CN113720394B - Intelligent detection robot and searching method thereof - Google Patents

Intelligent detection robot and searching method thereof Download PDF

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Publication number
CN113720394B
CN113720394B CN202111048193.4A CN202111048193A CN113720394B CN 113720394 B CN113720394 B CN 113720394B CN 202111048193 A CN202111048193 A CN 202111048193A CN 113720394 B CN113720394 B CN 113720394B
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information
main controller
drilling
vibration
responsible
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CN113720394A (en
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刘霞
梅涛
李�荣
方健
姜丽丽
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Suzhou Rongcui Special Robot Co ltd
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Suzhou Rongcui Special Robot Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

The invention discloses an intelligent detection robot and a searching method thereof. The searching method of the invention realizes the searching task of the underground buried object in a large range without omission, including the works of drilling, vibration signal detection, gas information detection, sample acquisition, biological information detection and the like of the target object, and adds the cross comparison results of various information on the basis of a data fusion algorithm, thereby mutually proving and improving the accuracy of the judgment of the underground buried object. Meanwhile, the invention is applicable to areas with more complex environments, terrains and road conditions, reduces the searching difficulty, can complete the searching task by only a small number of staff, and reduces the cost of manpower and material resources.

Description

Intelligent detection robot and searching 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, police or army require a series of search tasks such as detecting, excavating, and identifying buried objects. The current search is performed by using manual work as a main part, mechanical work as an auxiliary part and a working mode of police dogs or army dogs. But this approach typically suffers from several problems:
1. for the area to be searched, which is large in area and complex in environment, topography and road condition, the overall searching difficulty is high, and buried objects are difficult to find;
2. the manual searching is time-consuming and labor-consuming, and has limited manpower, especially long manual excavating time and low efficiency;
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 in some topography and surrounding environment;
4. the working time of police dogs or army dogs is relatively limited, and the level of the olfactory function 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 searching method thereof, which can search underground buried objects in a large scale without omission, and simultaneously reduce the cost of manpower and material resources required by detection.
In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:
an intelligent detection robot comprises a frame, 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 frame 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 the set searching interval or the designated position;
the drilling mechanism is arranged outside the frame and is responsible for carrying out drilling operation in the vertical direction on the surface of a drilling object according to the drilling depth information sent by the main controller, and sending a signal of finishing drilling to the main controller after drilling of the 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 into electric signals and collecting the vibration signals through an internal amplifying circuit of the vibration sensor;
The sampling mechanism is arranged outside the frame and is responsible for extending into a hole drilled by the drilling mechanism, sampling a suspicious target at the bottom of the hole, and transferring the sample to the biological detection device;
the olfactory sensor is arranged on the sampling mechanism and is responsible for extending into a hole drilled by the drilling mechanism along with the sampling mechanism, collecting gas information of a suspicious target object at the bottom of the hole, and detecting the type of gas emitted by the suspicious target object;
the biological detection device is arranged on the upper surface of the frame and is responsible for carrying out rapid biological detection on the suspicious target object sample collected by the sampling mechanism, and biological detection items comprise microorganism detection, pH value detection and the like;
the signal analysis processing module is arranged in the frame and is used for processing and primarily analyzing vibration signals acquired by the vibration sensor and judging substances of objects contacted by the drilling mechanism; analyzing the components and the frequency spectrum of the detected gas according to the type of the gas detected by the olfactory sensor, and judging the substances of suspicious target objects which emit the detected gas according to the components and the frequency spectrum; the material discrimination is carried out on the suspicious target object sample acquired by the sampling mechanism according to the biological detection information detected by the biological detection device; and the method is responsible for carrying out cross contrast analysis on three substance discrimination results to obtain a final substance discrimination 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, so as 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 position and angle) required by search work, search area range information, search interval information, excavation depth information and the like; 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 numerical value information, alarm information, analysis result information and the like;
the main controller is arranged in the rack and is respectively 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 processing module, the storage module and the wireless communication module; the main controller is in charge of communicating with the user control device through the wireless transmission module; the system is responsible for receiving the current position information from the positioning navigation module and the planned moving route and time information; is responsible for controlling the work of the driving mechanism, the drilling mechanism and the sampling mechanism; the sensing signals from the vibration sensor, the olfactory sensor and the biological detection device are received and forwarded to the signal analysis processing module; the information is stored in the storage module; the information in the storage module is called and forwarded to the signal analysis processing module; the material judgment result is received from the signal analysis 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 navigation module, the drilling mechanism, the vibration sensor, the sampling mechanism, the olfaction sensor, the biological detection device, the signal analysis processing module, the storage module and the wireless communication module;
the user control device is control device for remote operation of a user and is responsible for sending input information set by the user to the wireless communication module, wherein the input information comprises pose information (including position and angle) required by search work, search area range information, search interval information, mining depth information and the like; meanwhile, the intelligent detection robot is responsible for receiving and displaying the output information which is sent by the wireless communication module and is sensed or detected by the intelligent detection robot, wherein the output information comprises current pose information, communication state information, detection numerical value information, alarm information, analysis result information and the like.
Further, the actuating mechanism includes DC brushless motor, planetary reducer, motor driver, four motor drive wheels and linkage, four motor drive wheels pass through respectively corresponding linkage sets up the left and right sides at both ends around the frame, DC brushless motor planetary reducer with motor driver all installs the inside of frame, motor driver with DC brushless motor connects, DC brushless motor passes through planetary reducer is connected with four motor drive wheels respectively.
Furthermore, the positioning navigation module mainly comprises a GPS device, a gyroscope, an encoder and the like.
