3, the main controller controls a driving mechanism on the rack to work according to the confirmed initial search point information, so that the whole intelligent detection robot is driven to automatically run to the initial search point;

s4, after the initial search point is reached, the main controller controls the drilling mechanism on the rack to gradually move to the position above the drilling position of the initial search point, in the moving process, the distance sensor on the drilling mechanism can sense the distance between the drilling mechanism and the drilling position in real time, when the distance sensor senses that the distance between the drilling mechanism and the drilling position reaches the distance meeting the drilling requirement, the main controller controls the drilling mechanism to stop moving, and then the main controller controls the drilling mechanism to drill the drilling position of the initial search point according to the set excavation depth information;

s5, in the drilling process, a vibration sensor on the drilling mechanism converts mechanical signals generated when the drilling mechanism drills into electric signals, vibration signals are collected in real time through an amplifying circuit in the vibration sensor, the main controller sends the collected vibration signals to a signal analysis processing module in the rack, a vibration signal processing unit in the signal analysis processing module carries out filtering smoothing processing on the collected vibration signals and outputs filtering signals, wavelet transformation is carried out on the filtering signals to extract characteristic values, and then comparison analysis is carried out through calculating correlation coefficients according to the characteristic values of the vibration signals and vibration waveforms of all substances stored in a storage module in the rack, so that the categories of the substances contacted by the drilling mechanism at different depth positions are judged in real time; if the calculated correlation coefficient is higher than the threshold value, the waveform of the matched target object is found;

s6, if the vibration signal processing unit in the signal analysis processing module finds the matched waveform of the target object according to the collected vibration signal before the drilling mechanism drills to the set depth threshold, the main controller immediately controls the drilling mechanism to stop drilling and move out of the drilled hole, and then the main controller controls the sampling mechanism on the rack to extend into the bottom of the drilled hole; if the vibration signal processing unit in the signal analysis processing module still does not find a matched target object waveform according to the collected vibration signal when the drilling mechanism drills to the set depth threshold, the main controller also immediately controls the drilling mechanism to stop drilling and move out of the drill hole, and meanwhile, the searching operation of the searching point is finished;

s7, after the sampling mechanism extends into the bottom of the drill hole, the main controller firstly controls the olfactory sensor on the sampling mechanism to collect gas information of a suspicious target object, then the main controller sends the collected gas information to the signal analysis processing module, then an olfactory signal processing unit in the signal analysis processing module extracts gas substance components of the gas signal to obtain a spectrum analysis diagram, and finally, the gas information of all substances stored in the storage module is compared and analyzed according to the spectrum analysis diagram, so that a judgment result of the substance of the suspicious target object is obtained;

s8, after the olfactory sensor collects gas information of a suspicious target object, the main controller controls the sampling mechanism to collect a sample of the suspicious target object, the collected sample is transferred to a biological detection device on the rack, the biological detection device carries out biological detection on the collected sample, the main controller sends the detected biological detection information to the signal analysis processing module, a biological signal processing unit in the signal analysis processing module carries out microorganism discrimination on the biological detection information and analyzes a microorganism composition diagram, and finally the microorganism composition diagram is compared with microorganism information of all substances stored in the storage module for analysis so as to obtain a judgment result of the substance to which the suspicious target object belongs;

s9, after a vibration signal processing unit, an olfactory signal processing unit and a biological signal processing unit in the signal analysis processing module respectively obtain a judgment result of a suspicious target object, a decision unit in the signal analysis processing module carries out cross comparison analysis on the three judgment results so as to obtain a final judgment result of the suspicious target object and feeds the final judgment result back to the main controller, and finally the main controller compares the obtained final judgment result with a search target object to judge whether the detected suspicious target object is the search target object of the task;

s10, if the main controller finds that the suspicious object is indeed one of the search target objects of the task, the main controller sends an alarm signal and obtains the current position information of the suspicious object from the positioning navigation module, and then the main controller displays the alarm signal, the current position information, the detection value information, the analysis result information and the communication state information to the user control equipment through the wireless communication module for the user to check, and controls the intelligent detection robot to stop moving and to stand by in place; if the main controller finds that the suspicious target object does not belong to any one of the searched target objects of the task, the searching operation of the searched point is finished;

s11, after finishing the search operation of one search point, the main controller checks whether all search tasks are completed according to the path track; if all the search tasks are not completed, the main controller controls the driving mechanism to drive the intelligent detection robot to drive to the next search point, and the operation steps from S4 to S10 are continuously repeated; and if all the search tasks are finished, the main controller controls the driving mechanism to drive the intelligent detection robot to return, and the search task is finished.

Further, in step S5, the specific method for comparing and analyzing the characteristic value of the vibration signal and the vibration waveforms of all the substances in the storage module by calculating the correlation coefficient is as follows:

according to the frequency domain window of the drilled suspicious target object, the correlation between the vibration waveform of the suspicious target object and the vibration waveform of the searched target object is obtained; calculating the correlation coefficient rho of the frequency domain vibration signal X (f) of the suspicious target object and the frequency domain vibration signal Y (f) of the searched target object_xy；

Correlation coefficient ρ_xyThe calculation formula of (a) is as follows:

wherein the numerator is the integral of X (f) Y (f) over the frequency domain and the denominator is the square root of the product of the integrals of the respective square roots of X (f) and Y (f) over the frequency domain;

correlation coefficient ρ_xyIs between 0 and 1, if rho_xyEqual to 1, a complete correlation is considered, if ρ_xyEqual to 0, it is considered irrelevant;

if the correlation coefficient is detected to be larger than the set threshold value, the vibration waveform of the suspicious target object is matched with the vibration waveform of the searched target object;

the threshold value may be adjusted according to the actual conditions, for example 0.8 or 0.6 may be selected.

