CN114179084A - Method for rapidly establishing emergency rescue support system by adopting group robots - Google Patents
Method for rapidly establishing emergency rescue support system by adopting group robots Download PDFInfo
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Abstract
The invention provides a method for quickly establishing an emergency rescue support system by adopting a group robot, which comprises the following steps: s1 group robot initialization phase, the base robot completes self initialization and triggers other robot initialization; s2 construction phase of first area map of rescue support system; s3 construction phase of communication network of rescue support system; s4 construction phase of a regional overall map (including a first region and a second region) of the rescue support system; s5 rescue support system communication network optimization stage; and S6, completing the autonomous construction of the emergency rescue support system of the group robot in a calculation support service construction stage of the rescue support system. The present invention can also achieve a larger area rescue support service expansion by repeating the construction process of the stages S3 to S6. According to the method, the rescue support system can be established for the emergency rescue site quickly, effectively and autonomously through the group robot, and key support services such as communication, calculation and the like are provided for the rapid development of subsequent rescue and other work.
Description
Technical Field
The invention relates to a method for quickly establishing an emergency rescue support system by using a group robot, in particular to a method for quickly establishing an emergency rescue support system by using a group robot.
Background
After an emergency situation occurs, the most safe and effective way for carrying out rescue is to quickly establish a rescue support system which can support rescue services and comprises but not limited to communication services and calculation services through a machine on an emergency site with incomplete information and personnel life risks, so that personnel risks are reduced for the rescue personnel to enter subsequently, and the rescue guarantee capacity and the rescue efficiency are improved. The existing rescue robot is generally a single robot with multiple functions of autonomous walking, navigation positioning, trapped person life detection, audio-video interaction, emergency rescue material conveying and the like, because the rescue robot is in a single state, the rescue robot can only act independently, the single robots lack effective cooperative operation capability, the computing resources cannot be shared, the environmental adaptability is poor, and can not establish a rescue system with certain service supporting function for the subsequent rescue work together, and only can transmit or carry the collected field condition back to the ground rescue base, the problems of risk prevention and service support when rescue workers enter a rescue scene cannot be thoroughly solved, although the emergency single rescue robot is greatly developed for many years, but the establishment of rescue support systems including communication services, computing services, etc. still relies on deployment of rescuers into the field in high risk situations. Becomes the bottleneck of quick and effective implementation of emergency rescue.
Disclosure of Invention
The invention provides a method for quickly establishing an emergency rescue support system by using group robots, which is an implementation method for quickly establishing an emergency scene rescue support system by using group robots, mainly aiming at an emergency rescue scene, and solving the problems that field information is incomplete or the original environment state is changed, a communication system and a computing system are damaged or lack of scenes, and a construction method for quickly and independently realizing the rescue support system comprising communication service and computing service by using self-organizing group robots is adopted, wherein the technical scheme is as follows:
a method for rapidly establishing an emergency rescue support system by adopting a group robot, wherein the group robot comprises a base robot, a communication robot and a terrain detection robot, and the method comprises the following steps:
s1: group robot initialization stage: the base robot completes self initialization, initializes other robots registered in the base robot, and after initialization, the communication robot and the terrain detection robot enter a low-power-consumption dormant state to wait for a trigger instruction of the base robot;
s2: a first area map construction stage of the rescue support system: in a communication coverage area of a base robot, the base robot activates a specific number of determined terrain detection robots, under the support of positioning and navigation services in the communication coverage area provided by the base robot, the terrain detection robots start a terrain information acquisition task to autonomously complete terrain information acquisition in the communication coverage area of the base robot, the terrain information is acquired by the terrain detection robots and then sent back to the base robot, the base robot fuses information acquired by the terrain detection robots to generate a first area map, and the communication coverage area of the base robot is a wireless signal coverage area of the base robot and corresponds to the first area;
s3: a rescue support system communication network construction stage: on the basis of the first area map of step S2, the area communication coverage of the base robot needs to complete the wireless network planning from the first area to the second area, according to the number of network stations planned to be deployed at the edge of the first area coverage in the wireless network planning, the base robot activates a corresponding number of communication robots, the communication robots autonomously move to the network stations planned by the wireless network, and start the communication service to complete the autonomous deployment of the base communication network, the rescue support system communication network coverage extends from the first area to the second area, so as to realize the overall communication coverage including the first area and the second area, and provide the positioning and navigation services of the coverage, the communication coverage of the base robot and the communication robots form the wireless signal coverage area of the rescue support system communication network, and the communication coverage extended by the communication robots corresponds to the second area, the rescue support system communication network corresponds to a basic communication network;
s4: a rescue support system area integral map construction stage: the method comprises the following steps that a base robot activates a plurality of terrain detection robots, the terrain detection robots in an activated state autonomously move to designated subareas to complete terrain information acquisition under the support of a basic communication network positioning and navigation service constructed by the base robot and the communication robots, each terrain detection robot uploads acquired subarea terrain information to the base robot through the basic communication network, the base robot fuses the subarea terrain information acquired by each terrain detection robot to generate a rescue support system area whole map, and the rescue support system area whole map is issued to the communication robots and the terrain detection robots, wherein the rescue support system area comprises a first area and a second area;
s5: the rescue support system communication network optimization stage: based on the rescue support system area overall map of step S4, the base robot performs overall communication network site optimization on the rescue support system overall area, generates new site positions and path planning schemes of all communication robots and issues the new site positions and path planning schemes to the communication robots, and all the communication robots autonomously move to the newly planned communication robot site positions according to the respective path planning schemes to complete rescue support system communication network optimization;
s6: the rescue support system calculation support service construction stage comprises the following steps: starting a base robot cloud service and communication robot edge service mode, and completing a cloud edge cooperative computing working mode service test; and a computing service network constructed by the base robot and the communication robot enters a cloud-edge cooperative working mode to provide communication and computing services for next rescue service, and the autonomous construction of the group robot emergency rescue support system is completed.
