CN114179084B - Method for quickly establishing emergency rescue support system by adopting group robots - Google Patents
Method for quickly 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, in an initialization stage of the group robots, the base robots finish self-initialization and trigger other robot initialization; s2, constructing a first regional map of the rescue support system; s3, constructing a communication network of the rescue support system; s4, constructing an overall map (comprising a first area and a second area) of the rescue support system area; s5, a communication network optimization stage of the rescue support system; and S6, the calculation support service construction stage of the rescue support system is completed, and the autonomous construction of the emergency rescue support system of the group robot is completed. The invention can also realize the expansion of the rescue support service in a larger area by repeating the construction process from the S3 stage to the S6 stage. According to the method, the rescue support system can be quickly and effectively built independently for the emergency rescue site through the group robots, and key support services such as communication and calculation are provided for subsequent rescue and rapid development of other works.
Description
Technical Field
The invention relates to a method for quickly establishing an emergency rescue support system by using group robots, in particular to a method for quickly establishing an emergency rescue support system by using group robots.
Background
After an emergency situation occurs, the safest and effective way of carrying out rescue is to quickly establish a rescue support system which can support rescue business, including but not limited to communication service and calculation service, through a machine on an emergency site with incomplete information and personnel life risk, so that the personnel risk is reduced for subsequent entry of rescue personnel, and the rescue security capability and the rescue efficiency are improved. The existing rescue robot is a single robot with multiple functions of autonomous walking, navigation positioning, life detection of trapped people, audio and video interaction, emergency rescue material conveying and the like, and is in a single state, so that the rescue robot can only independently move, the single robots lack effective collaborative operation capability, computing resources cannot be shared, environmental adaptability is poor, a rescue system with a certain service supporting function cannot be built for subsequent rescue work together, only the scene situation can be collected and then transmitted or carried back to a ground rescue base, the problems of risk prevention and service support of the rescue workers entering a rescue scene cannot be thoroughly solved, and although the emergency single rescue robot has greatly developed for many years, the building of a rescue supporting system including communication service and computing service still depends on the rescue workers entering the scene under the high risk condition to be deployed and built. Become 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 adopting a group robot, which is an implementation method for quickly establishing the emergency scene rescue support system by adopting the group robot, mainly aims at the emergency rescue scene, and solves the problems that the field information is incomplete or the original environment state is changed, and the communication system and the computing system are damaged or lack of scene, and adopts the self-organizing group robot to quickly and autonomously realize the construction method of the rescue support system comprising communication service and computing service, and the technical scheme is as follows:
A method for quickly establishing an emergency rescue support system by using 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 of:
S1: group robot initialization phase: the base robot completes self initialization, other robots registered in the base robot are initialized, and the communication robot and the terrain detection robot enter a low-power-consumption dormant state after initialization, and wait for a trigger instruction of the base robot;
S2: a first regional map construction stage of the rescue support system: activating a specific number of terrain detection robots in a communication coverage area of a base robot, starting terrain information acquisition tasks by the terrain detection robots under the support of positioning and navigation services in the communication coverage area provided by the base robot, automatically completing terrain information acquisition of the communication coverage area of the base robot, sending the terrain information back to the base robot after the terrain information is acquired by the terrain detection robots, and generating a first area map by fusing information acquired by the terrain detection robots by the base robot, wherein 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: the construction stage of the communication network of the rescue support system: on the basis of the first area map in the 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, the base robot activates a corresponding number of communication robots according to the number of network sites planned to be deployed at the coverage edge of the first area in the wireless network planning, the communication robots autonomously move to the network sites planned by the wireless network and start communication services to complete the autonomous deployment of a basic communication network, the rescue support system communication network coverage is from the first area to the second area, the whole communication coverage comprising the first area and the second area is realized, the communication coverage of the base robot and the communication robots is provided, the wireless signal coverage area of the rescue support system communication network is formed, the communication coverage of the communication robot extended corresponds to the second area, and the rescue support system communication network corresponds to the basic communication network;
S4: and (3) a stage of constructing an overall map of the rescue support system area: the method comprises the steps that a plurality of terrain detection robots are activated by a base robot, under the support of a basic communication network positioning and navigation service constructed by the base robot and a communication robot, the terrain detection robots in an activated state autonomously move to a designated subarea to complete terrain information acquisition, all terrain detection robots upload the acquired subarea terrain information to the base robot through the basic communication network, the base robot fuses the subarea terrain information acquired by all terrain detection robots to generate a rescue support system area integral map, and the rescue support system area integral map is issued to the communication robot and the terrain detection robots, wherein the rescue support system area comprises a first area and a second area;
S5: and a rescue support system communication network optimization stage: based on the rescue support system region integral map in the step S4, the base robot optimizes the integral communication network site of the rescue support system region, generates new site positions and path planning schemes of all communication robots and transmits the new site positions and the 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 path planning schemes to complete the rescue support system communication network optimization;
S6: the rescue support system calculation support service construction stage: starting a base robot cloud service and a communication robot edge service mode to finish cloud edge cooperative computing working mode business test; the calculation service network constructed by the base robot and the communication robot enters a cloud edge cooperative work mode to provide communication and calculation services for the next rescue service, and the autonomous construction of the emergency rescue support system of the group robot is completed.
