CN115056235B - Multi-mode fusion positioning-based rat search and rescue robot and search and rescue method - Google Patents

Multi-mode fusion positioning-based rat search and rescue robot and search and rescue method Download PDF

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CN115056235B
CN115056235B CN202210584067.9A CN202210584067A CN115056235B CN 115056235 B CN115056235 B CN 115056235B CN 202210584067 A CN202210584067 A CN 202210584067A CN 115056235 B CN115056235 B CN 115056235B
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search
rat
stimulation
rescue
stimulation signal
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CN115056235A (en
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郑能干
李琦琦
张焓
王鹏飞
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Zhejiang University ZJU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)

Abstract

The invention discloses a rat search and rescue robot and a search and rescue method based on multi-mode fusion positioning, wherein the rat search and rescue robot comprises a rat biological body, an electronic knapsack module and a system platform, the electronic knapsack module comprises a microprocessor, a pulse generator, a channel selector, a wireless communication signal receiving module, a UWB human body existence sensor, a positioning module and a power supply circuit, the system platform comprises an upper computer and a wireless communication signal transmitting module, and wireless communication connection is established in a wireless communication mode so as to build an information interaction path between a computer system and a biological brain central nervous system among the rat biological body, the electronic knapsack module and the system platform. The rat robot realized by the brain-computer interface technology directly takes the body of the rat as a body, keeps the good function of the animal through natural evolution, does not need to detect and judge the environment by a special control algorithm in a complex environment, and can autonomously realize the motion control and obstacle avoidance functions by utilizing the existing capability of the rat.

Description

Multi-mode fusion positioning-based rat search and rescue robot and search and rescue method
Technical Field
The invention relates to the technical field of robot search and rescue, in particular to a rat search and rescue robot based on multi-mode fusion positioning and a search and rescue method.
Background
An animal robot is a novel special robot, which is based on the principle of neurobiology and stimulates the relevant nerve area of an animal in a specific way so that the animal can act according to the expected human, such as walking according to a preset track and/or executing corresponding actions. Compared with the traditional robot, the animal robot can effectively solve the key technical problems of energy supply, motion stability and the like of the traditional robot, and the system cost is greatly reduced.
In addition, the animal robot has great advantages in the aspects of environmental adaptability, concealment, maneuverability and the like because the instinct of animals is reserved, so that the animal robot is used as a special robot and has important application value in the fields of anti-terrorism, investigation and the like.
The existing animal robots comprise a rat robot, a beetle robot, a pigeon robot, a cockroach robot, a gecko robot and the like; the rat robot is a biological robot system disclosed in patent document with publication number CN109394208A, and comprises an implantable nerve stimulation circuit system and an electroencephalogram signal acquisition system.
At present, the main mode of navigating the rat robot is that an operator directly controls the rat robot in a visual field range, namely, the operator continuously observes the motion state of the rat robot and the response condition to a control command and gives a new electric stimulation command in combination with the surrounding environment condition. The control method limits the application scene of the rat robot, and once the distance is slightly far, the control instruction can be adjusted only by means of subjective judgment of an operator, so that the speed steering adjustment of the rat robot can be realized, the accuracy of the adjustment is difficult to ensure, and the effective control cannot be performed.
Disclosure of Invention
The invention aims to provide a rat search and rescue robot based on multi-mode fusion positioning and a search and rescue method, which are used for solving the technical problems that in the prior art, the speed steering of the rat robot is adjusted by adjusting a control instruction according to subjective judgment of an operator, the accuracy of adjustment is difficult to ensure, and effective control cannot be performed.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
the system platform comprises an upper computer and a wireless communication signal transmitting module, wherein the wireless communication signal transmitting module and the wireless communication signal receiving module are connected in a wireless communication mode to establish an information interaction path between a computer system and a biological brain central nervous system among the rat biological body, the electronic knapsack module and the system platform, and the upper computer is used for generating control signals representing control instructions of search and rescue personnel and transmitting the control signals along the information interaction path through the wireless communication signal transmitting module;
The electronic knapsack module is worn and fixed on the back of the rat biological body through the magic tape, the wireless communication signal receiving module is used for receiving the control signal from the information interaction path, the microprocessor is used for converting the control signal into a stimulation signal sent to the biological brain central nervous system of the rat biological body, the pulse generator and the channel selector are used for sending the stimulation signal to the biological brain central nervous system, the UWB human body existence sensor is used for detecting vital signs of trapped personnel, the positioning module is used for accurately acquiring positioning information of the trapped personnel, feeding back the positioning information to the microprocessor, and then transmitting the positioning information to search and rescue personnel located at the upper computer along the information interaction path through the microprocessor.