Further, the drilling mechanism is arranged outside the frame and mainly comprises a mechanical arm, a spiral columnar drill bit, a drill bit motor driver and a distance sensor, wherein the mechanical arm is arranged outside the frame, the drill bit motor driver and the drill bit motor are all arranged on the mechanical arm, the drill bit motor is driven by the drill bit motor driver, the spiral columnar drill bit and the distance sensor are all arranged on the drill bit motor, and the distance sensor is aligned in parallel to the extending direction of the spiral columnar 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 the vibration signal acquired by the vibration sensor and outputting a filtering signal; the vibration signal conversion unit is responsible for extracting characteristic values by wavelet conversion of the filtering signals; the vibration signal comparison unit is responsible for comparing and analyzing the characteristic value of the vibration signal with vibration waveforms of all substances stored in the storage module in advance through calculating correlation coefficients, and if the calculated correlation coefficients are higher than a threshold value, the vibration signal comparison unit represents the waveform of the object to be found to be matched;
The olfactory signal processing unit is responsible for extracting gas substances from the gas signals detected by the olfactory sensor to obtain a spectrum analysis chart, comparing the spectrum analysis chart with odor information of all substances in the storage module, and analyzing to obtain substances possibly belonging to suspicious target substances;
the biological signal processing unit is responsible for distinguishing microorganisms from biological detection information detected by the biological detection device, analyzing a microorganism component diagram, comparing the microorganism component diagram with the microorganism information of all substances in the storage module, and analyzing to obtain substances possibly belonging to suspicious target substances;
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, a user sets input information including searching target objects, initial searching points, searching area ranges, searching point distances, path tracks and mining depths 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 the search area range and the search point distance, and is sent to the user control equipment through a wireless communication module by a main controller on the rack and displayed; and the types of the searching target objects are one or more;
s2, the user control equipment communicates with a wireless communication module on the rack to transmit input information set by a user to a main controller on the rack, and the main controller confirms initial search points, search area ranges, path tracks, objects to be searched, intervals between search points and excavation depth of the current 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 searching point information, so that the whole intelligent detection robot is driven to automatically travel to the initial searching point;
s4, after the initial search point is reached, the main controller controls the drilling mechanism on the frame 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 internal amplifying circuit of the vibration sensor, then the collected vibration signals are sent to a signal analysis processing module in a frame by a main controller, the collected vibration signals are subjected to filtering smoothing processing by a vibration signal processing unit in the signal analysis processing module and output filtering signals, then wavelet transformation is performed on the filtering signals to extract characteristic values, and then comparison analysis is performed through calculation of correlation coefficients according to the characteristic values of the vibration signals and vibration waveforms of all substances stored in a frame storage module, so that real-time judgment is made on the types of substances contacted by the drilling mechanism at different depth positions; if the calculated correlation coefficient is higher than the threshold value, representing the waveform of the target object found to be matched;
s6, if the vibration signal processing unit in the signal analysis processing module finds a matched waveform of the target object according to the acquired vibration signal before the drilling mechanism drills to a set depth threshold, the main controller immediately controls the drilling mechanism to stop drilling and move out of the drilling, and then the main controller controls the sampling mechanism on the frame to extend into the bottom of the drilling; if the vibration signal processing unit in the signal analysis processing module still does not find a matched target object waveform according to the acquired vibration signal when the drilling mechanism drills to a set depth threshold value, the main controller also immediately controls the drilling mechanism to stop drilling and move out of the drilling, and simultaneously finishes the search operation of the search point;
S7, after the sampling mechanism stretches into the bottom of the drilling hole, the main controller firstly controls the olfactory sensor positioned on the sampling mechanism to collect gas information of a suspicious object, then the main controller sends the collected gas information to the signal analysis processing module, then the olfactory signal processing unit in the signal analysis processing module extracts gas components of gas signals and obtains a spectrum analysis chart, and finally the spectrum analysis chart is compared with the gas information of all substances stored in the storage module to obtain a judging result of the substances of the suspicious object;
s8, after the olfactory sensor collects gas information of the suspicious target, the main controller controls the sampling mechanism to collect samples of the suspicious target, the collected samples are transferred to a biological detection device on a rack, the biological detection device carries out biological detection on the collected samples, then 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 component diagram, and finally the microorganism component diagram is compared with microorganism information of all substances stored in the storage module, so that a judgment result of the substances of the suspicious target is obtained through analysis;
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 judging result of a suspicious object, a decision unit in the signal analysis processing module carries out cross comparison analysis on the three judging results so as to obtain a final judging result of the suspicious object and feeds the final judging result back to the main controller, and finally the main controller compares the obtained final judging result with the searching object to judge whether the detected suspicious object is the searching object of the task;
s10, if the main controller finds that the suspicious object is one of the searched object 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 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 through the wireless communication module and displays the alarm signal, the current position information, the detection numerical value information, the analysis result information and the communication state information for a user to check, and meanwhile, the main controller controls the intelligent detection robot to stop moving and stand by in place; if the main controller finds that the suspicious target object does not belong to any one of the search target objects of the task, ending the search operation of the search point;
S11, after finishing the search operation of one search point, the main controller checks whether all search tasks are finished according to the path track; if all 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 of S4-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 the characteristic value of the vibration signal with 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 suspicious object obtained by drilling, obtaining the correlation between the vibration waveform of the suspicious object and the vibration waveform of the search object; 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 search object xy ；
Correlation coefficient ρ xy The calculation formula of (2) is as follows:
wherein, the numerator is the integral of X (f) and 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;
Correlation coefficient ρ xy The value of (1) is 0-1, if ρ xy If 1, then consider complete correlation, if ρ xy Equal to 0, then consider uncorrelated;
if the correlation coefficient is detected to be larger than the set threshold value, the suspicious target object vibration waveform is matched with the searching target object vibration waveform;
the threshold value may be adjusted according to the actual situation, for example 0.8 or 0.6 may be chosen.