Further, in step S1, the base robot and the topography detection robot registered in the base robot are initialized, including the steps of:
S11: activating a determined number of terrain detection robots after the base robot completes self-initialization;
S12: the terrain detection robot starts to perform self-checking, and after the self-checking is finished, the terrain detection robot finishes communication test, clock and information synchronization with the base robot.
Further, in step S2, a construction process of generating a first area map of the rescue support system includes the following steps:
s21: the terrain detection robot activated in the step S1 starts to be in the communication coverage area of the base robot, and the terrain information acquisition of the first area is completed through the airborne sensor;
s22: the terrain detection robot transmits the acquired terrain information to the base robot in real time respectively;
S23: the base robot fuses the terrain information acquired by the terrain detection robot, so that the construction of a first area map covered by the communication of the base robot is realized;
S24: after the topographic information acquisition is completed, the topographic detection robot stays at the edge of the first area of the base robot to wait for a next instruction.
Further, in step S3, the construction of the communication network of the rescue support system 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 communication robot stations required by the communication coverage area of the rescue support system to be expanded from the first area to the second area;
S32: the base robot activates the communication robots with the determined quantity in the step S31, the communication robots complete self-checking, and communication connection between the base robot and each communication robot is established;
S33: the base robot issues path planning for each communication robot respectively, and each communication robot autonomously moves to the site position planned in the step S31 to complete site deployment of the communication robot;
S34: the communication robot enters a base station communication mode, and a rescue support system communication network is initialized and tested between the base station robot and the communication robot, so that a rescue support system communication network capable of covering a first area and a 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 the terrain detection robots activated in the first stage are used together to realize the terrain information acquisition of the second area according to the map acquisition planning of the base robot, and the airborne sensors are used to realize the terrain information acquisition in the planning area;
S42: after each terrain detection robot completes the acquisition of the terrain information of the planned area, the terrain detection robot transmits the acquired information back to the base robot in real time through the basic communication network constructed in the step S3, and the base robot fuses the returned acquired information of all the communication robots to complete the overall map construction comprising 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 its coverage range.
Further, in step S5, the step of optimizing the communication network of the rescue support system is as follows:
S51: the base robot performs communication network optimization according to the overall map information of the rescue support system area, the site position of the communication robot after optimization is generated, and the base robot issues path planning for each communication robot according to the optimized network planning scheme;
s52: each communication robot moves to a new site position autonomously according to the path planning issued by the base robot, so that the deployment of a new site of the new communication robot is completed;
S53: the base robot and the communication robot perform optimized network test, a wireless network optimized data acquisition mode of the terrain detection robot is started to perform route test, and local coverage adjustment is performed according to a route test result; the wireless network optimization data acquisition mode is to acquire data in the wireless network optimization process, so as to realize the purpose of network data test; and (5) optimizing the communication network of the rescue support system.
Further, in step S6, the rescue support system calculates the support service construction as follows:
S61: the base robot triggers cloud computing service of the base robot and edge computing service of the communication robot, completes initialization of cloud computing and edge computing service, and enters a cloud edge cooperative computing working mode of the rescue support system;
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 working mode service testing, and complete distributed computing network service testing of the rescue support system;
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 completing autonomous construction of the emergency rescue support system of the group robot.
Furthermore, the base robot and the communication robot can provide communication and calculation services for the terrain detection robot and various subsequent access devices.