As a preferable scheme of the invention, a stimulating electrode is fixed on the skull of the biological brain and is connected with a plurality of stimulating channels in the channel selector through a conducting wire, the stimulating electrode is connected with the biological brain central nervous system, and the stimulating signals are sequentially conducted to the biological brain central nervous system along the stimulating channels, the conducting wire and the stimulating electrode so as to realize writing of a search and rescue personnel control instruction into the biological brain central nervous system to control a rat biological body to execute search and rescue actions according to the search and rescue personnel control instruction, wherein the stimulating channels have mutual exclusivity in the type of transmitting the stimulating signals.
As a preferred scheme of the present invention, the search and rescue personnel control instruction includes: a left turn command, a right turn command, a forward command, a stop command, the stimulus signal comprising: a left-turning stimulation signal, a right-turning stimulation signal, an advancing stimulation signal, a stopping stimulation signal, the stimulation channels including a left-turning stimulation channel, a right-turning stimulation channel, an advancing stimulation channel, a stopping stimulation channel, wherein,
the left steering instruction transmits a left steering stimulation signal to the left side of a primary somatosensory cortex beard region of the biological brain central nervous system through a left steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behavior, and the rat biological body is realized to execute the left steering behavior;
the right steering instruction transmits a right steering stimulation signal to the left side and the right side of a primary somatosensory cortex beard region of the biological brain central nervous system through a right steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behaviors, and the rat biological body executes the left and right steering behaviors;
the advancing instruction transmits an advancing stimulation signal to an inner forebrain bundle of a biological brain central nervous system through an advancing steering stimulation channel so as to improve the excitability and pleasure degree of a rat biological body, cause release of transnuclear dopamine, increase the liveness and the movement willingness of the rat, give an advancing reward in the advancing process of the rat biological body, train the conditional reflex relation of the rat for obtaining the advancing reward, and realize the progress before the rat biological body is executed;
The stopping instruction transmits the stopping stimulation signal to grey matter around a midbrain water guide pipe at the back side of the biological brain central nervous system through a stopping steering stimulation channel so as to induce the rat to generate alert and rigid avoidance response, and the biological body of the rat can execute stopping actions.
As a preferable scheme of the invention, the upper computer is provided with the stimulation parameters of the control instructions of the search and rescue personnel so as to realize the intensity regulation and control of the stimulation signals, and the stimulation parameters of the control instructions of the search and rescue personnel comprise the movement direction, the pulse interval, the pulse quantity and the pulse width.
As a preferable scheme of the invention, the positioning module in the electronic backpack module (4) comprises a nine-axis attitude sensor consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and the nine-axis attitude sensor realizes self-correction dead reckoning of the rat biological body by carrying out data fusion on obtained track data through a complementary filtering algorithm;
the track data of the nine-axis attitude sensor and the UWB human body presence sensor in the electronic backpack module are subjected to data fusion to eliminate errors of the nine-axis attitude sensor, and the method comprises the following steps:
modeling the errors of each nine-axis attitude sensor as Gaussian distributions which are independent of each other, and estimating the mean value and the variance of the errors of the nine-axis attitude sensors by using a maximum posterior estimation method from the difference between the historical track data of the rat organism and the track data measured by the nine-axis attitude sensors;
The historical track data and the track data measured by the nine-axis attitude sensor are input into a transducer encoder to obtain an attention matrix H, the current position of the rat organism acquired by the nine-axis attitude sensor is input into a decoder, the historical track data and the obtained attention matrix H are fused, a query module in a self-attention mechanism is constructed, and the current real position of the rat is calculated.