Further, in step S1, the base robot and the terrain detection robot registered in the base robot are initialized, including the steps of:
s11: after the base robot completes self initialization, a certain number of terrain detection robots are activated;
s12: the terrain detection robot starts to carry out self-checking, and after the self-checking is finished, the terrain detection robot finishes communication testing, clock and information synchronization with the base robot.
Further, in step S2, the process of creating the first area map of the rescue support system includes the following steps:
s21: the terrain detection robot activated in step S1 starts to complete the acquisition of the terrain information of the first area by the onboard sensor within the communication coverage of the base robot;
s22: the terrain detection robot transmits the acquired terrain information to the base robot respectively in real time;
s23: the base robot integrates the terrain information acquired by the terrain detection robot to realize the construction of a first area map covered by the base robot in communication;
s24: and after the terrain detection robot finishes the acquisition of the terrain information, the terrain detection robot stays at the edge of the first area of the base robot to wait for a next step of instruction.
Further, in step S3, the constructing of the rescue support system communication network includes the following steps:
s31: the base robot performs wireless network planning according to the first area map constructed in the step S2, and determines the positions and the number of the communication robot stations required for expanding the communication coverage of the rescue support system from the first area to the second area;
s32: the base robot activates the communication robots of which the number is determined in step S31, the communication robots complete self-checking, and a communication connection between the base robot and each communication robot is established;
s33: the base robot respectively issues path planning for each communication robot, and each communication robot autonomously moves to the site position planned in the step S31 to complete site deployment of the communication robots;
s34: the communication robot enters a base station communication mode, the base robot and the communication robot perform initialization and network test of a rescue support system communication network, and the rescue support system communication network capable of covering the first area and the second area is constructed.
Further, in step S4, the process of constructing the overall map of the rescue support system area by the base robot includes the following steps:
s41: the base robot activates a plurality of terrain detection robots, and together with the terrain detection robot activated in the first stage, the terrain information acquisition of a second area is realized uniformly according to the map acquisition plan of the base robot, and the terrain information acquisition in the planned area is realized through an airborne sensor;
s42: after each terrain detection robot finishes collecting the terrain information of the planned area, the terrain detection robot returns the collected information to the base robot in real time through the basic communication network constructed in the step S3, and the base robot fuses the returned collected information of all the communication robots to finish the construction of an integral map containing the first area and the second area;
s43: the base robot issues an overall map containing the first area and the second area to the communication robot so that the rescue support system communication network provides positioning and navigation services within the coverage range of the rescue support system communication network.
Further, in step S5, the step of optimizing the rescue support system communication network is as follows:
s51: the base robot carries out communication network optimization according to the whole map information of the rescue support system area to generate an optimized communication robot station position, and the base robot issues a path plan for each communication robot according to an optimized network plan scheme;
s52: each communication robot autonomously moves to a new station position according to the path plan issued by the base robot to complete the deployment of the new station of the new communication robot;
s53: optimizing the base robot and the communication robot, performing network test, starting a wireless network optimization data acquisition mode of the terrain detection robot to perform route test, and performing local coverage adjustment according to a drive test result; the wireless network optimization data acquisition mode is used for acquiring data in the wireless network optimization process to realize the purpose of network data testing; and finishing the optimization of the communication network of the rescue support system.
Further, in step S6, the step of calculating the support service construction by the rescue support system is as follows:
s61: the base robot triggers a base robot cloud computing service and a communication robot edge computing service to complete the initialization of the cloud computing and the edge computing service, and enters a rescue support system cloud edge collaborative computing working mode;
s62: the base robot starts cloud service, and the communication robot starts an edge service mode;
s63: the base robot and the communication robot complete cloud-edge cooperative computing work mode service testing, and complete rescue support system distributed computing network service testing;
s64: and entering a distributed cloud-edge cooperative computing working mode of the rescue support system, providing communication and computing services for the next rescue service, and finishing the autonomous construction of the group robot emergency rescue support system.
Further, the base robot and the communication robot can provide communication and calculation services for the terrain detection robot and various devices accessed subsequently.