Further, in step S7, the specific method for extracting the gas substance components from the obtained gas signal to obtain a spectrum analysis chart, and comparing the spectrum analysis chart with the gas information of all the substances in the storage module is as follows:
performing similarity calculation on the gas substance components of the extracted suspicious target object and the gas components of the searched target object in the storage module, and calculating a Jaccard similarity coefficient J 1 ；
Jaccard similarity coefficient J 1 The value of (1) is 0 to 1, if J 1 The closer to 1, the higher the similarity, if J 1 The closer to 0, the lower the similarity is explained;
the gas component set in the searching target object is called as a set, namely N gas components contained in the searching target object are N-dimensional sets, if the component is contained, the component is expressed as 1, and if the component is not contained, 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 searching object is N-dimensional set Y, jaccard similarity coefficient J 1 The calculation formula of (2) is as follows:
J 1 = A 1 /（B 1 +C 1 +D 1 ）
in the formula, the numerator is A 1 The number of dimensions of which the N-dimensional set X and the N-dimensional set Y are 1 is represented; the denominator is B 1 、C 1 、D 1 Wherein B is the sum of 1 Represents the number of 1 in the N-dimensional set X and 0 in the N-dimensional set Y, C 1 D represents the number of dimensions in which N-dimensional set X is 0 and N-dimensional set Y is 1 1 The number of dimensions of 0 in both the N-dimensional set X and the N-dimensional set Y is represented.
Further, in step S8, the specific method for performing the microorganism discrimination and analysis of the microorganism component map on the obtained biological detection information, and comparing and analyzing the microorganism component map with the microorganism information of all the substances in the storage module is as follows:
calculating the microorganism components of the extracted suspicious object and the microorganism components of the searched object in the storage module in a similar way, and calculating a Jaccard similarity coefficient J 2 ；
Jaccard similarity coefficient J 2 The value of (1) is 0 to 1, if J 2 The closer to 1, the higher the similarity, if J 2 The closer to 0, the lower the similarity is explained;
the microbial component collection in the searching target object is called collection, namely N microbial components contained in the searching target object are N-dimensional collection, 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 microorganism component of the suspicious object is N-dimensional set W, searching the microorganism component of the object is N-dimensional set Z, and the Jaccard similarity coefficient J 2 The calculation formula of (2) is as follows:
J 2 = A 2 /（B 2 +C 2 +D 2 ）
in the formula, the numerator is A 2 The number of dimensions of the N-dimensional set W and the N-dimensional set Z are 1; the denominator is B 2 、C 2 、D 2 Wherein B is the sum of 2 Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C 2 D represents the number of dimensions in which N-dimensional set W is 0 and N-dimensional set Z is 1 2 The number of dimensions of 0 in both the N-dimensional set W and the N-dimensional set Z is represented.
Compared with the prior art, the invention has the beneficial effects that:
the invention can automatically perform the works of target object drilling, vibration signal detection, gas information detection, sample acquisition, biological information detection and the like on each searching point in a certain area searching range, realizes the searching task of the underground buried object in a large range and without omission, and increases the cross comparison result of various information on the basis of a data fusion algorithm so as to mutually prove and improve the accuracy of underground buried object judgment. Meanwhile, compared with the traditional searching mode, the method is suitable for areas with more complex environments, terrains and road conditions, the searching difficulty is greatly reduced, and the searching task which can be finished only by a large number of workers and police dogs in the past can be finished only by a small number of workers, so that the labor cost and the material cost are greatly reduced.
The foregoing description is only an overview of the technical solution of the present application, and in order to make the technical means of the present application more clearly understood, it can be implemented according to the content of the specification, and the following detailed description of the preferred embodiments of the present application will be given with reference to the accompanying drawings. Specific embodiments of the present application are 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 application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a block diagram of the overall structure of an intelligent detection robot of the present application;
FIG. 2 is a block diagram of a driving mechanism of the intelligent detection robot;
FIG. 3 is a block diagram of a positioning navigation module of the intelligent detection robot;
FIG. 4 is a block diagram of a drilling mechanism of the intelligent detection robot;
FIG. 5 is a block diagram of a signal analysis processing module of the intelligent detection robot;
FIG. 6 is a flow chart of steps of the intelligent detection robot searching method of the application.
Detailed Description
The application will be described in detail below with reference to the drawings in combination with embodiments.
Referring to fig. 1, an intelligent detection robot comprises a frame 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 frame 1 and is responsible for driving the intelligent detection robot to move;
the positioning navigation module is arranged in the frame 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 the set searching interval or the designated position;
the drilling mechanism 5 is arranged outside the frame 1, and is responsible for carrying out drilling operation in the vertical direction on the surface of a drilling object according to the drilling depth information sent by the main controller 2, and sending a signal of finishing drilling to the main controller 2 after drilling of the 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 collecting vibration signals through an internal amplifying circuit of the vibration sensor;
The sampling mechanism 7 is arranged outside the frame 1 and is responsible for extending into the hole drilled by the drilling mechanism 5, sampling a suspicious target at the bottom of the hole, and transferring the sample to the biological detection device 9;
the olfactory sensor 8 is arranged on the sampling mechanism 7 and is responsible for extending into the hole 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, 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 carrying out rapid biological detection on the suspicious target object sample collected by the sampling mechanism 7, and biological detection items comprise microorganism detection, pH value detection and the like;
the signal analysis processing module 10 is arranged in the frame 1 and is responsible for processing and primarily analyzing vibration signals acquired by the vibration sensor 6, and judging substances of objects contacted by the drilling mechanism 5; analyzing the components and the frequency spectrum of the detected gas according to the type of the gas detected by the olfactory sensor 8, and judging the substances of suspicious target objects which emit the detected gas according to the components and the frequency spectrum; is responsible for distinguishing substances of suspicious target samples acquired by the sampling mechanism 7 according to biological detection information detected by the biological detection device 9; and the method is responsible for carrying out cross contrast analysis on three substance discrimination results to obtain a final substance discrimination result of the suspicious target object.