As a preferable scheme of the invention, the invention provides a search and rescue method of a rat search and rescue robot based on multi-mode fusion positioning, which comprises the following steps:
step S1, an electronic knapsack module is worn on the back of a rat biological body, the rat biological body is placed at a search and rescue starting point, an upper computer receives a search and rescue personnel control instruction and a stimulation parameter, generates an initial control signal according to the search and rescue personnel control instruction and the stimulation parameter, transmits the initial control signal to the electronic knapsack module through a wireless communication signal module, and acquires vital sign detection data of trapped personnel at the search and rescue starting point through a UWB human body presence sensor;
step S2, a wireless communication signal receiving module in the electronic knapsack module receives an initial control signal and transmits the initial control signal to a microprocessor, the microprocessor controls a pulse generator to generate an initial stimulation signal according to the initial control signal, a control channel selector selects a stimulation channel for conducting the initial stimulation signal, and the initial stimulation signal is controlled to be conducted to the biological brain central nervous system sequentially through the stimulation channel, a lead and a stimulation electrode, so that a rat biological body is controlled to execute corresponding search and rescue behaviors within a 1 st preset search time period according to the initial stimulation signal;
Step S3, acquiring the 1 st group of vital sign detection data of trapped people of the rat biological body at the position of the 1 st preset searching time period end time sequence in real time by utilizing a UWB human body presence sensor, judging whether the trapped people are detected or not based on the 1 st group of vital sign detection data of the trapped people, wherein,
if no trapped person is detected, the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point is used as a 1 st stimulation signal adjustment rate, and the initial stimulation signal is updated into a 1 st stimulation signal according to the 1 st stimulation signal adjustment rate;
if the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
step S4, controlling the rat biological body to execute corresponding search and rescue actions within the ith preset search duration according to the ith stimulation signal, acquiring the vital sign detection data of the ith group of trapped people at the position of the ith preset search duration end time sequence of the rat biological body in real time by utilizing a UWB human body presence sensor, judging whether the trapped people are detected or not based on the vital sign detection data of the ith group of trapped people,
If no trapped person is detected, the similarity between vital sign detection data of the trapped person in the i group and vital sign detection data of the trapped person in the i-1 group is used as an i-th stimulation signal adjustment rate, the i-1-th stimulation signal is updated into an i-th stimulation signal according to the i-th stimulation signal adjustment rate, i is more than or equal to 2, and i is a metering constant;
if the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
and S5, i, carrying out self-adding 1, and repeatedly executing the step S4 until the search and rescue is completed or the search and rescue personnel actively stop the search and rescue.
As a preferred scheme of the present invention, the similarity calculation formula between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search start point is:
wherein P is 1 Characterized by the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point, X 1 Vector form, X, characterized by group 1 vital sign detection data of trapped person 0 Is characterized by vector form of vital sign detection data of trapped personnel at search and rescue starting point, ||X 1 -X 0 The I is characterized as Euclidean distance between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point;
the similarity calculation formula between the vital sign detection data of the i-th trapped person and the vital sign detection data of the i-1-th trapped person is as follows:
wherein P is i Characterized by the similarity between the vital sign detection data of the trapped person in the i group and the vital sign detection data of the trapped person in the i-1 group, X i Vector form, X, characterized by vital sign detection data of group i trapped person i-1 Vector form characterized by vital sign detection data of the i-1 group of trapped people, |X i -X i-1 The I is characterized as the Euclidean distance between the vital sign detection data of the i-th group of trapped people and the vital sign detection data of the i-1 th group of trapped people.
As a preferred embodiment of the present invention, the updating the initial stimulation signal to the 1 st stimulation signal based on the 1 st stimulation signal adjustment rate includes:
setting an adjustment rate threshold, comparing the adjustment rate of the 1 st stimulation signal with the adjustment rate threshold, wherein,
if the adjustment rate of the 1 st stimulation signal is higher than the threshold value of the adjustment rate, the initial stimulation signal is subjected to forward intensity adjustment to obtain the 1 st stimulation signal, and the calculation formula of the forward intensity adjustment is as follows:
If the adjustment rate of the 1 st stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the 1 st stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows:
wherein S is 1 Characterized by the vector form of the 1 st stimulus signal, S 0 Characterized by a vector form of the initial stimulus signal, and a and b are characterized by constant coefficients;
the updating the initial stimulation signal to the ith stimulation signal based on the ith stimulation signal adjustment rate includes:
setting an adjustment rate threshold, comparing the adjustment rate of the ith stimulation signal with the adjustment rate threshold, wherein,
if the adjustment rate of the ith stimulation signal is higher than the adjustment rate threshold, performing forward intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the forward intensity adjustment is as follows:
if the adjustment rate of the ith stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows:
wherein S is i Characterized by the vector form of the ith stimulus signal, S i-1 Characterized by a vector form of the initial stimulus signal, and a and b are characterized by constant coefficients.