Further, in step S7, the specific method for performing gas substance component extraction on the obtained gas signal to obtain a spectrum analysis chart, and performing comparison analysis on the spectrum analysis chart and the gas information of all the substances in the storage module is as follows:

performing similar calculation on the extracted gas substance component of the suspicious target object and the gas component of the searched target object in the storage module, and calculating a Jaccard similarity coefficient J₁；

Jaccard similarity coefficient J₁Has a value of between 0 and 1, if J₁The closer to 1, the higher the similarity, and J₁The closer to 0, the lower the similarity is;

the gas component set in the object to be searched is called as a set, namely the object to be searched contains N gas components which are N-dimensional sets, if the component exists, the component is expressed as 1, and if the component does not exist, the component is expressed as 0;

assuming that the gas composition of the suspicious object is N-dimensional set X, the gas composition of the searched object is N-dimensional set Y, and Jaccard similarity coefficient J₁The calculation formula of (a) is as follows:

J₁ = A₁ /（B₁+C₁+D₁）

in the formula, the molecule is A₁Representing the dimension number that both the N-dimensional set X and the N-dimensional set Y are 1; the denominator is B₁、C₁、D₁In which B is₁Represents the number of 1 in the N-dimensional set X and 0 in the N-dimensional set Y, C₁D represents the number of dimensions of the N-dimensional set X of 0 and the N-dimensional set Y of 1₁Represents the number of dimensions 0 in both the N-dimensional set X and the N-dimensional set Y.

Further, in step S8, the specific method for performing microorganism discrimination and analyzing the microorganism composition map of the obtained biological detection information and comparing the analysis with the microorganism information of all the substances in the storage module is as follows:

performing similar calculation on the extracted microbial components of the suspicious target object and the microbial components of the searched target object in the storage module, and calculating a Jaccard similarity coefficient J₂；

Jaccard similarity coefficient J₂Has a value of between 0 and 1, if J₂The closer to 1, the higher the similarity, and J₂The closer to 0, the lower the similarity is;

the method comprises the following steps of (1) calling a microorganism component set in a search target object as a set, namely, the search target object contains N microorganism components which are N-dimensional sets, if the microorganism components exist, the microorganism components are expressed as 1, and if the microorganism components do not exist, the microorganism components are expressed as 0;

assuming that the microorganism component of the suspicious object is N-dimensional set W, the microorganism component of the searched object is N-dimensional set Z, Jaccard similarity coefficient J₂The calculation formula of (a) is as follows:

J₂ = A₂ /（B₂+C₂+D₂）

in the formula, the molecule is A₂，NThe dimension set W and the dimension set N are dimension numbers of 1; the denominator is B₂、C₂、D₂In which B is₂Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C₂D represents the number of dimensions, where W is 0 and Z is 1₂Represents the number of dimensions that are both 0 in the N-dimensional set W and the N-dimensional set Z.

Compared with the prior art, the invention has the beneficial effects that:

the invention can automatically carry out the operations of drilling, vibration signal detection, gas information detection, sample acquisition, biological information detection and the like on each search point within a search range with a certain area, realizes the search task of the underground buried object with large range and no omission, and increases the cross comparison result of various information on the basis of a data fusion algorithm so as to mutually verify and improve the accuracy of judging the underground buried object. Meanwhile, compared with the traditional searching mode, the method and the device can be suitable for areas with more complex environments, terrains and road conditions, greatly reduce searching difficulty, can complete searching tasks which can be completed by a large number of people and police dogs only by a small number of workers, and greatly reduce labor cost and material cost.

The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a block diagram of the overall structure of an intelligent detection robot according to the present invention;

FIG. 2 is a block diagram of the driving mechanism of the intelligent detection robot of the present invention;

FIG. 3 is a block diagram of a positioning and navigation module of the intelligent detection robot according to the present invention;

FIG. 4 is a block diagram of a drilling mechanism of the intelligent detection robot of the present invention;

FIG. 5 is a block diagram of the signal analyzing and processing module of the intelligent detecting robot according to the present invention;

FIG. 6 is a flowchart illustrating steps of a method for searching by an intelligent detection robot according to the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 1, an intelligent detection robot includes a rack 1, a main controller 2, a driving mechanism 3, a positioning navigation module 4, a drilling mechanism 5, a vibration sensor 6, a sampling mechanism 7, an olfactory sensor 8, a biological detection device 9, a signal analysis processing module 10, a storage module 11, a wireless communication module 12, a power supply device 13, and a user control device 14;

the driving mechanism 3 is arranged at the lower part of the rack 1 and is responsible for driving the intelligent detection robot to move;

the positioning navigation module is arranged in the rack 1 and is responsible for determining the current position of the intelligent detection robot and planning the moving route and time of the intelligent detection robot according to a set search interval or a designated position;

the drilling mechanism 5 is arranged outside the rack 1 and is responsible for performing vertical drilling operation on the surface of a drilling object according to the drilling depth information sent by the main controller 2, and sending a drilling ending signal to the main controller 2 after drilling at a corresponding depth is completed;

the vibration sensor 6 is arranged on the drilling mechanism 5 and is responsible for converting mechanical signals generated when the drilling mechanism 5 drills holes into electric signals and collecting vibration signals through an internal amplification circuit;

the sampling mechanism 7 is arranged outside the frame 1 and is responsible for extending into the hole diameter drilled by the drilling mechanism 5, sampling suspicious targets at the bottom of the hole diameter and transferring the samples to the biological detection device 9;

the smell sensor 8 is arranged on the sampling mechanism 7 and is responsible for extending into the hole diameter drilled by the drilling mechanism 5 along with the sampling mechanism 7, collecting gas information of a suspicious target object at the bottom of the hole diameter and detecting the type of gas emitted by the suspicious target object;

the biological detection device 9 is arranged on the upper surface of the frame 1 and is responsible for performing rapid biological detection on a suspicious target sample collected by the sampling mechanism 7, and the biological detection items comprise microbial detection, pH value detection and the like;

the signal analysis processing module 10 is arranged inside the rack 1 and is responsible for performing vibration signal processing and preliminary analysis on vibration signals acquired by the vibration sensor 6 and performing material judgment on an object contacted by the drilling mechanism 5; the system is responsible for analyzing the components and frequency spectrum of the detected gas according to the category of the gas detected by the olfactory sensor 8 and carrying out substance discrimination on a suspicious target object emitting the detected gas; the biological detection device is responsible for carrying out substance discrimination on the suspicious object sample collected by the sampling mechanism 7 according to the biological detection information detected by the biological detection device 9; and the system is responsible for carrying out cross comparison analysis on the three substance judgment results to obtain the final substance judgment result of the suspicious target object.