The method for quickly establishing the rescue support system in the emergency site or the unknown area by adopting the group robot can be used for quickly and effectively establishing the rescue support system for the disaster occurring area or the unknown area far away from the public service facility by the group robot independently, providing key basic services such as communication, calculation and the like for the quick development of subsequent rescue and other works, and realizing the expansion of larger area rescue support services by repeating the construction process from S3 to S6.
Drawings
Fig. 1 is a schematic illustration of a prototype of the rescue support system;
FIG. 2 is a schematic view of the overall construction process of rapidly building a rescue support system by using a group robot;
FIG. 3 is a schematic diagram of the base robot functional modules;
fig. 4 is a schematic diagram of the communication robot function module;
FIG. 5 is a schematic diagram of the terrain-detecting robot functional module;
fig. 6 is a schematic view of an initialization process of the group robot for rapidly establishing the rescue support system by using the group robot;
fig. 7 is a schematic view of a first regional map construction process for rapidly establishing a rescue support system by using a group robot;
fig. 8 is a flow chart illustrating a communication network construction phase of the rapid rescue support system establishment by the group robot;
fig. 9 is a schematic flow chart of a construction stage of the overall regional map (including the first region and the second region) for rapidly establishing the rescue support system by using the group robot;
fig. 10 is a schematic flow chart of a communication network optimization flow stage of the rapid establishment of the rescue support system by using the group robot;
fig. 11 is a flow chart of a computing support service construction phase for rapidly establishing a rescue support system by using the group robot.
Detailed Description
The invention provides a method for quickly establishing a rescue support system by adopting a group robot, which is used for quickly completing the construction of the rescue support system aiming at an emergency scene with missing or incomplete field information, wherein the field condition comprises various incomplete information spaces. In the field, firstly, information in the space field is unknown from the whole to the local, and personnel directly enter the space field without communication and calculation support, so that personal risks exist; secondly, the space field cannot completely rely on external resources to obtain communication and data calculation assistance; the invention provides a group robot implementation method for automatically establishing a rescue support system through a group robot, namely completing a space rescue basic service support system (communication service and computing service).
The preconditions for the application of the invention include or are limited to: in the initial situation, a group robot including a base robot is required, wherein single robots in the group robot have different role definitions, and the base robot is a full-function role and is an execution role for constructing an overall strategy by a rescue support system; other robots are configured and managed, so that the management function of the base robot has the functions of basic member robot registration management, member robot activation, member robot construction task starting and the like;
the base robot has the strongest computing capability in the group robots and serves as a private cloud server of the group robots to provide cloud computing service for the local network nodes; the communication robot in the member robots has strong computing capacity, plays a role of edge computing service in the support system, and realizes cloud-edge collaborative computing service support together with the base robot through a wireless communication network, so that the member robots are a cloud-edge collaborative service provider of the rescue support system; the terrain detection robot and other subsequent platform entering equipment are service acceptors of cloud edge cooperative service;
the group robot communication support structure adopts a distributed and self-organizing wireless communication mode, the base robot is a super relay node in a communication network, the whole wireless communication network does not need to deploy fixed wired infrastructure, each communication relay node borne by the communication robot is deployed in an autonomous mobile mode, and in the communication network, due to the limitation of the wireless coverage range of the communication relay nodes borne by the communication robot, two communication relay nodes which cannot directly communicate can carry out packet forwarding by means of other nodes. Each communication relay node is a router at the same time, and has the functions of discovering and maintaining the routing to other nodes, and the terrain detection robot and other network access equipment can realize data communication among equipment and between the equipment and the base robot and the communication robot through a distributed and self-organized communication network constructed by the base robot and the communication robot.
The rescue support system definition for an emergency scenario: the rescue support system is a minimum system which is established on the site with incomplete information and has basic service support such as communication service and computing service from the beginning without any communication and computing support resources, and can meet the detection and search business of the risk space with incomplete information based on the basic service. The rescue support system prototype is shown in fig. 1: including base robots, communication robots, and terrain detection robots. In fig. 1: a BaseRob-base robot, a RepRob-communication robot, a MapRob-terrain-exploring robot.
The members of the group robot are described below:
1. the group robot comprises a base robot, a communication robot and a terrain detection robot.
2. The energy systems of all the robots are powered by batteries;
3. behavioral capabilities of the group robot: the behavior ability of the group robot is divided into three stages: 1. the base robot in the group robot has low-range level behavior capability; 2. the communication robot in the group robot has medium-level behavior capability 3 and high-level behavior capability, and the terrain detection robot in the group robot has high-level behavior capability; the degree of behavioral ability may be divided by speed setting according to different movement patterns and scenes.
4. Communication capability of the group robot: the communication capability in the group robot is divided into a provider of communication service and a receiver of communication service, wherein a distributed self-organizing wireless communication network constructed by the base robot and the communication robot is the provider of communication service; the terrain detection robot and other subsequent network-accessing equipment receive communication service, and realize other services based on the communication service, so that the terrain detection robot and other subsequent network-accessing equipment are recipients of the communication service.