As a preferable scheme of the invention, a stopping instruction is transmitted to gray matter around a dorsal midbrain water guide pipe of a biological brain central nervous system by an upper computer through a stopping steering stimulation channel at the end time sequence of the preset searching time period so as to induce the rat to generate alert and rigid avoidance response, so that the biological body of the rat executes stopping action at the end time sequence of the preset searching time period and stops at the current position waiting for the regulated stimulation signal.
As a preferred embodiment of the present invention, the determining whether the trapped person is detected or not based on the vital sign detection data of the trapped person 1 comprises:
if the 1/i trapped person vital sign detection data is in the standard vital sign detection data confidence interval, judging that the trapped person is detected;
if the 1/i trapped person vital sign detection data is not in the standard vital sign detection data confidence interval, judging that the trapped person is not detected.
As a preferable mode of the present invention, the forward strength adjustment corresponds to an increase in the forward speed in the search and rescue operation, and the reverse strength adjustment corresponds to a decrease in the forward speed in the search and rescue operation, and a decrease in the steering angle.
Compared with the prior art, the invention has the following beneficial effects:
the rat robot realized by brain-computer interface technology directly takes the body of the rat as a body, does not need to be additionally considered to be manufactured by using alloy or special materials, keeps the good functions of the animal subjected to natural evolution, senses external stimulus through a visual sensor, a chemical sensor, a mechanical stimulus sensor, a magnetic sensor and the like, does not need to detect and judge the environment by a special control algorithm in a complex environment, can autonomously realize the motion control and obstacle avoidance functions by utilizing the existing capability of the rat, and adaptively adjusts the stimulus signal intensity of the biological body of the rat at the same time so as to realize the increase of the stimulus signal intensity in a search and rescue area far away from trapped personnel, thereby improving the advancing speed and the steering angle of the rat, improving the search and rescue breadth, reducing the stimulus signal intensity in the search and rescue area close to the trapped personnel, and further improving the search precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a working principle diagram of a rat robot provided by the invention;
fig. 2 is a schematic diagram of a rat robot structure according to the present invention.
Reference numerals in the drawings are respectively as follows:
1-an upper computer; 2-a system platform; 3-rat biological body; 4-an electronic backpack module; 5-antennas; 6-stimulating electrodes; 7-magic tape; 8-conducting wires.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the invention provides a rat search and rescue robot based on multi-mode fusion positioning, which comprises a rat biological body 3, an electronic knapsack module 4 and a system platform 2, wherein the electronic knapsack module 4 comprises a microprocessor, a pulse generator, a channel selector, a wireless communication signal receiving module, a UWB human body existence sensor, a positioning module and a power supply circuit, the microprocessor, the pulse generator, the channel selector, the wireless communication signal receiving module, the UWB human body existence sensor and the positioning module are electrically connected with the power supply circuit through electric wires, the pulse generator, the channel selector, the wireless communication signal receiving module, the UWB human body existence sensor and the positioning module are electrically connected with the microprocessor through wires, the system platform comprises an upper computer and a wireless communication signal transmitting module, the wireless communication signal transmitting module and the wireless communication signal receiving module are in wireless communication connection, so that an information interaction path between a computer system and a biological brain central nervous system is established among the rat biological body, the electronic knapsack module and the system platform, the information interaction path is a double-way, and the upper computer is used for generating a control signal representing a control command of a person and transmitting a control signal along the wireless communication path;
The electronic knapsack module 4 is worn and fixed on the back of the rat biological body through the magic tape 7, the wireless communication signal receiving module is used for receiving a control signal from the information interaction path, the microprocessor is used for converting the control signal into a stimulation signal sent to the biological brain central nervous system of the rat biological body, the pulse generator and the channel selector are used for sending the stimulation signal to the biological brain central nervous system, the UWB human body presence sensor is used for detecting vital signs of trapped people, the positioning module is used for accurately acquiring positioning information of the trapped people and feeding the positioning information back to the microprocessor, and the microprocessor is then used for transmitting the positioning information to search and rescue people located at the upper computer along the information interaction path.