The storage module 11 is arranged inside the rack 1 and is responsible for storing all data information including waveform information, odor information, biological information and the like of various substances to form an information base;

the wireless communication module 12 is arranged inside the rack 1 and is responsible for receiving input information from the user control device 14, wherein the input information comprises pose information (including position and angle), search area range information, search interval information, excavation depth information and the like required by search work; meanwhile, the system is responsible for sending output information sensed or detected by the intelligent detection robot to the user control device 14, wherein the output information comprises current pose information, communication state information, detection value information, alarm information, analysis result information and the like;

the main controller 2 is arranged inside the rack 1, and the main controller 2 is in signal connection with the driving mechanism 3, the positioning navigation module 4, the drilling mechanism 5, the vibration sensor 6, the sampling mechanism 7, the olfactory sensor 8, the biological detection device 9, the signal analysis processing module 10, the storage module 11 and the wireless communication module 12 respectively; the main controller 2 is responsible for communicating with the user control equipment 14 through the wireless transmission module; the positioning and navigation module 4 is responsible for receiving the current position information and the planned moving route and time information from the positioning and navigation module 4; the device is responsible for controlling the work of the driving mechanism 3, the drilling mechanism 5 and the sampling mechanism 7; the sensor is responsible for receiving the sensing signals from the vibration sensor 6, the olfactory sensor 8 and the biological detection device 9 and forwarding the sensing signals to the signal analysis processing module 10; the device is responsible for storing information into the storage module 11; the module is responsible for calling the information in the storage module 11 and forwarding the information to the signal analysis processing module 10; is responsible for receiving the material judgment result from the signal analysis processing module 10;

the power supply device 13 is arranged inside the rack 1 and is responsible for supplying power to the main controller 2, the driving mechanism 3, the positioning and navigation module 4, the drilling mechanism 5, the vibration sensor 6, the sampling mechanism 7, the olfactory sensor 8, the biological detection device 9, the signal analysis and processing module 10, the storage module 11 and the wireless communication module 12;

the user control device 14 is a control device for a user to operate remotely, and is responsible for sending input information set by the user to the wireless communication module 12, where the input information includes pose information (including position and angle), search area range information, search interval information, mining depth information, and the like required by search work; and meanwhile, the wireless communication module 12 is responsible for receiving and displaying output information sensed or detected by the intelligent detection robot, wherein the output information includes current pose information, communication state information, detection value information, alarm information, analysis result information and the like.

Further, referring to fig. 2, the driving mechanism 3 includes a dc brushless motor, a planetary reducer, a motor driver, four motor driving wheels, and suspension devices, the four motor driving wheels are respectively disposed on the left and right sides of the front and rear ends of the frame 1 through the corresponding suspension devices, the dc brushless motor, the planetary reducer, and the motor driver are all mounted inside the frame 1, the motor driver is connected to the dc brushless motor, and the dc brushless motor is respectively connected to the four motor driving wheels through the planetary reducer.

Further, referring to fig. 3, the positioning and navigation module 4 mainly includes a GPS device, a gyroscope, an encoder, and the like.

Further, as shown in fig. 4, the drilling mechanism 5 is disposed outside the frame 1, and mainly includes a mechanical arm, a spiral columnar drill, a drill motor driver, and a distance sensor, the mechanical arm is disposed outside the frame 1, the drill motor driver and the drill motor are both disposed on the mechanical arm, the drill motor is driven by the drill motor driver, the spiral columnar drill and the distance sensor are both disposed on the drill motor, and the distance sensor is aligned in parallel with the extending direction of the spiral columnar drill.

Further, the olfactory sensor 8 is a MEMS gas sensor.

Further, referring to fig. 5, the signal analyzing and processing module 10 includes a vibration signal processing unit, an olfactory signal processing unit, a biological signal processing unit, and a decision unit; wherein,

the vibration signal processing unit comprises a vibration signal preprocessing unit, a vibration signal conversion unit and a vibration signal comparison unit; the vibration signal preprocessing unit is responsible for smoothing vibration signals acquired by the vibration sensor 6 and outputting filtering signals; the vibration signal transformation unit is responsible for performing wavelet transformation on the filtering signal to extract a characteristic value; the vibration signal comparison unit is responsible for comparing and analyzing the vibration signal characteristic value and vibration waveforms of all substances stored in the storage module 11 in advance through calculating a correlation coefficient, and if the calculated correlation coefficient is higher than a threshold value, the correlation coefficient represents that a matched target object waveform is found;

the olfactory signal processing unit is responsible for extracting gas substances from the gas signals detected by the olfactory sensor 8 to obtain a spectrum analysis chart, comparing the spectrum analysis chart with odor information of all substances in the storage module 11, and analyzing to obtain substances to which suspicious target objects possibly belong;

the biological signal processing unit is responsible for carrying out microorganism discrimination on biological detection information detected by the biological detection device 9, analyzing a microorganism composition diagram, comparing the microorganism composition diagram with microorganism information of all substances in the storage module 11, and analyzing to obtain substances to which suspicious target objects possibly belong;

the decision unit is responsible for cross comparison and analysis of three discrimination results made by the vibration signal processing unit, the olfactory signal processing unit and the biological signal processing unit, and finally obtains a substance discrimination result of a suspicious target object and feeds the substance discrimination result back to the main controller 2.

Referring to fig. 6, a search method of an intelligent detection robot includes the following steps:

s1, the user sets input information including a search target object, an initial search point, a search area range, a search point pitch, a path trajectory, and a digging depth through the user control device 14;

the path track is manually planned by a user through a user control device 14, or is automatically planned and generated by a positioning navigation module 4 on the rack 1 according to a search area range and a search point interval, and is sent to the user control device 14 through a wireless communication module 12 and displayed by a main controller 2 on the rack 1; and the types of the searched target objects are one or more;

s2, the user control device 14 communicates with the wireless communication module 12 on the rack 1, and transmits the input information set by the user to the main controller 2 on the rack 1, and the main controller 2 confirms the initial search point, the search area range, the path track, the object of the search object, the distance between the search points and the excavation depth of the task according to the received input information;

s3, the main controller 2 controls the driving mechanism 3 on the rack 1 to work according to the confirmed initial search point information, so that the whole intelligent detection robot is driven to automatically run to the initial search point;