5. Computing power of the group robot: the computing power of the group robot is divided into three levels: 1) the super computing capacity is used for bearing the role of a cloud computing server in the group robot and bearing computing services unloaded by other robots in the group; the base robot in the group robot has super computing capability; 2) the computing capacity is moderate, the role of an edge computing server is born in the group, and the computing service unloaded by other robots in the group can be born; the communication robot in the group robot has super computing capability; 3) the robot with low computing capability can unload part of computing tasks to an edge computing service carried by a communication robot or a cloud computing service carried by a base robot according to a strategy when the computing tasks are executed; the terrain detection robot in the group robot has low computing power.
Role and function definitions of each robot in the group:
1) base robot
As shown in fig. 3, the base robot mainly includes the following functional modules: the system comprises a communication module, a cloud computing service module, a management module and a power supply module. The management module is used for managing a base robot and other robots, the communication module is used for realizing wireless coverage of the first area in the figure 1 and constructing a distributed self-organizing wireless communication network together with other communication robots so as to form a basic communication network, and the cloud computing service module is used for realizing computing processing. The following is a detailed description of the modules:
a communication module: the base robot has wireless coverage capability. The base robot completes wireless coverage of the area in fig. 1 through its own wireless transceiver unit, provides communication services and positioning and navigation services based on wireless coverage to other group robots moving in the area, and performs a base station communication mode. Meanwhile, the base robot is used as a communication relay node to jointly construct a basic communication network of the rescue support system with the communication robot; the base robot has a routing management function, is a routing server of a communication network constructed by the base robot and the communication robot in the whole area, provides routing service for all the robots and maintains dynamic routing tables of all the robots;
the cloud computing service module: the base robot has cloud computing service capability. The base robot has strong computing capacity, the base robot can be used as a dynamic computing demand manager and a dynamic computing demand provider, and other robots can dynamically unload computing demands (image building, path planning and the like) with low real-time requirements and high computing intensity to the base robot for execution by executing a computing unloading strategy so as to reduce computing loads of other robots and guarantee corresponding business computing capacity and cruising capacity; the base robot is also used as a Docker container of the group robot system to become an energizer of other robots, and the other robots can dynamically acquire specific computing capacity in a mode of pulling corresponding computing software through the Docker container in the base robot. The base robot processes the terrain information returned by the terrain detection robot from the front, so that the map construction service unloaded by the terrain detection robot and the communication robot is realized, the latest map of a target area is maintained, and the base robot is responsible for issuing the latest map to other robots with map requirements; based on the regional map and the wireless signal receiving strength, the base robot and the communication robot cooperate to provide positioning, path planning and navigation services for other robots; the base robot has the functions of map building, positioning, network planning and optimization, provides positioning and path planning services for other robots, and can realize map building of the whole area by using information acquired by the terrain detection robot.
A management module: the base robot has member registration management and resource management capabilities, the base robot is a registration server of all other robots, and the other robots must register when joining the group robot team; the overall strategy constructed by the rescue support system is promoted by the base robot in a mode of triggering the corresponding robot and the business execution flow stage by stage;
a power supply module: the base robot has a battery pack of the maximum capacity in the group robot.
The base robot has a low degree of autonomous mobility.
2) Communication robot
As shown in fig. 4, the communication robot mainly includes the following functional modules: the device comprises a communication module, an edge calculation service module, a power supply module, a motion module, a local calculation module and a positioning and navigation module. The communication module is used for realizing a communication coverage function in a wireless coverage area of the communication robot and constructing a rescue communication support system together with the base robot as a relay communication node, the edge computing service module is used for providing edge computing service, and the motion module is used for independently realizing self movement. The details are as follows:
a communication module: the communication robot is used for realizing a communication coverage function in the second area, maintaining a communication route, and constructing an emergency site self-organizing wireless communication basic network by the plurality of communication robots serving as relay communication nodes and the base robot; the communication robot has a communication relay function in the self-organizing communication network and is used as a relay communication node to realize the forwarding of all service information and control information.
An edge computing service module: the communication robot has edge computing service capability. The communication robot has medium computing capability, can provide edge computing service in a multi-agent network formed by the group robots, forms a distributed computing system together with cloud computing service provided by the base robot, and provides services such as positioning, navigation, path planning, drawing and the like for other robots.
A motion module: the communication robot has basic motion capability to ensure autonomous deployment and optimization of network planning of a communication system.
A power supply module: the battery pack of the communication robot has the cruising ability next to that of the base robot;
the local computing module: the communication robot has local computing service, has medium computing capacity, plays the role of an edge computing server in the group and can bear computing service unloaded by other robots in the group; the communication robot in the group robot has super computing capability.
A positioning and navigation module: positioning and navigation are realized through the wireless signal coverage range of the base robot and the wireless signal coverage range of the basic communication network.
3) Terrain detection robot
As shown in fig. 5, the terrain detection robot mainly includes the following functional modules: the device comprises a communication module, a terrain detection module, a local calculation module, a motion module, a power supply module and a positioning and navigation module.