The method for quickly establishing the emergency site or unknown area rescue support system by using the group robots can quickly and effectively establish the rescue support system for disaster occurrence areas or unknown areas far away from public service facilities through the group robots, provide key basic services such as communication and calculation for quick development of subsequent rescue and other works, and also can realize larger area rescue support service expansion by repeating S3-S6 stage construction processes.
Drawings
FIG. 1 is a schematic illustration of a prototype of the rescue support system;
FIG. 2 is a schematic diagram of an overall construction flow for quickly establishing a rescue support system using group robots;
FIG. 3 is a schematic diagram of the base robot functional module;
FIG. 4 is a schematic diagram of the communication robot functional module;
FIG. 5 is a schematic diagram of the terrain exploration robot functional module;
FIG. 6 is a schematic diagram of a group robot initialization flow for quickly establishing a rescue support system using a group robot;
FIG. 7 is a schematic diagram of a first regional map construction process for quickly establishing a rescue support system using group robots;
FIG. 8 is a schematic diagram of a communication network construction stage for quickly establishing a rescue support system by using a group robot;
FIG. 9 is a schematic diagram of a construction stage of a region overall map (including a first region and a second region) for quickly establishing a rescue support system using group robots;
FIG. 10 is a schematic flow diagram of the communication network optimization process stage for quickly establishing a rescue support system by using the group robots;
Fig. 11 is a schematic diagram of a computing support service construction stage for quickly establishing a rescue support system by using a 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 situation comprises various incomplete information spaces. Under the field, firstly, the whole to partial information in the space field is unknown, and personnel directly enter the space field under the condition of no communication and calculation support, so that the personnel risk exists; secondly, the space field cannot rely on external resources completely to obtain communication and data calculation assistance; the invention provides a group robot realization method for automatically establishing a rescue support system through a group robot, namely completing the space rescue basic service support system (communication service and calculation service).
The preconditions for the application of the present invention include or are limited to: in the initial situation, the group robots including the base robots are needed, the single robots in the group robots have different role definitions, the base robots are full-function roles, and the base robots are the execution roles for constructing the whole strategy by the 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 robot, and serves as a private cloud server role of the group robot to provide cloud computing service for local area network nodes; the communication robots in the member robots have stronger computing capacity, take the role of edge computing service in the supporting system, realize cloud edge cooperative computing service support together with the base robots through a wireless communication network, and provide cloud edge cooperative service providers for the rescue supporting 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 a fixed wired infrastructure, each communication relay node born by the communication robot is self-moving deployment, and in the communication network, two communication relay nodes which cannot directly communicate can carry out packet forwarding by virtue of other nodes due to the limited wireless coverage range of the communication relay node born by the communication robot. Each communication relay node is a router at the same time and has the functions of completing discovery and maintaining routing to other nodes, and the topography detection robot and other network access equipment can realize data communication among the equipment and between the equipment and the base robot and the communication robot through a distributed and self-organizing communication network constructed by the base robot and the communication robot.
The rescue support system of an emergency scene defines: the rescue support system is a minimum system which is established on the incomplete information site from the absence of any communication and calculation support resources and is provided with basic service supports such as communication service and calculation service, and the support system can meet the requirement of realizing detection and search business of an incomplete information risk space based on the basic services. The rescue support system prototype is shown in fig. 1: including base robots, communication robots, and terrain exploration robots. In fig. 1: baseRob-base robot, repRob-communication robot, mapRob-terrain exploration robot.
The following describes the members of the group robot:
1. The group robots include a base robot, a communication robot, and a terrain detection robot.
2. The energy systems of all robots are powered by batteries;
3. Behavior capabilities of group robots: the behavioral capabilities of group robots are divided into three stages: 1. low-range level behavioral capabilities, base robots in the group robots have low-level behavioral capabilities; 2. the communication robots in the group robots have medium-level behavior capability 3 and high-level behavior capability, and the terrain detection robots in the group robots have high-level behavior capability; the degree of the behavior capability can be divided according to different movement modes and scene passing speed settings.
4. Communication capabilities of group robots: 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 equipment which subsequently accesses the network receive the communication service, realize other business based on the communication service, and are recipients of the communication service.