s4, after the initial search point is reached, the main controller 2 controls the drilling mechanism 5 on the rack 1 to gradually move to the position above the drilling position of the initial search point, during the moving process, the distance sensor on the drilling mechanism 5 senses the distance between the drilling mechanism 5 and the drilling position in real time, when the distance sensor senses that the distance between the drilling mechanism 5 and the drilling position reaches the distance meeting the drilling requirement, the main controller 2 controls the drilling mechanism 5 to stop moving, and then the main controller 2 controls the drilling mechanism 5 to perform the drilling operation on the drilling position of the initial search point according to the set excavation depth information;

s5, in the process of drilling, the vibration sensor 6 on the drilling mechanism 5 converts the mechanical signal generated when the drilling mechanism 5 drills into an electric signal, and acquires the vibration signal in real time through the internal amplifying circuit of the vibration sensor 6, then the main controller 2 sends the collected vibration signal to the signal analysis processing module 10 in the frame 1, the vibration signal processing unit in the signal analysis processing module 10 filters and smoothes the collected vibration signal and outputs a filtered signal, then, the filtering signal is processed by wavelet transformation to extract the characteristic value, and then the characteristic value of the vibration signal and the vibration waveform of all the substances stored in the storage module 11 in the machine frame 1 are processed by calculating the correlation coefficient to carry out comparative analysis, thereby making real-time judgment on the material types contacted by the drilling mechanism 5 at different depth positions; if the calculated correlation coefficient is higher than the threshold value, the waveform of the matched target object is found;

s6, if the vibration signal processing unit in the signal analysis processing module 10 finds a matched waveform of the target object according to the collected vibration signal before the drilling mechanism 5 drills to the set depth threshold, the main controller 2 immediately controls the drilling mechanism 5 to stop drilling and move out of the drilled hole, and then the main controller 2 controls the sampling mechanism 7 on the rack 1 to extend into the bottom of the drilled hole; if the vibration signal processing unit in the signal analysis processing module 10 still finds no matched target object waveform according to the collected vibration signal when the drilling mechanism 5 drills to the set depth threshold, the main controller 2 also immediately controls the drilling mechanism 5 to stop drilling and move out of the drill hole, and simultaneously ends the search operation of the search point;

s7, after the sampling mechanism 7 extends into the bottom of the borehole, the main controller 2 firstly controls the olfactory sensor 8 on the sampling mechanism 7 to collect gas information of the suspicious target object, then the main controller 2 sends the collected gas information to the signal analysis processing module 10, then the olfactory signal processing unit in the signal analysis processing module 10 extracts gas substance components from the gas signal to obtain a spectrum analysis chart, and finally, the gas information of all the substances stored in the storage module 11 is compared and analyzed according to the spectrum analysis chart, so as to obtain a judgment result of the substance to which the suspicious target object belongs;

s8, after the olfactory sensor 8 collects the gas information of the suspicious target object, the main controller 2 controls the sampling mechanism 7 to collect a sample of the suspicious target object, and transfers the collected sample to the biological detection device 9 on the rack 1, the biological detection device 9 performs biological detection on the collected sample, then the main controller 2 sends the detected biological detection information to the signal analysis processing module 10, the biological signal processing unit in the signal analysis processing module 10 performs microorganism discrimination on the biological detection information and analyzes a microorganism composition diagram, and finally the microorganism composition diagram is compared with the microorganism information of all the substances stored in the storage module 11 for analysis, so as to obtain a determination result of the substance to which the suspicious target object belongs;

s9, after the vibration signal processing unit, the olfactory signal processing unit, and the biological signal processing unit in the signal analysis processing module 10 respectively obtain the determination results of a suspicious target, the decision unit in the signal analysis processing module 10 performs cross-comparison analysis on the three determination results to obtain the final determination result of the suspicious target and feeds the final determination result back to the main controller 2, and finally the main controller 2 compares the final determination result with the searched target object to determine whether the detected suspicious target is the searched target object of the task;

s10, if the main controller 2 finds that the suspicious object is indeed one of the search objects of the task, the main controller 2 sends an alarm signal, and obtains the current location information of the suspicious object from the positioning navigation module 4, and then the main controller 2 displays the alarm signal, the current location information, together with the detection value information, the analysis result information, and the communication state information, to the user control device 14 through the wireless communication module 12 for the user to check, and at the same time, the main controller 2 controls the intelligent detection robot to stop moving and to stand by in place; if the main controller 2 finds that the suspicious target object does not belong to any one of the searched target objects of the task, the searching operation of the searched point is finished;

s11, after finishing the search operation of one search point, the main controller 2 checks whether all the search tasks have been completed according to the path trajectory; if all the search tasks are not completed, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to drive to the next search point, and the operation steps from S4 to S10 are continuously repeated; if all the search tasks are finished, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to return, and the search task is finished.

Further, in step S5, the specific method for comparing and analyzing the characteristic value of the vibration signal and the vibration waveforms of all the substances in the storage module 11 by calculating the correlation coefficient is as follows:

Correlation coefficient ρ_xyThe calculation formula of (a) is as follows:

Further, in step S7, the specific method for performing gas substance component extraction on the obtained gas signal to obtain a spectrum analysis chart, and performing comparison analysis on the spectrum analysis chart and the gas information of all the substances in the storage module 11 is as follows:

performing similar calculation on the extracted gas composition of the suspicious object and the gas composition of the searched object in the storage module 11, and calculating a Jaccard similarity coefficient J₁；

J₁ = A₁ /（B₁+C₁+D₁）

Further, in step S8, the specific method for performing microorganism discrimination and analyzing the microorganism component map of the obtained biological detection information and comparing the analyzed result with the microorganism information of all the substances in the storage module 11 is as follows:

performing similar calculation on the extracted microbial components of the suspicious target object and the microbial components of the searched target object in the storage module 11, and calculating a Jaccard similarity coefficient J₂；

J₂ = A₂ /（B₂+C₂+D₂）

in the formula, the molecule is A₂The N-dimensional set W and the N-dimensional set Z are both the dimension number of 1; the denominator is B₂、C₂、D₂In which B is₂Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C₂D represents the number of dimensions, where W is 0 and Z is 1₂Represents the number of dimensions that are both 0 in the N-dimensional set W and the N-dimensional set Z.

The following describes the searching method of the intelligent detection robot in further detail by taking the searching of the corpse or bone buried under the corpse or bone as an embodiment.