The stimulation electrode 6 is fixed on the skull of the biological brain, the brain of the rat biological body is implanted with the stimulation electrode 6 through craniotomy, the stimulation electrode 6 is fixed on the skull of the biological brain through dental cement, the rat biological body recovers a circle after operation and trains to execute the control instructions of search and rescue personnel, the stimulation electrode is connected with a plurality of stimulation channels in a channel selector through a wire, the stimulation electrode is connected with the biological brain central nervous system, the stimulation signals are sequentially conducted to the biological brain central nervous system along the stimulation channels, the wire and the stimulation electrode, so that the search and rescue personnel control instructions are written into the biological brain central nervous system to control the rat biological body to execute search and rescue actions according to the search and rescue personnel control instructions, wherein the stimulation channels have mutual exclusion in the type of transmitting the stimulation signals, different stimulation channels are used for transmitting the stimulation signals generated by different stimulation instructions, the electronic module 4 is provided with 4 stimulation channels which are respectively left turning to the stimulation channels, right turning to the stimulation channels, advancing to the stimulation channels, stopping the stimulation channels, and executing the left turning to the left turning, right turning to the stimulation channels, advancing to stopping. The system platform controls the channel selector to select different channels, and each stimulation channel is also provided with a light emitting diode which can flash along with the corresponding selected stimulation channel.
In this example, the biological body of the rat used to perform the search and rescue work is mainly the biological body of an SPF-class adult male SD rat.
The search and rescue personnel control instruction comprises: left steering command, right steering command, forward command, stop command, stimulus signal includes: a left-turning stimulation signal, a right-turning stimulation signal, an advancing stimulation signal, a stopping stimulation signal, the stimulation channels including a left-turning stimulation channel, a right-turning stimulation channel, an advancing stimulation channel, a stopping stimulation channel, wherein,
the left steering instruction transmits a left steering stimulation signal to the left side of a primary somatosensory cortex beard region of the biological brain central nervous system through a left steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behavior, and the rat biological body is realized to execute the left steering behavior;
the right steering instruction transmits a right steering stimulation signal to the left and right sides of the primary somatosensory cortex beard region of the biological brain central nervous system through a right steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behavior, and the rat biological body is realized to execute the left and right steering behavior;
the advancing instruction transmits an advancing stimulation signal to an inner forebrain bundle of a biological brain central nervous system through an advancing steering stimulation channel so as to improve the excitability and pleasure degree of a rat biological body, cause release of transnuclear dopamine, increase the liveness and the movement willingness of the rat, give an advancing reward in the advancing process of the rat biological body, train the conditional reflex relation of the rat for learning the advancing reward, and realize the progress before execution of the rat biological body;
The stopping instruction transmits the stopping stimulation signal to the ash around the dorsal midbrain water guide tube of the biological brain central nervous system through the stopping steering stimulation channel so as to induce the rat to generate alert and rigid avoidance response, and realize the execution of stopping behavior of the rat biological body.
When the rat robot performs search and rescue work, the electronic backpack module 4 is connected with the stimulating electrode 7 through the lead 8, and when the rat robot does not need to work, the lead 8 can be pulled out, and the electronic backpack module 4 is pulled down, so that the robot has the characteristics of convenience in wearing, high cost performance, flexible configuration and the like, and can work stably for a long time.
Since the rat robot is directly built on the basis of the rat organism, there is still self-awareness of the rat organism. When the rat organism advances, the beard feels the obstacle and deflects by itself.
The upper computer is provided with stimulation parameters of the control instructions of the search and rescue personnel, so that the intensity of the stimulation signals is regulated and controlled, the stimulation parameters of the control instructions of the search and rescue personnel comprise a movement direction, a pulse interval, a pulse number and a pulse width, and the stimulation parameters can control the advancing speed and the left-right steering angle of the rat robot.
The ultra-wideband (UWB) -based centimeter-level real-time positioning technology is characterized in that a UWB human body presence sensor is arranged on an electronic knapsack module of the rat robot, and communication positioning can be realized by using a remote base station. If the rat searching range is judged to be smaller than a certain distance (for example, 10 m) by the positioning module, the upper computer is used for giving a control instruction of 'turning left' or 'turning right' to the rat robot according to the actual situation of the disaster area, and the range of the rat robot searching area is adjusted.