The storage module 11 is arranged inside the frame 1 and is responsible for storing all data information, including waveform information, smell information, biological information and the like of various substances, so as to form an information base;
the wireless communication module 12 is disposed inside the rack 1 and is responsible for receiving input information from the user control device 14, where the input information includes pose information (including position and angle) required by search work, search area range information, search interval information, mining depth information, and the like; meanwhile, the intelligent detection robot is responsible for sending the 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 numerical value information, alarm information, analysis result information and the like;
the main controller 2 is arranged in the rack 1, and the main controller 2 is respectively 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; the main controller 2 is responsible for communicating with the user control device 14 via the wireless transmission module; is responsible for receiving the current position information from the positioning navigation module 4 and the planned moving route and time information; 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 processing module 10; is responsible for storing information in the memory module 11; 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 providing power for 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 olfactory sensor 8, the biological detection device 9, the signal analysis processing module 10, the storage module 11 and the wireless communication module 12;
the user control device 14 is a control device for remote operation of a user, 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) required by search work, search area range information, search interval information, mining depth information, and the like; and is also responsible for receiving and displaying output information sensed or detected by the intelligent detection robot from the wireless communication module 12, where the output information includes current pose information, communication status 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 a suspension device, the four motor driving wheels are respectively disposed on left and right sides of 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 in the frame 1, the motor driver is connected with the dc brushless motor, and the dc brushless motor is respectively connected with the four motor driving wheels through the planetary reducer.
Further, referring to fig. 3, the positioning navigation module 4 mainly includes a GPS device, a gyroscope, an encoder, and the like.
Further, referring to fig. 4, the drilling mechanism 5 is disposed outside the frame 1 and mainly comprises a mechanical arm, a helical columnar drill, a drill motor driver and a distance sensor, wherein the mechanical arm is mounted outside the frame 1, the drill motor driver and the drill motor are both mounted on the mechanical arm, the drill motor is driven by the drill motor driver, the helical columnar drill and the distance sensor are both mounted on the drill motor, and the distance sensor is aligned in parallel towards the extending direction of the helical columnar drill.
Further, the olfactory sensor 8 is a MEMS gas sensor.
Further, referring to fig. 5, the signal analysis 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 the vibration signal acquired by the vibration sensor 6 and outputting a filtering signal; the vibration signal conversion unit is responsible for extracting characteristic values by wavelet conversion of the filtering signals; the vibration signal comparison unit is responsible for comparing and analyzing the characteristic value of the vibration signal with the vibration waveforms of all substances stored in the storage module 11 in advance through calculating the correlation coefficient, and if the calculated correlation coefficient is higher than a threshold value, the waveform of the object which is found to be matched is represented;
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 possibly belonging to suspicious target objects;
the biological signal processing unit is responsible for distinguishing microorganisms from biological detection information detected by the biological detection device 9, analyzing a microorganism component diagram, comparing the microorganism component diagram with the microorganism information of all substances in the storage module 11, and analyzing to obtain substances possibly belonging to suspicious target substances;
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.
Referring to fig. 6, a search method of an intelligent detection robot includes the following steps:
s1, a user sets input information including searching target objects, initial searching points, searching area ranges, searching point distances, path tracks and mining depths through user control equipment 14;
The path track is manually planned by a user through user control equipment 14 or is automatically planned and generated by a positioning navigation module 4 on the rack 1 according to the search area range and the search point distance, and is sent to the user control equipment 14 through a wireless communication module 12 by a main controller 2 on the rack 1 and displayed; and the types of the searching target objects are one or more;
s2, the user control equipment 14 communicates with the wireless communication module 12 on the rack 1 to transmit input information set by a 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 search target, the search point interval and the mining depth of the current 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 searching point information, so that the whole intelligent detection robot is driven to automatically drive to the initial searching point;
s4, after reaching an initial search point, the main controller 2 controls the drilling mechanism 5 on the frame 1 to gradually move to the position above a drilling hole of the initial search point, in the moving process, a distance sensor on the drilling mechanism 5 senses the distance between the drilling mechanism 5 and the drilling hole in real time, when the distance sensor senses that the distance between the drilling mechanism 5 and the drilling hole reaches the distance meeting the drilling hole 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 hole of the initial search point according to the set digging depth information;
S5, in the drilling process, a vibration sensor 6 on the drilling mechanism 5 converts mechanical signals generated when the drilling mechanism 5 drills into electric signals, vibration signals are collected in real time through an internal amplifying circuit of the vibration sensor 6, then the collected vibration signals are sent to a signal analysis processing module 10 in the frame 1 by the main controller 2, the collected vibration signals are filtered and smoothed by a vibration signal processing unit in the signal analysis processing module 10 and output filtered signals, then wavelet transformation is carried out on the filtered signals to extract characteristic values, and then comparison analysis is carried out through calculation correlation coefficients according to the characteristic values of the vibration signals and vibration waveforms of all substances stored in a module 11 stored in the frame 1, so that real-time judgment is carried out on the types of substances contacted by the drilling mechanism 5 at different depth positions; if the calculated correlation coefficient is higher than the threshold value, representing the waveform of the target object found to be matched;
s6, if the vibration signal processing unit in the signal analysis processing module 10 finds a matched target object waveform according to the collected vibration signal before the drilling mechanism 5 drills to a set depth threshold, the main controller 2 immediately controls the drilling mechanism 5 to stop drilling and move out of the drilling, and then the main controller 2 controls the sampling mechanism 7 on the frame 1 to extend into the bottom of the drilling; 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 the set depth threshold, the main controller 2 also immediately controls the drilling mechanism 5 to stop drilling and move out of the drilling, and simultaneously ends the search operation of the search point;
S7, after the sampling mechanism 7 stretches into the bottom of a drill hole, the main controller 2 firstly controls the olfactory sensor 8 positioned on the sampling mechanism 7 to collect gas information of a suspicious 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 components of gas signals and obtains a spectrum analysis chart, and finally the judgment result of the substance to which the suspicious object belongs is obtained by comparing the spectrum analysis chart with the gas information of all substances stored in the storage module 11;
s8, after the olfactory sensor 8 collects the gas information of the suspicious target, the main controller 2 controls the sampling mechanism 7 to collect samples of the suspicious target, the collected samples are transferred to the biological detection device 9 on the rack 1, the biological detection device 9 carries out biological detection on the collected samples, 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 carries out microorganism discrimination on the biological detection information and analyzes a microorganism component diagram, and finally the microorganism component diagram is compared with the microorganism information of all substances stored in the storage module 11, so that the judgment result of the substances of the suspicious target is obtained through analysis;
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 judging result of one suspicious object, the decision unit in the signal analysis processing module 10 carries out cross comparison analysis on the three judging results, so that the final judging result of the suspicious object is obtained and fed back to the main controller 2, and finally the main controller 2 compares the obtained final judging result with the searching object to judge whether the detected suspicious object is the searching object of the task;
s10, if the main controller 2 finds that the suspicious object is one of the searched object objects of the task, the main controller 2 sends out an alarm signal, and obtains the current position information of the suspicious object from the positioning navigation module 4, and 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 together for display for a 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 search target objects of the task, ending the search operation of the search point;
S11, after finishing the search operation of a search point, the main controller 2 checks whether all search tasks are finished according to the path track; if all search tasks are not completed, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to travel to the next search point, and the operation steps of S4-S10 are continuously repeated; and 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 the characteristic value of the vibration signal 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 suspicious object obtained by drilling, obtaining the correlation between the vibration waveform of the suspicious object and the vibration waveform of the search object; 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 search object xy ；
Correlation coefficient ρ xy The calculation formula of (2) is as follows:
wherein, the numerator is the integral of X (f) and 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;
Correlation coefficient ρ xy The value of (1) is 0-1, if ρ xy If 1, then consider complete correlation, if ρ xy Equal to 0, then consider uncorrelated;
if the correlation coefficient is detected to be larger than the set threshold value, the suspicious target object vibration waveform is matched with the searching target object vibration waveform;
the threshold value may be adjusted according to the actual situation, for example 0.8 or 0.6 may be chosen.