S1, the user sets input information including a search target object, an initial search point, a search area range, a search point interval, a path trajectory, a digging depth, and the like, through the user control device 14; the user control device 14 may be a dedicated remote controller with a display function, or may be a tablet computer, or may be a tablet phone;

wherein the object to be searched selects one or two of corpse or bone, the area range to be searched is set according to the current region, for example, 500 square meters, etc., the initial search point and the search point distance are also set according to the topography of the current area, for example, 5 search points P1, P2, P3, P4, and P5 are set, and P1 is set as the initial search point, the excavation depth is set according to the soil property of the current region, for example set to 1 meter, the path trajectory can be manually planned by the user via the user control device 14 according to the set starting search point and search point spacing, or automatically planning and generating by the positioning navigation module 4 on the frame 1 according to the search area range, the initial search point and the search point distance, and is sent to the user control equipment 14 by the main controller 2 on the frame 1 through the wireless communication module 12 and displayed;

s3, the main controller 2 controls the driving mechanism 3 on the frame 1 to work according to the confirmed initial search point information, so that the whole intelligent detection robot is driven to automatically drive to the initial search point P1;

s4, after the main controller 2 reaches the initial searching point P1, the main controller 2 controls the drilling mechanism 5 on the rack 1 to gradually move to the position above the drilling position of the initial searching point P1, in the moving process, the distance sensor on the drilling mechanism 5 can sense the distance between the drilling mechanism 5 and the drilling position in real time, when the distance sensor senses that the distance between the drilling mechanism 5 and the drilling position reaches the distance meeting the drilling requirement, the main controller 2 controls the drilling mechanism 5 to stop moving, and then the main controller 2 controls the drilling mechanism 5 to drill the drilling position of the initial searching point according to the set excavation depth information;

s5, in the process of drilling, the vibration sensor 6 on the drilling mechanism 5 converts the mechanical signal generated when the drilling mechanism 5 drills into an electric signal, and acquires the vibration signal in real time through the internal amplifying circuit of the vibration sensor 6, then the main controller 2 sends the collected vibration signal to the signal analysis processing module 10 in the frame 1, the vibration signal processing unit in the signal analysis processing module 10 filters and smoothes the collected vibration signal and outputs a filtered signal, then, the filtering signal is processed by wavelet transformation to extract the characteristic value, and then the characteristic value of the vibration signal and the vibration waveform of all the substances stored in the storage module 11 in the rack 1 are compared and analyzed by calculating the correlation coefficient, according to the frequency domain window of the suspicious object drilled, the correlation between the vibration waveform of the suspicious object and the vibration waveform of the bone is obtained; calculating the correlation coefficient rho of the frequency domain vibration signal X (f) of the suspicious object and the frequency domain vibration signal Y (f) of the bone_xy；

Correlation coefficient ρ_xyThe calculation formula of (a) is as follows:

correlation coefficient ρ_xyIs between 0 and 1, if rho_xyEqual to 1, a complete correlation is considered, if ρ_xyEqual to 0, it is considered irrelevant; the user can set one between 0 and 1 according to the actual situationThreshold, e.g. 0.8, if the correlation coefficient p is detected_xyIf the vibration waveform is larger than the set threshold value of 0.8, the vibration waveform of the suspicious target object is matched with the vibration waveform of the bone, and the suspected bone is found;

s6, if the vibration signal processing unit in the signal analysis processing module 10 finds a matched bone waveform according to the collected vibration signal before the drilling mechanism 5 drills to the set depth threshold, the main controller 2 immediately controls the drilling mechanism 5 to stop drilling and move out of the drill hole, and then the main controller 2 controls the sampling mechanism 7 on the rack 1 to extend into the bottom of the drill hole; if the vibration signal processing unit in the signal analysis processing module 10 still finds no matched bone waveform according to the collected vibration signal when the drilling mechanism 5 drills to the set depth threshold, the main controller 2 also immediately controls the drilling mechanism 5 to stop drilling and move out of the drilled hole, and simultaneously ends the search operation of the search point;

s7, after the sampling mechanism 7 extends into the bottom of the drill hole, the main controller 2 firstly controls the olfactory sensor 8 on the sampling mechanism 7 to collect gas information of the suspected bone object, then the main controller 2 sends the collected gas information to the signal analysis processing module 10, then the olfactory signal processing unit in the signal analysis processing module 10 extracts gas substance components of the gas signal to obtain a spectrum analysis chart, and finally the gas information of all the substances stored in the storage module 11 is compared and analyzed according to the spectrum analysis chart, and the specific method is that the extracted gas substance components of the suspected bone object and the bone gas components in the storage module 11 are calculated in a similar way, and the Jaccard similarity coefficient J is calculated₁；

The gas composition diversity in the bone is called as set, namely, the bone contains N gas compositions which are N-dimensional sets, if the gas compositions exist, the gas compositions are expressed as 1, and if the gas compositions do not exist, the gas compositions are expressed as 0;

assuming that the gas composition of the suspected bone object is N-dimensional set X, the gas composition of the bone is N-dimensional set Y, Jaccard similarity coefficient J₁The calculation formula of (a) is as follows:

J₁ = A₁ /（B₁+C₁+D₁）

in the formula, the molecule is A₁Representing the dimension number that both the N-dimensional set X and the N-dimensional set Y are 1; the denominator is B₁、C₁、D₁In which B is₁Represents the number of 1 in the N-dimensional set X and 0 in the N-dimensional set Y, C₁D represents the number of dimensions of the N-dimensional set X of 0 and the N-dimensional set Y of 1₁Representing the number of dimensions which are both 0 in the N-dimensional set X and the N-dimensional set Y;

jaccard similarity coefficient J₁If the value of (A) is between 0 and 1, if J is calculated₁If the similarity is close to 1, the similarity is high, so that the suspected bone object is judged to be possibly a bone;

s8, after the olfactory sensor 8 collects the gas information of the suspected bone object, the main controller 2 controls the sampling mechanism 7 to collect the sample of the suspected bone object, and transfers the collected sample to the biological detection device 9 on the frame 1, the biological detection device 9 carries out biological detection on the collected sample, then the main controller 2 sends the detected biological detection information to the signal analysis processing module 10, then the biological signal processing unit in the signal analysis processing module 10 carries out microorganism discrimination on the biological detection information and analyzes a microorganism composition diagram, and finally the microorganism composition diagram is compared with the microorganism information of all the materials stored in the storage module 11 for analysis, and the specific method is that the extracted microorganism composition of the suspected bone object and the microorganism composition of the bone in the storage module 11 are calculated similarly, calculating Jaccard similarity coefficient J₂；