A terrain detection module: the terrain detection robot has a terrain detection function. The terrain detection robot collects surrounding environment information through sensors such as a visual sensor, a laser radar sensor and a pedometer which are carried by the terrain detection robot, and transmits collected data back to the communication robot or the base robot, so that a detection area map is constructed.
A communication module: the terrain detection robot has a communication function, wherein the communication function mainly refers to that the communication function is used as a data receiving party/sending party, and data transmitted through a wireless communication network is processed, so that the terrain detection robot can perform data interaction with the communication robot and the base robot.
The local computing module: the terrain-detecting robot has a local computing service. The terrain detection robot has low computing power, the computing power of the terrain detection robot is only used for guaranteeing local computing requirements of services such as environment detection, data transmission, execution of a path planning scheme, positioning acquisition, navigation and obstacle avoidance, the terrain detection robot realizes a positioning function of the terrain detection robot by relying on a sensor and a rescue communication system carried by the terrain detection robot, and high-strength computing requirements of map and path planning are realized by the communication robot and a base robot side in a service or computation unloading mode.
A motion module: the terrain detection robot has a movement capability. The terrain detection robot has high degree of behavior capability and is the robot with the highest moving speed in the group robots.
A power supply module: the terrain detection robot is provided with a power supply module, so that normal processing of self service is guaranteed.
A positioning and navigation module: positioning and navigation are realized through the wireless signal coverage range of the base robot and the wireless signal coverage range of the basic communication network.
The invention provides a method for quickly establishing an emergency rescue support system by adopting a group robot, which comprises the following steps: s1 initializing the group robot; the base robot completes self initialization and triggers other robots to initialize; s2 construction phase of first area map of rescue support system: the base robot triggers the terrain detection robot to autonomously finish the terrain information acquisition of a first area (a communication coverage area of the base robot) of the rescue system, and the base robot finishes the map construction of the first area according to the acquired information of the terrain detection robot; s3 rescue support system communication network construction stage: the base robot carries out network planning on the basis of the map of the last stage, the related communication robot is autonomously deployed at the coverage edge of the base robot according to a planning scheme, the communication coverage range of the system is extended through the communication robot, and a basic communication network is constructed together with the base robot; s4 construction stage of the overall map (including the first area and the second area) of the rescue support system area: after the base robot activates the relevant terrain detection robot to extend in the last stage, the terrain information acquisition in the coverage area is completed in the coverage area of the basic communication network, and the base robot constructs an integral area map; s5 rescue support system communication network optimization stage: the base robot carries out communication network optimization on a known area based on the integral area map constructed in the previous stage, controls the communication robot to autonomously move to a communication robot station planned again, and completes communication support network optimization; s6 rescue support system calculation support service construction stage: the base robot activates a calculation support service mode, and the base robot cloud service and the communication robot edge service cooperate to provide communication and calculation support services for the next rescue service, so that the autonomous construction of the group robot emergency rescue support system is completed. A larger area rescue support service expansion may also be achieved by repeating the S3 through S6 phase construction process. The following is described in detail:
as shown in fig. 1 and 2, in the method for quickly establishing an emergency rescue support system by using a group robot, the establishment process of the emergency rescue support system is as follows:
s1: initializing the group robots;
the initialization stage is an initial stage when the group robots enter a target area, and the following states are achieved at initial time nodes: in addition to the base robot being in an active state, both the communication robot and the terrain detection robot are registered at the base robot and are in a dormant state to reduce power consumption.
As shown in fig. 1, the robot type participating in the construction of the rescue support system at this stage includes:
(1) a base robot; (2) a terrain detection robot; (3) a communication robot.
As shown in fig. 6, the initialization phase is a first phase of the construction of the rescue support system, and includes the following steps:
s11: the base robot firstly completes self initialization, enters a normal working mode and starts to provide communication and calculation services for all the robots;
s12: the base robot activates all other robots (communication robots, terrain detection robots) and completes basic parameter setting, and the base robot completes communication tests with the robots;
s13: and the other robots except the base robot enter a low-power consumption dormant state after initialization, and wait for the triggering instruction of the base robot.
In the initialization stage of the group robot, the base robot, which is the robot with the strongest function in the group robot, is the core of the whole system, so the initialization is particularly important.
After initialization begins, firstly, surrounding communication robots and terrain detection robots are activated, and the activated robots check basic functions of the robots, including whether the robots can normally move, whether a wireless network card is available, whether sensors are normal, and complete communication test, clock and information synchronization with a base robot; and after the self-checking is finished, then, communication testing between the robots is finished, wherein the testing comprises communication between the base robot and the communication robot, communication between the base robot and the terrain detection robot, and communication between the communication robot and the terrain detection robot, so that normal communication between the robots is ensured.
S2: a first area map construction stage of the rescue support system;
the robot type participating in the system construction at this stage includes:
(1) a base robot; (2) a terrain detection robot.