The UWB human body existence sensor can penetrate through entity ruins with more than 10m to sense life characteristics of human body respiration, detect whether life signs exist in the ruins, and timely find trapped people. And is not easy to be influenced by noise, topography, temperature, humidity and other external environments in the detection process. The size is 12mm x 12mm, the size is light, and meanwhile, the power consumption is lower than 2mw. The rat robot detects the existence of a human body through a UWB human body existence sensor on the electronic backpack, and the position of the trapped person is determined by using the positioning module and fed back to the system platform. Meanwhile, a control command is given to the rat robot to stop.
The positioning module in the electronic knapsack module (4) comprises a nine-axis attitude sensor consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and the nine-axis attitude sensor performs data fusion on the obtained track data through a complementary filtering algorithm so as to realize self-correction dead reckoning of the rat biological body;
The track data of the nine-axis attitude sensor and the UWB human body presence sensor in the electronic knapsack module are subjected to data fusion to eliminate errors of the nine-axis attitude sensor, and the method comprises the following steps:
modeling the errors of each nine-axis attitude sensor as Gaussian distributions which are independent of each other, and estimating the mean value and the variance of the errors of the nine-axis attitude sensors by using a maximum posterior estimation method from the difference between the historical track data of the rat organism and the track data measured by the nine-axis attitude sensors;
the historical track data and the track data measured by the nine-axis attitude sensor are input into a transducer encoder to obtain an attention matrix H, the current position of the rat organism acquired by the nine-axis attitude sensor is input into a decoder, the historical track data and the obtained attention matrix H are fused, a query module in a self-attention mechanism is constructed, and the current real position of the rat is calculated.
The nine-axis sensor comprises a triaxial accelerometer for calculating the current position of the rat, a triaxial gyroscope for providing the current orientation angle of the rat and a triaxial magnetometer for correcting the current position of the rat and reducing the accumulated error of a positioning system, and the sensor readings are mutually corrected after data fusion through a complementary filtering algorithm to obtain the relatively accurate position and posture of the rat.
The UWB positioning technology and the nine-axis sensor dead reckoning method can reckon the motion trail of the rat in real time. However, due to environmental influences and the error limitation of the instrument, the readings of the positioning of the two sensors are calibrated at the starting point, and the measured values at the rest moments are error from the actual positions of the rats. In this regard, we can model the errors of different sensors using a self-attention mechanism with historical measurements of rat position as training data, historical trajectory data as labels. And finally analyzing the real position of the rat at the current moment.
The embodiment obtains the current position information of the rat according to the measurement of M independent nine-axis attitude sensorsCalculating the current true position p of the rat c Given the positions of rats with deviations observed for the previous T times of M nine-axis attitude sensorsAs training data, the corresponding real rat position p 1:T As a tag, assume error between current reading of nine-axis attitude sensor and true value +.>Error between UWB human body presence sensor reading and true value according to Cauchy prior distribution>Conforming to a gaussian prior distribution.
In practice, the history position sequence p is given first 1:T And observing the obtained position sequence Adding a position coding vector, and in order to model the correlation of position deviation, using a multi-head self-attention mechanism commonly used in a transducer, fusing errors of different sensors in an encoder to obtain an attention interest matrix H, fitting errors +.>Error->Then deducing the true position of the rat in the decoder from the positions observed by the current nine-axis attitude sensor.
The power supply in the electronic backpack module is provided by a lithium ion battery (3.6V, 200 mAh), and when the battery voltage is too low, the battery can be charged through a charging adapter. The lithium ion battery can be detached and replaced easily, and the rat robot can be ensured to continuously perform search and rescue work.
The working current of the electronic backpack module is less than 20mA, the backpack weight is not more than 20g, and the electronic backpack has the advantages of low power consumption, small volume, light weight and the like.