Further, in step S7, the specific method for extracting the gas substance components from the obtained gas signal to obtain a spectrum analysis chart, and comparing the spectrum analysis chart with the gas information of all the substances in the storage module 11 is as follows:
the gas composition of the extracted suspicious object is calculated to be similar to the gas composition of the searching object in the storage module 11, and Jaccard similarity coefficient J is calculated 1 ；
Jaccard similarity coefficient J 1 The value of (1) is 0 to 1, if J 1 The closer to 1, the higher the similarity, if J 1 The closer to 0, the lower the similarity is explained;
the gas component set in the searching target object is called as a set, namely N gas components contained in the searching target object are N-dimensional sets, if the component is contained, the component is expressed as 1, and if the component is not contained, 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 searching object is N-dimensional set Y, jaccard similarity coefficient J 1 The calculation formula of (2) is as follows:
J 1 = A 1 /（B 1 +C 1 +D 1 ）
in the formula, the numerator is A 1 The number of dimensions of which the N-dimensional set X and the N-dimensional set Y are 1 is represented; the denominator is B 1 、C 1 、D 1 Wherein B is the sum of 1 Representing an N-dimensional collectionNumber of 1 in X and 0 in N-dimensional set Y, C 1 D represents the number of dimensions in which N-dimensional set X is 0 and N-dimensional set Y is 1 1 The number of dimensions of 0 in both the N-dimensional set X and the N-dimensional set Y is represented.
Further, in step S8, the specific method for performing the microorganism discrimination and analysis of the microorganism composition map on the obtained biological detection information and comparing and analyzing the microorganism composition map with the microorganism information of all the substances in the storage module 11 is as follows:
the extracted microorganism components of the suspicious object are calculated similarly to the microorganism components of the searching object in the storage module 11, and Jaccard similarity coefficient J is calculated 2 ；
Jaccard similarity coefficient J 2 The value of (1) is 0 to 1, if J 2 The closer to 1, the higher the similarity, if J 2 The closer to 0, the lower the similarity is explained;
the microbial component collection in the searching target object is called collection, namely N microbial components contained in the searching target object are N-dimensional collection, 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 microorganism component of the suspicious object is N-dimensional set W, searching the microorganism component of the object is N-dimensional set Z, and the Jaccard similarity coefficient J 2 The calculation formula of (2) is as follows:
J 2 = A 2 /（B 2 +C 2 +D 2 ）
in the formula, the numerator is A 2 The number of dimensions of the N-dimensional set W and the N-dimensional set Z are 1; the denominator is B 2 、C 2 、D 2 Wherein B is the sum of 2 Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C 2 D represents the number of dimensions in which N-dimensional set W is 0 and N-dimensional set Z is 1 2 The number of dimensions of 0 in both the N-dimensional set W and the N-dimensional set Z is represented.
The searching method of the intelligent detection robot is further described in detail below by taking searching of the dead bodies or the bone buried under as an embodiment.