As shown in fig. 7, in the second stage of the construction of the rescue support system, the following steps are included:
s21, the base robot carries out map construction planning on the first area;
s22: the base robot activates a certain number of terrain detection robots;
s23: the terrain detection robot finishes first area terrain information acquisition: the terrain detection robot completes first area terrain information acquisition through an airborne sensor in cooperation with each other according to the terrain detection planning of the base robot, and marks related obstacles;
s24: the terrain detection robot transmits the acquired terrain information back to the base robot in real time;
s25: according to the terrain information of the first area acquired by the terrain detection robot, the base robot integrates the terrain information to realize the construction of a first area map, the terrain detection robot stops at the edge of the first area after the acquisition of the terrain information of the first area is finished to wait for a next step of instruction, and the first area terrain information acquisition and domain map construction process of the second stage are finished.
In the first area map construction stage of the rescue support system, aiming at the composition process, the base robot activates the terrain detection robot determined by the terrain detection plan, and completes the communication connection between the base robot and the terrain detection robot, so as to perform auxiliary work for the information interaction between the robots.
Furthermore, the terrain detection robot only has a function of collecting terrain information and does not have a map construction capability, so that the terrain information collected by the sensor needs to be transmitted back to the base robot, and the base robot completes the map construction. The terrain detection robot transmits the terrain information acquired by the airborne sensor back to the base robot; the base robot completes the fusion of terrain information collected by each terrain detection robot and completes the construction of a first area map.
S3: a rescue support system communication network construction stage;
the robot type participating in the system construction at this stage includes:
(1) a base robot; (2) a communication robot.
As shown in fig. 8, in the third stage of the construction of the rescue support system, the following steps are included:
s31: the base robot carries out overall communication network planning of area expansion to a second area according to the first area map of the previous stage, and determines the positions and the number of communication robots which are planned to be arranged at the communication coverage edge of the base robot;
s32: the base robot activates the communication robots with the quantity determined in the previous step, initializes the communication robots and establishes communication connection between the base robot and the communication robots; the base robot issues a known area map for the communication robot, tests positioning, navigation and path planning services, initializes and tests moving parts of the communication robot, and prepares for smooth deployment of the communication robot in an early stage;
s33: the base robot issues a path planning scheme for the communication robot, and the communication robot moves to the position of a communication station in the network planning scheme successively under the support of the positioning service and the navigation service of the base robot to complete the deployment of the communication robot;
s34: network test and communication service test of the communication system after the communication robot station deployment are carried out between the base robot and the communication robot;
s35: and the base robot and the communication robot enter a communication service mode, and the basic communication network is constructed.
And in the rescue support system communication network construction stage, the base robot plans the wireless communication network for the second area according to the first area map constructed in the second stage and the first area map drawn in the previous stage.
And the base robots determine the number and the distribution of the communication robots for realizing the coverage of the second area according to the planning design of the mobile cellular network. The base robot activates the communication robot to be deployed for planning, and issues a planned site position and path plan, the communication robot autonomously moves to the planned communication site position to complete deployment of the communication site of the communication robot, so that the communication network coverage area of the emergency rescue support system is expanded to a second area, communication system initialization and service test of the base robot and the communication robot are completed, and the construction of the rescue support communication network is initially completed.
S4: a rescue support system area integral map construction stage;
the robot type participating in the system construction at this stage includes:
(1) a base robot; (2) a terrain detection robot; (3) a communication robot.
As shown in fig. 9, in the fourth stage of the construction of the rescue support system, the following steps are included:
s41: the base robot carries out map construction planning on the second area;
s42: the base robot activates the terrain detection robots with the quantity required by map construction and planning, the terrain detection robots cooperate with each other and are connected with the communication robot in a proximity principle, the onboard shooting sensor is used for scanning the overall terrain information of the second area, and obstacles are marked;
s43: the terrain detection robot finishes the acquisition of terrain information of a second area and transmits the terrain information to the base robot: the terrain detection robot returns the acquired second region overall terrain information to the base robot through a rescue support system communication network formed by the base robot and the base robot at the last stage, and the base robot fuses the returned terrain information to complete construction of a second region overall map;
the communication coverage area of the rescue support system is expanded from the first area to the second area.
In a second area map building stage, a base robot activates a plurality of terrain detection robots, the terrain detection robots and the terrain detection robots activated in the previous stage are in a communication network coverage range built by the base robot and the communication robots, the terrain detection robots cooperate with each other to complete terrain information collection in a second area through airborne sensors, collected terrain information is returned to the base robot through a basic communication network built in the previous stage, the base robot fuses the collected information of the terrain detection robots, and the second area overall map building is completed.
S5: a rescue support system communication network optimization stage;
the robot type participating in the system construction at this stage includes:
(1) a base robot; (2) a communication robot.