Based on the rat search and rescue robot based on the multi-mode fusion positioning, the invention provides a search and rescue method, which comprises the following steps:
step S1, an electronic knapsack module is worn on the back of a rat biological body, the rat biological body is placed at a search and rescue starting point, an upper computer receives a search and rescue personnel control instruction and a stimulation parameter, generates an initial control signal according to the search and rescue personnel control instruction and the stimulation parameter, transmits the initial control signal to the electronic knapsack module through a wireless communication signal module, and acquires vital sign detection data of trapped personnel at the search and rescue starting point through a UWB human body presence sensor;
Step S2, a wireless communication signal receiving module in the electronic knapsack module receives an initial control signal and transmits the initial control signal to a microprocessor, the microprocessor controls a pulse generator to generate an initial stimulation signal according to the initial control signal, a control channel selector selects a stimulation channel for conducting the initial stimulation signal, and the initial stimulation signal is controlled to be conducted to a biological brain central nervous system sequentially through the stimulation channel, a lead and a stimulation electrode, so that a rat biological body is controlled to execute corresponding search and rescue actions within a 1 st preset search time period according to the initial stimulation signal;
step S3, acquiring the 1 st group of vital sign detection data of trapped people of the rat biological body at the position of the 1 st preset searching time period end time sequence in real time by utilizing a UWB human body presence sensor, judging whether the trapped people are detected or not based on the 1 st group of vital sign detection data of the trapped people, wherein,
if no trapped person is detected, the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point is used as a 1 st stimulation signal adjustment rate, and the initial stimulation signal is updated into a 1 st stimulation signal according to the 1 st stimulation signal adjustment rate;
If the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
the similarity calculation formula between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point is as follows:
wherein P is 1 Characterized by the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point, X 1 Characterized by group 1 trappedVector form, X, of vital sign detection data of personnel 0 Is characterized by vector form of vital sign detection data of trapped personnel at search and rescue starting point, ||X 1 -X 0 The I is characterized as Euclidean distance between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point;
similarity P between vital sign detection data of trapped person at position of end time sequence of 1 st preset search duration and vital sign detection data of trapped person at search start point 1 The higher the trapped person at the position of the tail end time sequence of the 1 st preset searching time period is, the similar situation to the trapped person at the searching start point is shown, the searching speed of the rat robot is estimated to be slower or the steering speed is lower, the position of the tail end time sequence of the 1 st preset searching time period is closer to the searching start point and is far away from the actual position of the trapped person, the subsequent position obtained according to the searching speed at the position of the tail end time sequence of the 1 st preset searching time period is still close to the vicinity of the searching start point, the searching value is lower, the searching area needs to be jumped off as soon as possible to search for a more valuable searching area by increasing the searching speed or increasing the steering angle, and the similarity P of vital sign detection data of the trapped person at the position of the tail end time sequence of the 1 st preset searching time period and vital sign detection data of the trapped person at the searching start point is similar to that of vital sign detection data of the trapped person at the searching start point is calculated 1 The lower the time sequence is, the condition of trapped personnel at the position of the tail end time sequence of the 1 st preset search time is not similar to the condition of trapped personnel at the search starting point, the higher the search speed or the larger the steering angle of the rat robot is, the longer the distance between the position of the tail end time sequence of the 1 st preset search time and the search starting point is, the closer the position of the trapped personnel is, the later position obtained according to the search speed at the position of the tail end time sequence of the 1 st preset search time is still far away from the search starting point area, even the trapped personnel is skipped directly, the higher the search value is, and the fine search is realized in the search area by reducing the search speed or the steering angle.
Updating the initial stimulation signal to the 1 st stimulation signal based on the 1 st stimulation signal adjustment rate, comprising:
setting an adjustment rate threshold, comparing the adjustment rate of the 1 st stimulation signal with the adjustment rate threshold, wherein,
if the 1 st stimulation signal adjustment rate is higher than the adjustment rate threshold, performing forward intensity adjustment on the initial stimulation signal to obtain a 1 st stimulation signal, wherein the calculation formula of the forward intensity adjustment is as follows:
if the adjustment rate of the 1 st stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the 1 st stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows:
Wherein S is 1 Characterized by the vector form of the 1 st stimulus signal, S 0 Characterized by a vector form of the initial stimulus signal, and a and b are characterized by constant coefficients;
the adjustment rate threshold is customized by a user according to the actual scene.