S1, a user sets input information through user control equipment 14, wherein the input information comprises a search target object, an initial search point, a search area range, a search point interval, a path track, a mining depth and the like; the user control device 14 may be a dedicated remote controller with a display function, a tablet computer, or a tablet phone;
the searching target object selects one or two of cadavers and bone bones, the searching area range is set according to the current area, for example, 500 square meters, the initial searching point and the searching point distance are set according to the topography and the landform of the current area, for example, 5 searching points P1, P2, P3, P4 and P5 are set, the searching depth is set according to the soil property of the current area, for example, 1 meter, the path track can be manually planned by a user through the user control device 14 according to the set initial searching point and searching point distance, or is automatically planned and generated by the positioning navigation module 4 on the frame 1 according to the searching area range, the initial searching point and the searching point distance, and is sent to the user control device 14 through the wireless communication module 12 by the main controller 2 on the frame 1 to be displayed;
S2, the user control equipment 14 communicates with the wireless communication module 12 on the rack 1 to transmit input information set by a 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 search target, the search point interval and the mining depth of the current 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 travel to an initial search point P1;
s4, after reaching an initial search point P1, the main controller 2 controls the drilling mechanism 5 on the frame 1 to gradually move to the position above the drilling position of the initial search point P1, in the moving process, a 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 drill the drilling position of the initial search point according to the set excavation depth information;
S5, in the drilling process, a vibration sensor 6 on the drilling mechanism 5 converts mechanical signals generated during drilling of the drilling mechanism 5 into electric signals, vibration signals are collected in real time through an internal amplifying circuit of the vibration sensor 6, then the collected vibration signals are sent to a signal analysis processing module 10 in the frame 1 by the main controller 2, the collected vibration signals are filtered and smoothed by a vibration signal processing unit in the signal analysis processing module 10 and output filtered signals, then wavelet transformation is carried out on the filtered signals to extract characteristic values, and then correlation analysis is carried out through calculation according to the characteristic values of the vibration signals and vibration waveforms of all substances stored in a storage module 11 in the frame 1; 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 xy The calculation formula of (2) is as follows:
wherein, the numerator is the integral of X (f) and 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;
Correlation coefficient ρ xy The value of (1) is 0-1, if ρ xy If 1, then consider complete correlation, if ρ xy Equal to 0, then consider uncorrelated; the user can set a threshold value between 0 and 1, for example 0.8, according to the actual situation, if the correlation coefficient ρ is detected xy Is larger than the set threshold value of 0.8, namely the vibration waveform of the suspicious object is matched with the vibration waveform of the bone, namely the suspicious object is representedFinding bones;
s6, if the vibration signal processing unit in the signal analysis processing module 10 finds a matched bone waveform according to the acquired vibration signal before the drilling mechanism 5 drills to a set depth threshold, the main controller 2 immediately controls the drilling mechanism 5 to stop drilling and move out of the drilling, and then the main controller 2 controls the sampling mechanism 7 on the frame 1 to extend into the bottom of the drilling; if the vibration signal processing unit in the signal analysis processing module 10 does not find a 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 drill hole, and simultaneously ends the search operation of the search point;
S7, after the sampling mechanism 7 stretches into the bottom of the drilling hole, the main controller 2 firstly controls the olfactory sensor 8 positioned on the sampling mechanism 7 to collect gas information of suspected bone objects, 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 components of gas signals and obtains a spectrum analysis chart, finally the spectrum analysis chart is compared with the gas information of all substances stored in the storage module 11, and the specific method is that the gas components of the extracted suspected bone objects are calculated similarly to the bone gas components in the storage module 11, and the Jaccard similarity coefficient J is calculated 1 ；
The gas composition set in the bone is called a set, namely, the bone contains N gas compositions which are N-dimensional sets, the gas composition set is expressed as 1 if the gas composition set is provided, and the gas composition set is expressed as 0 if the gas composition set is not provided;
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 J 1 The calculation formula of (2) is as follows:
J 1 = A 1 /（B 1 +C 1 +D 1 ）
in the formula, the numerator is A 1 RepresentingThe number of dimensions of the N-dimensional set X and the N-dimensional set Y are 1; the denominator is B 1 、C 1 、D 1 Wherein B is the sum of 1 Represents the number of 1 in the N-dimensional set X and 0 in the N-dimensional set Y, C 1 D represents the number of dimensions in which N-dimensional set X is 0 and N-dimensional set Y is 1 1 The number of dimensions of 0 in the N-dimensional set X and the N-dimensional set Y is represented;
jaccard similarity coefficient J 1 If the value of (C) is 0-1, if J is calculated 1 If the potential bone is close to 1, the similarity is high, so that the suspected bone object is judged to be likely to be 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, the biological signal processing unit in the signal analysis processing module 10 carries out microorganism discrimination and analysis on the biological detection information, and finally the microorganism composition map is compared with the microorganism information of all substances stored in the storage module 11 for analysis, and the method comprises the steps of carrying out similarity calculation on the microorganism composition of the extracted suspected bone object and the microorganism composition of the bone in the storage module 11, and calculating the Jaccard similarity coefficient J 2 ；
The microbial components in the bone are called a set, i.e. the set of N microbial components in the bone is N-dimensional, and if there is such a component, it is denoted as 1, and if there is no such a component, it is denoted as 0;
assuming that the microorganism component of the suspected bone object is N-dimensional set W, the microorganism component of the bone is N-dimensional set Z, jaccard similarity coefficient J 2 The calculation formula of (2) is as follows:
J 2 = A 2 /（B 2 +C 2 +D 2 ）
in the formula, the numerator is A 2 The N-dimensional set W and the N-dimensional set Z are all 1-dimensionalA number; the denominator is B 2 、C 2 、D 2 Wherein B is the sum of 2 Represents the number of 1 in the N-dimensional set W and 0 in the N-dimensional set Z, C 2 D represents the number of dimensions in which N-dimensional set W is 0 and N-dimensional set Z is 1 2 The number of dimensions of 0 in the N-dimensional set W and the N-dimensional set Z is represented;
jaccard similarity coefficient J 2 If the value of (1) is 0-1, if J is calculated 2 If the potential bone is close to 1, the similarity is high, so that the suspected bone object is judged to be likely to be bone;
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 a judging result of a suspected bone object, the decision unit in the signal analysis processing module 10 carries out cross comparison analysis on the three judging results so as to obtain a final judging result of the suspected bone object as bone, the final judging result is fed back to the main controller 2, and finally the main controller 2 compares the obtained final judging result with human bone information to judge whether the detected suspected bone object is a human bone target of the task;
S10, if the main controller 2 finds that the suspected bone object is indeed one of the cadaver human 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 to be displayed for the user to check, meanwhile, the main controller 2 controls the intelligent detection robot to stop moving, stand by in situ, the staff can go to and further excavate, and finally confirms that the suspected bone object is the buried cadaver or the cadaver bone; if the main controller 2 finds that the suspected bone object does not belong to any one of cadaver human bones of the task, ending the searching operation of the searching point;