The microbial component set in the bone is called as a set, namely the bone contains N microbial components which are N-dimensional sets, if the component exists, the component is expressed as 1, and if the component does not exist, the component is expressed as 0;

assuming that the microbial composition of the suspected bone object is an N-dimensional set W, the microbial composition of the bone is an N-dimensional set Z, and the Jaccard similarity coefficient J₂The calculation formula of (a) is as follows:

J₂ = A₂ /（B₂+C₂+D₂）

in the formula, the molecule is A₂The N-dimensional set W and the N-dimensional set Z are both the dimension number of 1; the denominator is B₂、C₂、D₂In which B is₂Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C₂D represents the number of dimensions, where W is 0 and Z is 1₂Representing the number of dimensions which are 0 in both the N-dimensional set W and the N-dimensional set Z;

jaccard similarity coefficient J₂If the value of (A) is between 0 and 1, if the calculated J is₂If the similarity is close to 1, the similarity is high, so that the suspected bone object is judged to be possibly a bone;

s9, after the vibration signal processing unit, the olfactory signal processing unit, and the biological signal processing unit in the signal analyzing and processing module 10 respectively obtain the determination results of a suspected bone object, the decision unit in the signal analyzing and processing module 10 performs cross-contrast analysis on the three determination results to obtain the final determination result of the suspected bone object as bone, and feeds the result back to the main controller 2, and finally the main controller 2 compares the final determination result with the bone information to determine whether the detected suspected bone object is the bone target of the task;

s10, if the main controller 2 finds that the suspected bone object is indeed one of the cadaver bones of the task, the main controller 2 sends an alarm signal, and obtains the current position information of the suspected bone object from the positioning navigation module 4, then the main controller 2 sends the alarm signal, the current position information, the detection numerical value information, the analysis result information and the communication state information to the user control equipment 14 through the wireless communication module 12 and displays the information for the user to check, meanwhile, the main controller 2 controls the intelligent detection robot to stop moving and to stand by in situ, a worker can go to and further excavate immediately, and finally confirms that the suspected bone object is a buried cadaver or bone; if the main controller 2 finds that the suspected bone object does not belong to any one of the cadaver bones of the task, the searching operation of the searching point is finished;

s11, after finishing the search operation of one search point, the main controller 2 checks whether all the search tasks have been completed according to the path trajectory; if all the search tasks are not completed, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to drive to the next search point according to the sequence of P1-P5, and the operation steps from S4 to S10 are continuously repeated; if all the search tasks are finished, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to return, and the search task is finished.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.

Claims

1. An intelligent detection robot, which is characterized in that: the device comprises a rack (1), a main controller (2), a driving mechanism (3), a positioning navigation module (4), a drilling mechanism (5), a vibration sensor (6), a sampling mechanism (7), an olfactory sensor (8), a biological detection device (9), a signal analysis processing module (10), a storage module (11), a wireless communication module (12), power supply equipment (13) and user control equipment (14);

the driving mechanism (3) is arranged at the lower part of the rack (1) and is responsible for driving the intelligent detection robot to move;

the positioning navigation module is arranged in the rack (1), is responsible for determining the current position of the intelligent detection robot and planning the moving route and time of the intelligent detection robot according to a set search interval or a designated position;

the drilling mechanism (5) is arranged outside the rack (1) and is responsible for performing vertical drilling operation on the surface of a drilling object according to drilling depth information sent by the main controller (2), and sending a drilling ending signal to the main controller (2) after drilling at a corresponding depth is completed;

the vibration sensor (6) is arranged on the drilling mechanism (5) and is responsible for converting mechanical signals generated when the drilling mechanism (5) drills into electric signals and acquiring vibration signals through an internal amplification circuit;

the sampling mechanism (7) is arranged outside the rack (1) and is responsible for extending into the hole diameter drilled by the drilling mechanism (5), sampling suspicious targets at the bottom of the hole diameter and transferring the samples to the biological detection device (9);

the smell sensor (8) is arranged on the sampling mechanism (7) and is responsible for extending into the hole diameter drilled by the drilling mechanism (5) along with the sampling mechanism (7), collecting gas information of a suspicious target object at the bottom of the hole diameter and detecting the category of gas emitted by the suspicious target object;

the biological detection device (9) is arranged on the upper surface of the rack (1) and is responsible for carrying out biological detection including microbial detection and pH value detection on a suspicious target sample collected by the sampling mechanism (7);

the signal analysis processing module (10) is arranged in the rack (1) and is responsible for carrying out vibration signal processing and preliminary analysis on vibration signals collected by the vibration sensor (6), and carrying out material judgment on an object contacted by the drilling mechanism (5) according to the vibration signal processing and preliminary analysis; the system is responsible for analyzing the components and the frequency spectrum of the detected gas according to the category of the gas detected by the olfactory sensor (8), and carrying out substance discrimination on a suspicious target object emitting the detected gas; the biological detection device is responsible for carrying out substance discrimination on the suspicious object sample collected by the sampling mechanism (7) according to the biological detection information detected by the biological detection device (9); the system is responsible for carrying out cross comparison analysis on the three substance judgment results to obtain a final substance judgment result of the suspicious target object;

the storage module (11) is arranged in the rack (1) and is responsible for storing data information including waveform information, smell information and biological information of various substances to form an information base;

the wireless communication module (12) is arranged in the rack (1) and is responsible for receiving input information from the user control equipment (14), wherein the input information comprises pose information, search area range information, search interval information and mining depth information required by search work; meanwhile, the intelligent detection robot is responsible for sending output information sensed or detected by the intelligent detection robot to the user control equipment (14), wherein the output information comprises current pose information, communication state information, detection value information, alarm information and analysis result information;

the main controller (2) is arranged inside the rack (1), and the main controller (2) is in signal connection with the driving mechanism (3), the positioning navigation module (4), the drilling mechanism (5), the vibration sensor (6), the sampling mechanism (7), the smell sensor (8), the biological detection device (9), the signal analysis and processing module (10), the storage module (11) and the wireless communication module (12) respectively; -the master controller (2) is responsible for communicating with the user control devices (14) through the wireless transmission module (); the system is responsible for receiving current position information and planned moving route and time information from the positioning navigation module (4); is responsible for controlling the operation of the driving mechanism (3), the drilling mechanism (5) and the sampling mechanism (7); is responsible for receiving the sensing signals from the vibration sensor (6), the olfactory sensor (8) and the biological detection device (9) and forwarding the sensing signals to the signal analysis and processing module (10); is responsible for storing information into the storage module (11); the device is responsible for calling the information in the storage module (11) and forwarding the information to the signal analysis processing module (10); is responsible for receiving the substance judgment result from the signal analysis processing module (10);