5. Computing power of group robots: the computing power of the group robot is divided into three stages: 1) Super computing capability takes on the role of a cloud computing server in the group of robots and can take on computing services unloaded by other robots in the group; the base robots in the group robots have super computing capacity; 2) The medium computing capacity takes on the role of an edge computing server in the group and can take on the computing services unloaded by other robots in the group; communication robots in the group robots have super computing capacity; 3) The special computing service is finished in the group of robots, and the robots with the low computing capability possibly unload part of computing tasks to the edge computing service carried by the communication robot or the cloud computing service carried by the base robot according to the strategy when performing the computing tasks; the terrain detection robots in the group robot have low computing power.
Role and function definition of each robot in the group:
1) Base robot
As shown in fig. 3, the base robot mainly includes the following functional modules: the cloud computing system comprises a communication module, a cloud computing service module, a management module and a power module. The management module is used for management of the base robots and other robots, the communication module is used for realizing wireless coverage of the first area in fig. 1 and constructing a distributed self-organizing wireless communication network together with other communication robots so as to form a base communication network, and the cloud computing service module is used for realizing computing processing. The following describes each module in detail:
And a communication module: the base robot has wireless coverage capability. The base robot completes the wireless coverage of the area in fig. 1 through a wireless receiving and transmitting unit of the base robot, provides communication service for other group robots moving in the area, and performs a base station communication mode based on the positioning and navigation service of the wireless coverage. Simultaneously, 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 route management function, is a route server of a communication network constructed by the whole regional base robot and the communication robot, provides route service for all robots, and maintains a dynamic route table of all robots;
Cloud computing service module: the base robot has cloud computing service capability. The base robot has strong calculation capability, the base robot can be used as a dynamic calculation requirement management party and a provider, and other robots can dynamically unload calculation requirements (map building, path planning and the like) with low real-time requirements and high calculation strength to the base robot for execution by executing a calculation unloading strategy so as to reduce the calculation load of the other robots and ensure the corresponding service calculation capability and cruising capability; the base robot is also used as a Docker container of the group robot system and becomes an enabling party of other robots, and the other robots can dynamically acquire specific computing capacity in a mode of pulling corresponding computing software from the Docker container in the base robot. The base robot processes the terrain information returned from the front of the terrain detection robot to realize the map construction service unloaded by the terrain detection robot and the communication robot, maintains the latest map of the target area and is responsible for issuing to other robots with map requirements; based on the regional map and the wireless signal receiving intensity, the base robot and the communication robot cooperatively provide positioning, path planning and navigation services for other robots; the base robot has the functions of drawing construction, positioning, network planning and optimizing, provides positioning and path planning services for other robots, and can realize map construction of the whole area by utilizing the information acquired by the terrain detection robot.
And 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 other robots joining a group robot team must register first; the whole strategy constructed by the rescue support system is propelled by the base robot in a mode of triggering the corresponding robot and the service execution flow step by step;
and a power supply module: the base robot has a battery pack of the maximum capacity among the group robots.
The base robot has a low degree of autonomous movement capability.
2) Communication robot
As shown in fig. 4, the communication robot mainly includes the following functional modules: the system comprises a communication module, an edge computing service module, a power module, a motion module, a local computing 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 calculation service module is used for providing edge calculation service, and the motion module is used for autonomously realizing self-movement. The specific steps are as follows:
And a communication module: the communication robots are used for realizing a communication coverage function in the second area, maintaining a communication route, and constructing an ad hoc wireless communication base network of an emergency site by the plurality of communication robots serving as relay communication nodes together with the base robots; the communication robot has a communication relay function in an ad hoc communication network, and serves as a relay communication node to realize forwarding of all service information and control information.
Edge computing service module: the communication robot is provided with 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, and forms a distributed computing system together with cloud computing service provided by the base robots, so as to provide services such as positioning, navigation, path planning, map building and the like for other robots.
And a motion module: the communication robot has basic movement capability to ensure autonomous deployment and optimization of communication system network planning.
And a power supply module: the battery pack of the communication robot has the cruising ability inferior to that of the base robot;
And a local calculation module: the communication robot has local computing service, has medium computing capability, takes on the role of an edge computing server in the group, and can take on the computing service unloaded by other robots in the group; communication robots in the group robot have super computing capability.
And a positioning and navigation module: positioning and navigation are realized through the wireless signal coverage of the base robot and the wireless signal coverage of the base communication network.