As shown in fig. 10, in the fifth stage of the construction of the rescue support system, the following steps are included:
s51: according to the constructed regional whole map (including a first region and a second region) information, the base robot generates a communication network optimization scheme, outputs the optimized communication robot station position, performs path planning for each activated communication robot in the system according to the optimized network planning scheme, and issues the planned path to each communication robot;
s52: the communication robot autonomously moves according to a path issued by the base robot and completes the deployment of new communication robot stations;
s53: the base robot and the communication robot are subjected to optimized communication network test; starting a wireless network optimization data acquisition mode of the terrain detection robot to perform route testing, and performing local coverage adjustment according to a drive test result; the wireless network optimization data acquisition mode is used for acquiring data in the wireless network optimization process to realize the purpose of network data testing; and starting a normal communication service mode by the base robot and the communication robot, and finishing the optimization of the communication network of the rescue support system.
In the rescue support communication system optimization stage, the base robot optimizes the regional communication network according to the whole regional map (including the first region and the second region), redeployes each communication robot according to the optimization scheme, enables the communication robots to move to the optimized communication robot stations in sequence, and redeployes the communication robots, so that the communication network coverage area and the coverage quality of the rescue support system are further improved.
S6: a rescue support system calculation support service construction stage;
the robot type participating in the system construction at this stage includes:
(1) a base robot; (2) a communication robot.
As shown in fig. 11, in the sixth stage of the construction of the rescue support system, the following steps are included:
s61: the base robot triggers a base robot cloud computing service and a communication robot edge computing service to complete the initialization of the cloud computing and the edge computing service, and enters a rescue support system cloud edge collaborative computing working mode;
s62: the base robot starts a cloud service mode and the communication robot starts an edge service mode;
s63: the base robot and the communication robot complete cloud-edge cooperative computing work mode service testing, and complete rescue support system distributed computing network service testing;
s64: and the base robot enters a distributed cloud-edge collaborative computing working mode of the rescue support system to provide communication and computing services for next rescue service, and the construction of the computing support module of the emergency rescue support system of the group robot is completed.
In the step, the communication robot and the base robot perform a service test of the distributed cloud-edge collaborative computing working mode after the rescue support system communication network is optimized, and parameters of the computing support system are optimized according to a test result to complete the autonomous construction of the emergency rescue support system of the group robot.
The method for quickly establishing the rescue support system by adopting the group robot can quickly and effectively establish the rescue support system by the group robot in the area with incomplete information under the emergency condition, provide key basic services such as energy, communication, calculation and the like for the subsequent rescue workers to enter and quickly carry out other work, and reduce the rescue risk.
Claims (8)
1. A method for rapidly establishing an emergency rescue support system by adopting a group robot, wherein the group robot comprises a base robot, a communication robot and a terrain detection robot, and the method comprises the following steps:
s1: group robot initialization stage: the base robot completes self initialization, initializes other robots registered in the base robot, and after initialization, the communication robot and the terrain detection robot enter a low-power-consumption dormant state to wait for a trigger instruction of the base robot;
s2: a first area map construction stage of the rescue support system: in a communication coverage range of a base robot, the base robot activates a specific number of determined terrain detection robots, under the support of positioning and navigation services in the communication coverage range provided by the base robot, the terrain detection robots start a terrain information acquisition task to autonomously complete terrain information acquisition of a first area, the terrain information is acquired by the terrain detection robots and then sent back to the base robot, the base robot fuses information acquired by the terrain detection robots to generate a first area map, and the communication coverage range of the base robot is a wireless signal coverage area of the base robot and corresponds to the first area;
s3: a rescue support system communication network construction stage: on the basis of the first area map of step S2, the area communication coverage of the base robot needs to complete the wireless network planning from the first area to the second area, according to the number of network stations planned to be deployed at the edge of the first area coverage in the wireless network planning, the base robot activates a corresponding number of communication robots, the communication robots autonomously move to the network stations planned by the wireless network, and start the communication service to complete the autonomous deployment of the base communication network, the rescue support system communication network coverage extends from the first area to the second area, so as to realize the overall communication coverage including the first area and the second area, and provide the positioning and navigation services of the coverage, the communication coverage of the base robot and the communication robots form the wireless signal coverage area of the rescue support system communication network, and the communication coverage extended by the communication robots corresponds to the second area, the rescue support system communication network corresponds to a basic communication network;
s4: a rescue support system area integral map construction stage: the method comprises the following steps that a base robot activates a plurality of terrain detection robots, the terrain detection robots in an activated state autonomously move to designated subareas to complete terrain information acquisition under the support of a basic communication network positioning and navigation service constructed by the base robot and the communication robots, each terrain detection robot uploads acquired subarea terrain information to the base robot through the basic communication network, the base robot fuses the subarea terrain information acquired by each terrain detection robot to generate a rescue support system area whole map, and the rescue support system area whole map is issued to the communication robots and the terrain detection robots, wherein the rescue support system area comprises a first area and a second area;
s5: the rescue support system communication network optimization stage: based on the rescue support system area overall map of step S4, the base robot performs overall communication network site optimization on the rescue support system overall area, generates new site positions and path planning schemes of all communication robots and issues the new site positions and path planning schemes to the communication robots, and all the communication robots autonomously move to the newly planned communication robot site positions according to the respective path planning schemes to complete rescue support system communication network optimization;
s6: the rescue support system calculation support service construction stage comprises the following steps: starting a base robot cloud service and communication robot edge service mode, and completing a cloud edge cooperative computing working mode service test; and a computing service network constructed by the base robot and the communication robot enters a cloud-edge cooperative working mode to provide communication and computing services for next rescue service, and the autonomous construction of the group robot emergency rescue support system is completed.