the power supply equipment (13) is arranged inside the rack (1) and is responsible for supplying power to the main controller (2), the driving mechanism (3), the positioning navigation module (4), the drilling mechanism (5), the vibration sensor (6), the sampling mechanism (7), the smell sensor (8), the biological detection device (9), the signal analysis and processing module (10), the storage module (11) and the wireless communication module (12);

the user control equipment (14) is control equipment for remote operation of a user and is responsible for sending input information set by the user to the wireless communication module (12), wherein the input information comprises pose information, search area range information, search interval information and mining depth information required by search work; and meanwhile, the intelligent detection robot is responsible for receiving and displaying output information sensed or detected by the intelligent detection robot and sent by the wireless communication module (12), wherein the output information comprises current pose information, communication state information, detection value information, alarm information and analysis result information.

2. The intelligent detection robot of claim 1, wherein: actuating mechanism (3) are including DC brushless motor, planetary reducer, motor driver, four motor drive wheel and linkage, four the motor drive wheel is respectively through corresponding the linkage sets up the left and right sides at both ends around frame (1), DC brushless motor planetary reducer with motor driver all installs the inside of frame (1), motor driver with DC brushless motor connects, DC brushless motor passes through planetary reducer respectively with four motor drive wheel connects.

3. The intelligent detection robot of claim 1, wherein: the positioning navigation module (4) mainly comprises a GPS device, a gyroscope and an encoder.

4. The intelligent detection robot of claim 1, wherein: drilling mechanism (5) set up the outside of frame (1) mainly comprises arm, spiral column drill bit, drill bit motor drive and distance sensor, the arm is installed the outside of frame (1), drill bit motor drive with the drill bit motor is all installed on the arm, the drill bit motor by drill bit motor drive, spiral column drill bit with distance sensor all installs on the drill bit motor, just distance sensor court the extending direction parallel alignment of spiral column drill bit.

5. The intelligent detection robot of claim 1, wherein: the olfactory sensor (8) is a MEMS gas sensor.

6. The intelligent detection robot of claim 1, wherein: the signal analysis processing module (10) comprises a vibration signal processing unit, an olfactory signal processing unit, a biological signal processing unit and a decision unit; wherein,

the vibration signal processing unit comprises a vibration signal preprocessing unit, a vibration signal conversion unit and a vibration signal comparison unit; the vibration signal preprocessing unit is responsible for smoothing vibration signals acquired by the vibration sensor (6) and outputting filtering signals; the vibration signal transformation unit is responsible for performing wavelet transformation on the filtering signal to extract a characteristic value; the vibration signal comparison unit is responsible for comparing and analyzing the vibration signal characteristic value and vibration waveforms of all substances stored in the storage module (11) in advance through calculating a correlation coefficient, and if the calculated correlation coefficient is higher than a threshold value, the correlation coefficient represents that a matched target object waveform is found;

the olfactory signal processing unit is responsible for extracting gas substances from the gas signals detected by the olfactory sensor (8) to obtain a spectrum analysis chart, comparing the spectrum analysis chart with odor information of all substances in the storage module (11), and analyzing to obtain substances to which suspicious target substances possibly belong;

the biological signal processing unit is responsible for carrying out microorganism discrimination on biological detection information detected by the biological detection device (9), analyzing a microorganism composition diagram, comparing the microorganism composition diagram with microorganism information of all substances in the storage module (11), and analyzing to obtain substances which the suspicious target object possibly belongs to;

the decision unit is responsible for carrying out cross comparison analysis on three discrimination results made by the vibration signal processing unit, the olfactory signal processing unit and the biological signal processing unit, and finally obtaining a substance discrimination result of a suspicious target object and feeding the substance discrimination result back to the main controller (2).

7. A search method of an intelligent detection robot is characterized by comprising the following steps:

s1, setting input information including a search target object, an initial search point, a search area range, a search point distance, a path track and a mining depth by a user through the user control equipment (14);

the path track is manually planned by a user through a user control device (14), or is automatically planned and generated by a positioning navigation module (4) on the rack (1) according to a search area range and a search point distance, and is sent to the user control device (14) through a wireless communication module (12) and displayed by a main controller (2) on the rack (1); and the types of the searched target objects are one or more;

s2, communicating with a wireless communication module (12) on the rack (1) by a user control device (14), transmitting input information set by a user to a main controller (2) on the rack (1), and confirming the initial search point, the search area range, the path track, the object of the searched object, the distance between the search points and the excavation depth of the task by the main controller (2) according to the received input information;

s3, the main controller (2) controls a driving mechanism (3) on the rack (1) to work according to the confirmed initial search point information, so that the whole intelligent detection robot is driven to automatically drive to the initial search point;

s4, after the initial search point is reached, the main controller (2) controls the drilling mechanism (5) on the rack (1) to gradually move to the position above the drilling position of the initial search point, in the moving process, the distance sensor on the drilling mechanism (5) can sense the distance between the drilling mechanism (5) and the drilling position in real time, when the distance sensor senses that the distance between the drilling mechanism (5) and the drilling position reaches the distance meeting the drilling requirement, the main controller (2) controls the drilling mechanism (5) to stop moving, and then the main controller (2) controls the drilling mechanism (5) to drill the drilling position of the initial search point according to the set excavation depth information;

s5, during the drilling process, the vibration sensor (6) on the drilling mechanism (5) converts the mechanical signal generated when the drilling mechanism (5) drills into an electric signal, and collects the vibration signal in real time through the amplifying circuit in the vibration sensor (6), then the main controller (2) sends the collected vibration signals to a signal analysis processing module (10) in the frame (1), a vibration signal processing unit in the signal analysis processing module (10) carries out filtering smoothing processing on the collected vibration signals and outputs filtering signals, then wavelet transformation is carried out on the filtering signals to extract characteristic values, then comparative analysis is carried out by calculating correlation coefficients according to the characteristic values of the vibration signals and the vibration waveforms of all the substances stored in the storage module (11) in the machine frame (1), thereby making real-time judgment on the material types contacted by the drilling mechanism (5) at different depth positions; if the calculated correlation coefficient is higher than the threshold value, the waveform of the matched target object is found;