3) Terrain detection robot
As shown in fig. 5, the terrain detection robot mainly comprises the following functional modules: the system comprises a communication module, a terrain detection module, a local calculation module, a motion module, a power module and a positioning and navigation module.
The terrain detection module: the terrain detection robot has a terrain detection function. The terrain detection robot collects surrounding environment information through the vision sensor, the laser radar sensor, the pedometer and other sensors carried by the terrain detection robot, and transmits collected data back to the communication robot or the base robot, so that the construction of a map of a detection area is realized, and the terrain detection robots are multiple in number and realize the rapid detection of the terrain information of an operation area in a cooperative manner.
And a communication module: the terrain detection robot has a communication function, wherein the communication function mainly refers to that the terrain detection robot is taken as a receiving party/a transmitting party of data, and the data transmitted through a wireless communication network is processed, so that the terrain detection robot can interact with the communication robot and the base robot.
And a local calculation module: the terrain exploration robot has a local computing service. The terrain detection robot has low-level computing capacity, the computing capacity is only used for guaranteeing local computing demands of services such as environment detection, data transmission, path planning scheme execution, positioning acquisition, navigation, obstacle avoidance and the like, the terrain detection robot depends on a sensor carried by the terrain detection robot and a rescue communication system to realize the positioning function of the terrain detection robot, and high-strength computing demands such as map, path planning and the like are all realized on the communication robot and the base robot side in a service or computing unloading mode.
And a motion module: the terrain detection robot has a motion capability. The terrain exploration robot has high-degree behavior capability and is the robot with the highest moving speed in the group robot.
And a power supply module: the terrain detection robot is provided with a power supply module, so that the normal processing of own business is ensured.
And a positioning and navigation module: positioning and navigation are realized through the wireless signal coverage of the base robot and the wireless signal coverage of the base 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 a group robot; the base robot completes self-initialization and triggers other robot initialization; s2, constructing a first regional map of the rescue support system: the base robot triggers the terrain detection robot to autonomously complete terrain information acquisition of a first area (communication coverage area of the base robot) of the rescue system, and the base robot completes first area map construction according to the information acquired by the terrain detection robot; s3, a communication network construction stage of the rescue support system: the base robot performs network planning on the basis of the upper-stage map, and related communication robots are autonomously deployed at the coverage edge of the base robot according to a planning scheme, extend the communication coverage of the system through the communication robots, and construct a base communication network together with the base robot; s4, constructing an overall map (comprising a first area and a second area) of the rescue support system area: the base robot activates the relevant terrain detection robot to complete terrain information acquisition in the coverage area of the base communication network after the relevant terrain detection robot extends in the upper stage, and the base robot constructs an integral area map; s5, communication network optimization stage of the rescue support system: the base robot optimizes the communication network of the known area based on the whole area map constructed in the upper stage, and controls the communication robot to autonomously move to the re-planned communication robot station again to complete the optimization of the communication support network; s6, a calculation support service construction stage of the rescue support system: and activating a calculation support service mode by the base robot, and cooperatively providing communication and calculation support service for next rescue service by the cloud service of the base robot and the edge service of the communication robot to complete autonomous construction of the emergency rescue support system of the group robot. Larger area rescue support service extensions may also be achieved by repeating the S3 to S6 stage build process. The following is described in detail:
As shown in fig. 1 and fig. 2, the method for quickly establishing the emergency rescue support system by using the group robot realizes the establishment process of the emergency rescue support system as follows:
s1: initializing a group robot;
The initialization stage is an initial stage of the group robot entering the target area, and the following states are achieved at the initial time node: except for the base robot being in an active state, both the communication robot and the terrain detection robot are registered at the base robot and in a dormant state to reduce power consumption.
As shown in fig. 1, the robot type participating in the rescue support system construction at this stage includes:
(1) A base robot; (2) a terrain detection robot; (3) a communication robot.
As shown in fig. 6, the initialization stage is a first stage of constructing 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 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 being initialized, and wait for a trigger instruction of the base robot.
In the initialization stage of the group robot, the base robot is the most powerful robot in the group robot and is the core of the whole system, so that the initialization is particularly important.