s11, after finishing the search operation of a search point, the main controller 2 checks whether all search tasks are finished according to the path track; if not, the main controller 2 controls the driving mechanism 3 to drive the intelligent detection robot to drive to the next searching point according to the sequence of P1-P5, and the operation steps of S4-S10 are continuously repeated; and 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 are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An intelligent detection robot, its characterized in that: the device comprises a frame (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 frame (1) and is responsible for driving the intelligent detection robot to move;
the positioning navigation module is arranged in the frame (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 the set searching interval or the designated position;
The drilling mechanism (5) is arranged outside the frame (1), and is responsible for carrying out drilling operation in the vertical direction 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 of 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 collecting the vibration signals through an internal amplifying circuit of the vibration sensor;
the sampling mechanism (7) is arranged outside the frame (1), is responsible for extending into a hole drilled by the drilling mechanism (5), samples suspicious target objects at the bottom of the hole, and transfers the samples to the biological detection device (9);
the olfactory sensor (8) is arranged on the sampling mechanism (7) and is responsible for extending into a hole 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, 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 biological detection including microorganism detection and pH value detection on the suspicious target object sample collected by the sampling mechanism (7);
The signal analysis processing module (10) is arranged in the frame (1) and is responsible for processing and primarily analyzing vibration signals acquired by the vibration sensor (6), and judging substances of objects contacted by the drilling mechanism (5) according to the vibration signals; analyzing the components and the frequency spectrum of the detected gas according to the type of the gas detected by the olfactory sensor (8), and judging the substance of the suspicious target object which emits the detected gas according to the components and the frequency spectrum; is responsible for distinguishing substances of suspicious target samples collected by the sampling mechanism (7) according to biological detection information detected by the biological detection device (9); the method is responsible for carrying out cross contrast analysis on three substance discrimination results to obtain a final substance discrimination 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 so as 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 numerical value information, alarm information and analysis result information;
The main controller (2) is arranged in the rack (1), and the main controller (2) is respectively connected 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) in a signal manner; the main controller (2) is responsible for communication with the user control device (14) through the wireless communication module (12); is responsible for receiving the current position information from the positioning navigation module (4) and the planned moving route and time information; 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 processing module (10); is responsible for storing information in the memory module (11); 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 in the rack (1) and is responsible for providing power for 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 olfactory sensor (8), the biological detection device (9), the signal analysis processing module (10), the storage module (11) and the wireless communication module (12);
the user control device (14) is control device 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; meanwhile, the intelligent detection robot is responsible for receiving and displaying output information which is sent by the wireless communication module (12) and is sensed or detected by the intelligent detection robot, wherein the output information comprises current pose information, communication state information, detection numerical value information, alarm information and analysis result information.
2. The intelligent detection robot of claim 1, wherein: the driving mechanism (3) comprises a direct current brushless motor, a planetary reducer, a motor driver, four motor driving wheels and a suspension device, wherein the four motor driving wheels are respectively arranged on the left side and the right side of the front end and the rear end of the frame (1) through the corresponding suspension device, the direct current brushless motor, the planetary reducer and the motor driver are all arranged in the frame (1), the motor driver is connected with the direct current brushless motor, and the direct current brushless motor is respectively connected with the four motor driving wheels through the planetary reducer.
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: the drilling mechanism (5) is arranged outside the frame (1) and mainly comprises a mechanical arm, a spiral columnar drill bit, a drill bit motor driver and a distance sensor, wherein the mechanical arm is arranged outside the frame (1), the drill bit motor driver and the drill bit motor are all arranged on the mechanical arm, the drill bit motor is driven by the drill bit motor driver, the spiral columnar drill bit and the distance sensor are all arranged on the drill bit motor, and the distance sensor is aligned in parallel to the extending direction of the spiral columnar 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 the vibration signal acquired by the vibration sensor (6) and outputting a filtering signal; the vibration signal conversion unit is responsible for extracting characteristic values by wavelet conversion of the filtering signals; the vibration signal comparison unit is responsible for comparing and analyzing the characteristic value of the vibration signal with vibration waveforms of all substances stored in the storage module (11) in advance through calculating correlation coefficients, and if the calculated correlation coefficients are higher than a threshold value, the waveform of the object which is found to be matched is represented;
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 smell information of all substances in the storage module (11), and analyzing to obtain substances possibly belonging to suspicious target substances;
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 component diagram, comparing the microorganism component diagram with microorganism information of all substances in the storage module (11), and analyzing to obtain substances possibly belonging to suspicious target substances;
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. The search method of the intelligent detection robot as set forth in claim 1, comprising the steps of:
s1, a user sets input information comprising searching target objects, initial searching points, searching area ranges, searching point distances, path tracks and mining depths through user control equipment (14);
the path track is manually planned by a user through user control equipment (14) or is automatically planned and generated by a positioning navigation module (4) on the rack (1) according to the search area range and the search point distance, and is sent to the user control equipment (14) through a wireless communication module (12) by a main controller (2) on the rack (1) and displayed; and the types of the searching target objects are one or more;
s2, the user control equipment (14) communicates with a wireless communication module (12) on the rack (1) to transmit input information set by a user to a 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 search target, the search point interval and the mining depth of the task 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 searching point information, so that the whole intelligent detection robot is driven to automatically travel to the initial searching point;
s4, after the initial search point is reached, the main controller (2) controls the drilling mechanism (5) on the frame (1) to gradually move to the position above the drilling position of the initial search point, in the moving process, a 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 digging depth information;