s6, if the vibration signal processing unit in the signal analysis processing module (10) finds the matched waveform of the target object according to the acquired vibration signal before the drilling mechanism (5) drills to the set depth threshold, the main controller (2) immediately controls the drilling mechanism (5) to stop drilling and move out of the drilled hole, and then the main controller (2) controls the sampling mechanism (7) on the rack (1) to stretch into the bottom of the drilled hole; if the vibration signal processing unit in the signal analysis processing module (10) does not find a matched target object waveform according to the collected vibration signal when the drilling mechanism (5) drills to a set depth threshold, the main controller (2) also immediately controls the drilling mechanism (5) to stop drilling and move out of the drill hole, and meanwhile, the searching operation of the searching point is finished;

s7, after the sampling mechanism (7) stretches into the bottom of the drill hole, the main controller (2) firstly controls the olfactory sensor (8) on the sampling mechanism (7) to collect gas information of a suspicious target object, then the main controller (2) sends the collected gas information to the signal analysis processing module (10), then an olfactory signal processing unit in the signal analysis processing module (10) extracts gas substance components of the gas signal to obtain a spectrum analysis chart, and finally, the gas information of all substances stored in the storage module (11) is compared and analyzed according to the spectrum analysis chart, so that a judgment result of the substance to which the suspicious target object belongs is obtained;

s8, after the olfactory sensor (8) collects the gas information of the suspicious target object, the main controller (2) controls the sampling mechanism (7) to collect the sample of the suspicious target object, and transferring the collected sample to a biological detection device (9) on the rack (1), performing biological detection on the collected sample by the biological detection device (9), then the main controller (2) sends the detected biological detection information to the signal analysis processing module (10), a biological signal processing unit in the signal analysis processing module (10) carries out microorganism discrimination on the biological detection information and analyzes a microorganism composition diagram, and finally the microorganism composition diagram is compared with the microorganism information of all the substances stored in the storage module (11) for analysis to obtain a judgment result of the substance to which the suspicious target object belongs;

s9, after a vibration signal processing unit, an olfactory signal processing unit and a biological signal processing unit in the signal analysis processing module (10) respectively obtain a judgment result of a suspicious target object, a decision unit in the signal analysis processing module (10) carries out cross comparison analysis on the three judgment results so as to obtain a final judgment result of the suspicious target object and feeds the final judgment result back to the main controller (2), and finally the main controller (2) compares the obtained final judgment result with a searched target object to judge whether the detected suspicious target object is the searched target object of the task;

s10, if the main controller (2) finds that the suspicious target object is indeed one of the search target objects of the task, the main controller (2) sends an alarm signal, and obtains the current position information of the suspicious target object from the positioning navigation module (4), then the main controller (2) transmits the alarm signal, the current position information, the detection numerical value information, the analysis result information and the communication state information to the user control equipment (14) through the wireless communication module (12) and displays the information for the user to check, and meanwhile the main controller (2) controls the intelligent detection robot to stop moving and stand by; if the main controller (2) finds that the suspicious target object does not belong to any one of the searched target objects of the task, the searching operation of the searching point is finished;

s11, after finishing the searching operation of one searching point, the main controller (2) checks whether all searching tasks are finished according to the path track; if all the search tasks are not completed, the main controller (2) controls the driving mechanism (3) to drive the intelligent detection robot to drive to the next search point, and the operation steps from S4 to S10 are continuously repeated; if all the search tasks are finished, the main controller (2) controls the driving mechanism (3) to drive the intelligent detection robot to return, and the search task is finished.

8. The method for searching an intelligent detection robot according to claim 1, wherein in step S5, the specific method for comparing the vibration signal characteristic value with the vibration waveforms of all the substances in the storage module (11) by calculating the correlation coefficient is as follows:

according to the frequency domain window of the drilled suspicious target object, the correlation between the vibration waveform of the suspicious target object and the vibration waveform of the searched target object is obtained; calculating frequency domain vibration signal of suspicious target objectX (f) and the correlation coefficient rho of the frequency domain vibration signal Y (f) of the searched target object_xy；

Correlation coefficient ρ_xyThe calculation formula of (a) is as follows:

in the formula, the numerator is the integral of X (f) Y (f) in the frequency domain, and the denominator is the square root of the integral of the square root of each of X (f) and Y (f) in the frequency domain;

if the detected correlation coefficient is larger than the set threshold value, the vibration waveform of the suspicious target object is matched with the vibration waveform of the searched target object.

9. The method for searching an intelligent detection robot according to claim 1, wherein in step S7, the obtained gas signal is subjected to gas substance component extraction to obtain a spectrum analysis chart, and the specific method for performing comparison analysis with the gas information of all the substances in the storage module (11) is as follows:

the extracted gas substance components of the suspicious target objects and the gas components of the searched target objects in the storage module (11) are subjected to similar calculation, and Jaccard similarity coefficient J is calculated₁；

searching for the gas component of the target object under the assumption that the gas component of the suspicious target object is an N-dimensional set XIs N-dimensional set Y, Jaccard similarity coefficient J₁The calculation formula of (a) is as follows:

J₁ = A₁ /（B₁+C₁+D₁）

10. The method for searching an intelligent detection robot according to claim 1, wherein in step S8, the obtained biological detection information is subjected to microorganism discrimination and analysis of a microorganism composition map, and the specific method for performing comparison analysis with the microorganism information of all the substances in the storage module (11) is as follows:

the extracted microorganism components of the suspicious target objects and the microorganism components of the searched target objects in the storage module (11) are subjected to similar calculation, and the Jaccard similarity coefficient J is calculated₂；

J₂ = A₂ /（B₂+C₂+D₂）

in the formula, the molecule is A₂The dimension of the N-dimensional set W and the dimension of the N-dimensional set Z are both 1The number of the cells; the denominator is B₂、C₂、D₂In which B is₂Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C₂D represents the number of dimensions, where W is 0 and Z is 1₂Represents the number of dimensions that are both 0 in the N-dimensional set W and the N-dimensional set Z.