After initialization is started, firstly, surrounding communication robots and terrain detection robots are activated, and each activated robot checks own basic functions including whether normal movement can be performed, whether a wireless network card is available, whether each sensor is normal, and the communication test, clock and information synchronization with a base robot are completed; after the self-checking is finished, the communication test between the robots is finished, wherein the test 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, and normal communication between the robots is ensured.
S2: a first regional map construction stage of the rescue support system;
The robot types involved in the system construction at this stage include:
(1) A base robot; (2) terrain detection robots.
As shown in fig. 7, in the second stage of the rescue support system construction, the method comprises the following steps:
s21, map construction planning is carried out on the first area by the base robot;
S22: activating a determined number of terrain detection robots by the base robot;
s23: the terrain detection robot completes the acquisition of the terrain information of the first area: the terrain detection robot completes the acquisition of the terrain information of the first area through the airborne sensor in a mutual cooperation mode 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 first regional terrain information acquired by the terrain detection robot, the construction of a first regional map is realized by integrating the terrain information by the base robot, the terrain detection robot stops at the edge of the first region after the acquisition of the first regional terrain information is completed to wait for a next instruction, and the first regional terrain information acquisition and regional map construction process of the second stage is completed.
In a first regional map construction stage of the rescue support system, aiming at a composition process, a base robot activates a terrain detection robot determined by terrain detection planning, and completes communication connection between the base robot and the terrain detection robot, so as to make auxiliary work for information interaction between the robots.
Furthermore, the terrain detection robot only has the function of collecting the terrain information and does not have the map construction capability, so that the terrain information collected by the sensor needs to be transmitted back to the base robot, and the map construction is completed by the base robot. 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 the terrain information acquired by the terrain detection robots and completes the construction of the first area map.
S3: a communication network construction stage of the rescue support system;
The robot types involved in the system construction at this stage include:
(1) A base robot; (2) a communication robot.
As shown in fig. 8, in a third stage of the rescue support system construction, the method comprises the following steps:
S31: the base robot performs overall communication network planning from the region expansion to the second region according to the first region map in the upper stage, and positions and the number of communication robots which are planned to be arranged on the communication coverage edge of the base robot are determined;
S32: the base robot activates the communication robots with the determined quantity 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 a moving part of the communication robot, and makes early preparation for smooth deployment of the communication robot;
S33: the base robot issues a path planning scheme for the communication robot, and the communication robot moves to the communication site position in the network planning scheme in succession under the support of the positioning service and the navigation service of the base robot, so that the deployment of the communication robot is completed;
s34: the communication system network test and the communication service test are carried out after the deployment of the communication robot station between the base robot and the communication robot;
s35: the base robot and the communication robot enter a communication service mode, and the construction of the base communication network is completed.
And in the communication network construction stage of the rescue support system, the base robot performs wireless communication network planning on 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 second area coverage according to the mobile cellular network planning design. The base robot activates the communication robot to be deployed for planning, issues planning site positions and path planning, and the communication robot autonomously moves to the planning and planning communication site positions to complete deployment of communication sites 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 testing of the base robot and the communication robot are completed, and the rescue support communication network construction is primarily completed.
S4: a step of constructing an overall map of the rescue support system area;
The robot types involved in the system construction at this stage include:
(1) A base robot; (2) a terrain detection robot; (3) a communication robot.
As shown in fig. 9, in a fourth stage of the rescue support system construction, the method comprises the steps of:
S41: the base robot performs map construction planning on the second area;
S42: the base robots activate the terrain detection robots with the quantity required by map construction planning, the terrain detection robots cooperate with each other and are connected with the communication robots in a nearby principle, and the onboard pickup sensor is used for carrying out overall terrain information scanning of the second area and marking obstacles;
S43: the terrain detection robot completes the acquisition of the terrain information of the second area and transmits the terrain information to the base robot: the terrain detection robot transmits the collected overall terrain information of the second area back to the base robot through a rescue support system communication network formed by the base robot and the base robot at the upper stage, and the base robot fuses the transmitted terrain information to complete the overall map construction of the second area;
the communication coverage area of the rescue support system is expanded from the first area to the second area.
In the second regional map construction stage, the 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 the coverage range of a communication network constructed by the base robot and the communication robot, the terrain detection robots cooperate with each other to finish the acquisition of terrain information in the second region through the airborne sensors, the acquired terrain information is transmitted back to the base robot through the base communication network constructed in the previous stage, and the base robot fuses the acquired information of the terrain detection robots to finish the integral map construction of the second region.