2. The method for rapidly building an emergency rescue support system by using a group robot as claimed in claim 1, wherein the method comprises the following steps: in step S1, the base robot and the topography probe robot registered in the base robot are initialized, and the method includes the steps of:
s11: after the base robot completes self initialization, a certain number of terrain detection robots are activated;
s12: the terrain detection robot starts to carry out self-checking, and after the self-checking is finished, the terrain detection robot finishes communication testing, clock and information synchronization with the base robot.
3. The method for rapidly building an emergency rescue support system by using a group robot as claimed in claim 1, wherein the method comprises the following steps: in step S2, the process of creating a first area map of the rescue support system includes the following steps:
s21: the terrain detection robot activated in step S1 starts to complete the acquisition of the terrain information of the first area by the onboard sensor within the communication coverage of the base robot;
s22: the terrain detection robot transmits the acquired terrain information to the base robot respectively in real time;
s23: the base robot integrates the terrain information acquired by the terrain detection robot to realize the construction of a first area map covered by the base robot in communication;
s24: and after the terrain detection robot finishes the acquisition of the terrain information, the terrain detection robot stays at the edge of the first area of the base robot to wait for a next step of instruction.
4. The method for rapidly building an emergency rescue support system by using a group robot as claimed in claim 1, wherein the method comprises the following steps: in step S3, the construction of the rescue support system communication network includes the following steps:
s31: the base robot performs wireless network planning according to the first area map constructed in the step S2, and determines the positions and the number of the communication robot stations required for expanding the communication coverage of the rescue support system from the first area to the second area;
s32: the base robot activates the communication robots of which the number is determined in step S31, the communication robots complete self-checking, and a communication connection between the base robot and each communication robot is established;
s33: the base robot respectively issues path planning for each communication robot, and each communication robot autonomously moves to the site position planned in the step S31 to complete site deployment of the communication robots;
s34: the communication robot enters a base station communication mode, the base robot and the communication robot perform initialization and network test of a rescue support system communication network, and the rescue support system communication network capable of covering the first area and the second area is constructed.
5. The method for rapidly building an emergency rescue support system by using a group robot as claimed in claim 1, wherein the method comprises the following steps: in step S4, the process of constructing the rescue support system area overall map by the base robot includes the following steps:
s41: the base robot activates a plurality of terrain detection robots, and together with the terrain detection robot activated in the first stage, the terrain information acquisition of a second area is realized uniformly according to the map acquisition plan of the base robot, and the terrain information acquisition in the planned area is realized through an airborne sensor;
s42: after each terrain detection robot finishes collecting the terrain information of the planned area, the terrain detection robot returns the collected information to the base robot in real time through the basic communication network constructed in the step S3, and the base robot fuses the returned collected information of all the communication robots to finish the construction of an integral map containing the first area and the second area;
s43: the base robot issues an overall map containing the first area and the second area to the communication robot so that the rescue support system communication network provides positioning and navigation services within the coverage range of the rescue support system communication network.
6. The method for rapidly building an emergency rescue support system by using a group robot as claimed in claim 1, wherein the method comprises the following steps: in step S5, the steps of optimizing the rescue support system communication network are as follows:
s51: the base robot carries out communication network optimization according to the whole map information of the rescue support system area to generate an optimized communication robot station position, and the base robot issues a path plan for each communication robot according to an optimized network plan scheme;
s52: each communication robot autonomously moves to a new station position according to the path plan issued by the base robot to complete the deployment of the new station of the new communication robot;
s53: optimizing the base robot and the communication robot, performing network test, starting a wireless network optimization data acquisition mode of the terrain detection robot to perform network coverage quality test, and adjusting communication network parameters according to a test result; and finishing the construction of a rescue support system communication system.
7. The method for rapidly establishing the disaster site rescue support system by adopting the group robot as claimed in claim 6, wherein the method comprises the following steps: in step S6, the steps of the rescue support system calculation support service construction are as follows:
s61: the base robot triggers a base robot cloud computing service and a communication robot edge computing service to complete the initialization of the cloud computing and the edge computing service, and enters a rescue support system cloud edge collaborative computing working mode;
s62: the base robot starts cloud service, and the communication robot starts an edge service mode;
s63: the base robot and the communication robot complete cloud-edge cooperative computing work mode service testing, and complete rescue support system distributed computing network service testing;
s64: and entering a distributed cloud-edge cooperative computing working mode of the rescue support system, providing communication and computing services for the next rescue service, and finishing the autonomous construction of the group robot emergency rescue support system.
8. The method for automatically realizing the disaster site rescue support system by adopting the group robot as claimed in claim 1, which is characterized in that: the base robot and the communication robot can provide communication and calculation services for the terrain detection robot and various subsequent access devices.
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