s5, in the drilling process, a vibration sensor (6) on the drilling mechanism (5) can convert mechanical signals generated during drilling of the drilling mechanism (5) into electric signals, vibration signals are collected in real time through an internal amplifying circuit of the vibration sensor (6), then the collected vibration signals are sent to a signal analysis processing module (10) in the frame (1) through a main controller (2), filtering and smoothing are carried out on the collected vibration signals through a vibration signal processing unit in the signal analysis processing module (10) and filtering signals are output, wavelet transformation is carried out on the filtering signals to extract characteristic values, and then comparison analysis is carried out through calculation correlation coefficients according to the characteristic values of the vibration signals and vibration waveforms of all substances stored in a storage module (11) in the frame (1), so that real-time judgment is carried out on the types of substances contacted by the drilling mechanism (5) at different depth positions; if the calculated correlation coefficient is higher than the threshold value, representing the waveform of the target object found to be matched;
S6, if the vibration signal processing unit in the signal analysis processing module (10) finds a matched waveform of a target object according to the acquired vibration signal before the drilling mechanism (5) drills to a set depth threshold, the main controller (2) immediately controls the drilling mechanism (5) to stop drilling and move out of the drilling, and then the main controller (2) controls the sampling mechanism (7) on the frame (1) to extend into the bottom of the drilling; if the vibration signal processing unit in the signal analysis processing module (10) still 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 value, the main controller (2) also immediately controls the drilling mechanism (5) to stop drilling and move out of the drilling, and simultaneously finishes the search operation of the search point;
s7, after the sampling mechanism (7) stretches into the bottom of a drill hole, the main controller (2) firstly controls the olfactory sensor (8) positioned on the sampling mechanism (7) to collect gas information of a suspicious 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 and obtains a spectrum analysis chart, and finally the spectrum analysis chart is compared with the gas information of all substances stored in the storage module (11) to obtain a judging result of the substance to which the suspicious object belongs;
S8, after the olfactory sensor (8) collects gas information of a suspicious object, the main controller (2) controls the sampling mechanism (7) to collect a sample of the suspicious object, the collected sample is transferred to the biological detection device (9) on the rack (1), the biological detection device (9) carries out biological detection on the collected sample, then the main controller (2) sends 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 component diagram, and finally the microorganism component diagram is compared with microorganism information of all substances stored in the storage module (11) for analysis, so that a judging result of substances to which the suspicious object belongs is obtained;
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 judging result of a suspicious object, a decision unit in the signal analysis processing module (10) carries out cross comparison analysis on the three judging results, so that a final judging result of the suspicious object is obtained and fed back to the main controller (2), and finally the main controller (2) compares the obtained final judging result with a searching object to judge whether the detected suspicious object is the searching object of the task;
S10, if the main controller (2) finds that the suspicious object is one of the searched object objects of the task, the main controller (2) sends out an alarm signal, obtains the current position information of the suspicious object from the positioning navigation module (4), and then the main controller (2) sends 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 (14) through the wireless communication module (12) together for display for a user to check, and meanwhile, the main controller (2) controls the intelligent detection robot to stop moving and stand by in place; if the main controller (2) finds that the suspicious target object does not belong to any one of the search target objects of the task, ending the search operation of the search point;
s11, after finishing the search operation of a search point, the main controller (2) checks whether all search tasks are finished according to the path track; if all search tasks are not completed, the main controller (2) controls the driving mechanism (3) to drive the intelligent detection robot to travel to the next search point, and the operation steps of S4-S10 are continuously repeated; if all search tasks are completed, 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 search method of the intelligent detection robot according to claim 7, wherein in step S5, the specific method for comparing the characteristic value of the vibration signal 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 suspicious object obtained by drilling, obtaining the correlation between the vibration waveform of the suspicious object and the vibration waveform of the search object; 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 search object xy ；
Correlation coefficient ρ xy The calculation formula of (2) is as follows:
；
in the formula, the numerator is the integral of X (f) and 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;
correlation coefficient ρ xy The value of (1) is 0-1, if ρ xy If 1, then consider complete correlation, if ρ xy Equal to 0, then consider uncorrelated;
and if the detected correlation coefficient is larger than the set threshold value, the correlation coefficient represents that the vibration waveform of the suspicious target object is matched with the vibration waveform of the searching target object.
9. The search method of the intelligent detection robot according to claim 7, wherein in step S7, the specific method of extracting gas substance components from the obtained gas signal and obtaining a spectrum analysis chart, and comparing and analyzing the gas component with the gas information of all substances in the storage module (11) is as follows:
The gas material composition of the extracted suspicious object is calculated similarly to the gas composition of the searching object in the storage module (11), and the Jaccard similarity coefficient J is calculated 1 ；
Jaccard similarity coefficient J 1 The value of (1) is 0 to 1, if J 1 The closer to 1, the higher the similarity, if J 1 The closer to 0, the lower the similarity is explained;
the gas component set in the searching target object is called as a set, namely N gas components contained in the searching target object are N-dimensional sets, if the component is contained, the component is expressed as 1, and if the component is not contained, 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 searching object is N-dimensional set Y, jaccard similarity coefficient J 1 The calculation formula of (2) is as follows:
J 1 = A 1 /（B 1 +C 1 +D 1 ）
in the formula, the numerator is A 1 The number of dimensions of which the N-dimensional set X and the N-dimensional set Y are 1 is represented; the denominator is B 1 、C 1 、D 1 Wherein B is the sum of 1 Represents the number of 1 in the N-dimensional set X and 0 in the N-dimensional set Y, C 1 D represents the number of dimensions in which N-dimensional set X is 0 and N-dimensional set Y is 1 1 The number of dimensions of 0 in both the N-dimensional set X and the N-dimensional set Y is represented.
10. The search method of the intelligent detection robot according to claim 7, wherein in step S8, the specific method of performing the microorganism discrimination and the analysis of the microorganism component map on the obtained biological detection information and comparing and analyzing the microorganism information of all the substances in the storage module (11) is as follows:
The extracted microorganism components of the suspicious object are calculated similarly to the microorganism components of the searching object in the storage module (11), and Jaccard similarity coefficient J is calculated 2 ；
Jaccard similarity coefficient J 2 The value of (1) is 0 to 1, if J 2 The closer to 1, the higher the similarity, if J 2 The closer to 0, the lower the similarity is explained;
the microbial component collection in the searching target object is called collection, namely N microbial components contained in the searching target object are N-dimensional collection, 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 microorganism component of the suspicious object is N-dimensional set W, searching the microorganism component of the object is N-dimensional set Z, and the Jaccard similarity coefficient J 2 The calculation formula of (2) is as follows:
J 2 = A 2 /（B 2 +C 2 +D 2 ）
in the formula, the numerator is A 2 The number of dimensions of the N-dimensional set W and the N-dimensional set Z are 1; the denominator is B 2 、C 2 、D 2 Wherein B is the sum of 2 Representing 1 in the N-dimensional set WNumber of 0 in N-dimensional set Z, C 2 D represents the number of dimensions in which N-dimensional set W is 0 and N-dimensional set Z is 1 2 The number of dimensions of 0 in both the N-dimensional set W and the N-dimensional set Z is represented.
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