S5: a communication network optimization stage of the rescue support system;
The robot types involved in the system construction at this stage include:
(1) A base robot; (2) a communication robot.
As shown in fig. 10, in a fifth stage of the rescue support system construction, the method includes the steps of:
S51: generating a communication network optimization scheme by the base robot according to the constructed regional overall map (comprising the first region and the second region), outputting the optimized communication robot site position, planning a path for each communication robot activated in the system by the base robot according to the optimized network planning scheme, and issuing the planned path to each communication robot;
s52: the communication robot autonomously moves according to the path issued by the base robot and completes the deployment of a new communication robot station;
S53: the communication network test is carried out after the optimization of the base robot and the communication robot; 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 route test result; the wireless network optimization data acquisition mode is to acquire data in the wireless network optimization process, so as to realize the purpose of network data test; and starting a normal communication service mode by the base robot and the communication robot, and completing the optimization of the communication network of the rescue support system.
In the rescue support communication system optimizing stage, the base robot optimizes the regional communication network according to the whole regional map (comprising a first region and a second region), and redeploys each communication robot according to the optimizing scheme, so that the communication robots move to the optimized communication robot sites successively, the communication robot deployment is completed again, and the communication network coverage area and coverage quality of the rescue support system are further improved.
S6: a rescue support system calculation support service construction stage;
The robot types involved in the system construction at this stage include:
(1) A base robot; (2) a communication robot.
As shown in fig. 11, in a sixth stage of the rescue support system construction, the method includes the steps of:
S61: the base robot triggers cloud computing service of the base robot and edge computing service of the communication robot, completes initialization of cloud computing and edge computing service, and enters a cloud edge cooperative computing working mode of the rescue support system;
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 working mode service testing, and complete distributed computing network service testing of the rescue support system;
s64: the base robot enters a distributed cloud edge cooperative computing working mode of the rescue support system, communication and computing services are provided for next rescue service, and the group robot emergency rescue support system computing support module is built.
In the step, the communication robot and the base robot perform service testing of the distributed cloud edge collaborative computing working mode after the rescue support system communication network is optimized, and parameters of the support system are optimized and computed according to test results, so that the emergency rescue support system of the group robot is built autonomously.
The method for quickly establishing the rescue support system by using the group robots can quickly and effectively establish the rescue support system by the group robots in the area with incomplete information under emergency conditions, provide key basic services such as energy, communication and calculation for the quick development of subsequent rescue personnel and other works, and reduce rescue risks.
Claims (8)
1. A method for quickly establishing an emergency rescue support system by using 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 phase: the base robot completes self initialization, other robots registered in the base robot are initialized, and the communication robot and the terrain detection robot enter a low-power-consumption dormant state after initialization, and wait for a trigger instruction of the base robot;
s2: a first regional map construction stage of the rescue support system: activating a determined specific number of terrain detection robots in a communication coverage area of the base robot, starting terrain information acquisition tasks by the terrain detection robots under the support of positioning and navigation services in the communication coverage area provided by the base robot, automatically completing terrain information acquisition of a first area, sending the terrain information back to the base robot after being acquired by the terrain detection robots, and generating a first area map by fusing information acquired by the terrain detection robots by the base robot, wherein 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: the construction stage of the communication network of the rescue support system: on the basis of the first area map in the 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, the base robot activates a corresponding number of communication robots according to the number of network sites planned to be deployed at the coverage edge of the first area in the wireless network planning, the communication robots autonomously move to the network sites planned by the wireless network and start communication services to complete the autonomous deployment of a basic communication network, the rescue support system communication network coverage is from the first area to the second area, the whole communication coverage comprising the first area and the second area is realized, the communication coverage of the base robot and the communication robots is provided, the wireless signal coverage area of the rescue support system communication network is formed, the communication coverage of the communication robot extended corresponds to the second area, and the rescue support system communication network corresponds to the basic communication network;
S4: and (3) a stage of constructing an overall map of the rescue support system area: the method comprises the steps that a plurality of terrain detection robots are activated by a base robot, under the support of a basic communication network positioning and navigation service constructed by the base robot and a communication robot, the terrain detection robots in an activated state autonomously move to a designated subarea to complete terrain information acquisition, all terrain detection robots upload the acquired subarea terrain information to the base robot through the basic communication network, the base robot fuses the subarea terrain information acquired by all terrain detection robots to generate a rescue support system area integral map, and the rescue support system area integral map is issued to the communication robot and the terrain detection robots, wherein the rescue support system area comprises a first area and a second area;
S5: and a rescue support system communication network optimization stage: based on the rescue support system region integral map in the step S4, the base robot optimizes the integral communication network site of the rescue support system region, generates new site positions and path planning schemes of all communication robots and transmits the new site positions and the 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 path planning schemes to complete the rescue support system communication network optimization;
S6: the rescue support system calculation support service construction stage: starting a base robot cloud service and a communication robot edge service mode to finish cloud edge cooperative computing working mode business test; the calculation service network constructed by the base robot and the communication robot enters a cloud edge cooperative work mode to provide communication and calculation services for the next rescue service, and the autonomous construction of the emergency rescue support system of the group robot is completed.
2. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: in step S1, the base robot and the terrain probe robot registered in the base robot are initialized, and the method includes the steps of:
S11: activating a determined number of terrain detection robots after the base robot completes self-initialization;
S12: the terrain detection robot starts to perform self-checking, and after the self-checking is finished, the terrain detection robot finishes communication test, clock and information synchronization with the base robot.
3. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: in step S2, a construction process for generating a first area map of the rescue support system includes the following steps:
s21: the terrain detection robot activated in the step S1 starts to be in the communication coverage area of the base robot, and the terrain information acquisition of the first area is completed through the airborne sensor;
s22: the terrain detection robot transmits the acquired terrain information to the base robot in real time respectively;
S23: the base robot fuses the terrain information acquired by the terrain detection robot, so that the construction of a first area map covered by the communication of the base robot is realized;
S24: after the topographic information acquisition is completed, the topographic detection robot stays at the edge of the first area of the base robot to wait for a next instruction.
4. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: in step S3, the construction of the communication network of the rescue support system 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 communication robot stations required by the communication coverage area of the rescue support system to be expanded from the first area to the second area;
S32: the base robot activates the communication robots with the determined quantity in the step S31, the communication robots complete self-checking, and communication connection between the base robot and each communication robot is established;
S33: the base robot issues path planning for each communication robot respectively, and each communication robot autonomously moves to the site position planned in the step S31 to complete site deployment of the communication robot;
S34: the communication robot enters a base station communication mode, and a rescue support system communication network is initialized and tested between the base station robot and the communication robot, so that a rescue support system communication network capable of covering a first area and a second area is constructed.
5. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: 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 the terrain detection robots activated in the first stage are used together to realize the terrain information acquisition of the second area according to the map acquisition planning of the base robot, and the airborne sensors are used to realize the terrain information acquisition in the planning area;
S42: after each terrain detection robot completes the acquisition of the terrain information of the planned area, the terrain detection robot transmits the acquired information back to the base robot in real time through the basic communication network constructed in the step S3, and the base robot fuses the returned acquired information of all the communication robots to complete the overall map construction comprising 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 its coverage range.
6. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: in step S5, the step of optimizing the communication network of the rescue support system is as follows:
S51: the base robot performs communication network optimization according to the overall map information of the rescue support system area, the site position of the communication robot after optimization is generated, and the base robot issues path planning for each communication robot according to the optimized network planning scheme;
s52: each communication robot moves to a new site position autonomously according to the path planning issued by the base robot, so that the deployment of a new site of the new communication robot is completed;
S53: the base robot and the communication robot perform network testing after optimization, a wireless network optimization data acquisition mode of the terrain detection robot is started to perform network coverage quality testing, and communication network parameters are adjusted according to the testing result; and (5) constructing a communication system of the rescue support system.
7. The method for quickly establishing an emergency rescue support system using a group robot of claim 6, wherein: in step S6, the rescue support system calculates the support service construction steps as follows:
S61: the base robot triggers cloud computing service of the base robot and edge computing service of the communication robot, completes initialization of cloud computing and edge computing service, and enters a cloud edge cooperative computing working mode of the rescue support system;
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 working mode service testing, and complete distributed computing network service testing of the rescue support system;
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 completing autonomous construction of the emergency rescue support system of the group robot.
8. The method for quickly establishing an emergency rescue support system using a group robot according to claim 1, wherein: 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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