The forward strength adjustment corresponds to increasing the search speed or increasing the steering angle to jump off the search area as soon as possible to search for a more valuable search area, the reverse strength adjustment corresponds to decreasing the search speed or decreasing the steering angle to perform fine search in the search area, the calculation formula of the forward strength adjustment and the calculation formula of the reverse strength adjustment obtained by fitting in this embodiment can increase the search speed or increase the steering angle under the condition of the 1 st stimulus signal adjustment rate when the similarity is high, and under the condition of the higher similarity, the larger the search speed or the larger the steering angle is increased, the more valuable search area can be found more quickly, the search efficiency can be improved, and when the similarity is low, the search speed or the steering angle is decreased under the condition of the 1 st stimulus signal adjustment rate, and under the condition of the lower similarity, the smaller the search speed or the smaller the steering angle is increased, the more valuable search area can be found more accurately, and the search precision can be improved.
Step S4, controlling the rat biological body to execute corresponding search and rescue actions within the ith preset search duration according to the ith stimulation signal, acquiring the vital sign detection data of the ith group of trapped people at the position of the ith preset search duration end time sequence of the rat biological body in real time by utilizing the UWB human body presence sensor, judging whether the trapped people are detected or not based on the vital sign detection data of the ith group of trapped people,
if no trapped person is detected, the similarity between vital sign detection data of the trapped person in the i group and vital sign detection data of the trapped person in the i-1 group is used as an i-th stimulation signal adjustment rate, the i-1-th stimulation signal is updated into an i-th stimulation signal according to the i-th stimulation signal adjustment rate, i is more than or equal to 2, and i is a metering constant;
the similarity calculation formula between the vital sign detection data of the i-th trapped person and the vital sign detection data of the i-1-th trapped person is as follows:
wherein P is i Characterized by the similarity between the vital sign detection data of the trapped person in the i group and the vital sign detection data of the trapped person in the i-1 group, X i Vector form, X, characterized by vital sign detection data of group i trapped person i-1 Vector form characterized by vital sign detection data of the i-1 group of trapped people, |X i -X i-1 The I is characterized as the Euclidean distance between the vital sign detection data of the i-th group of trapped people and the vital sign detection data of the i-1 th group of trapped people.
Similarity P between vital sign detection data of trapped person at the position of the i < th > preset search duration end time sequence and vital sign detection data of trapped person at the position of the i < st > preset search duration end time sequence i High, then the position at the end of the ith preset search period is described as beingThe situation of trapped person is similar to the situation of trapped person at the position of the tail end time sequence of the i-1 th preset searching time period, the searching speed of the rat robot is estimated to be slower or the steering speed is smaller, so that the position of the tail end time sequence of the i preset searching time period is closer to the position of the searching start point and is farther away from the actual position of the trapped person, the subsequent position obtained at the position of the tail end time sequence of the i preset searching time period according to the searching speed is still close to the position of the tail end time sequence of the i-1 th preset searching time period, the searching value is lower, the searching area needs to be jumped off as soon as possible by increasing the searching speed or increasing the steering angle to search for a more valuable searching area, and the similarity P between vital sign detection data of the trapped person at the position of the tail end time sequence of the i preset searching time period and vital sign detection data of the trapped person at the position of the tail end time sequence of the i-1 th preset searching time period is the same as above i If the speed of the robot is lower, the situation of trapped personnel at the position of the tail end time sequence of the i preset searching time is different from the situation of trapped personnel at the position of the tail end time sequence of the i-1 preset searching time, the situation that the searching speed of the rat robot is higher or the steering angle is larger is presumed, so that the position of the tail end time sequence of the i preset searching time is far away from the position of the tail end time sequence of the i-1 preset searching time, the position of the tail end time sequence of the 1 preset searching time is nearer to the trapped personnel, the subsequent position obtained at the position of the tail end time sequence of the i-1 preset searching time is still far away from the position region of the tail end time sequence of the i-1 preset searching time according to the searching speed, even the trapped personnel is skipped directly, the searching value is higher, and the searching speed is required to be reduced or the steering angle is reduced to realize fine searching in the searching region.
Updating the initial stimulation signal to the ith stimulation signal based on the ith stimulation signal adjustment rate, comprising:
setting an adjustment rate threshold, comparing the adjustment rate of the ith stimulation signal with the adjustment rate threshold, wherein,
if the adjustment rate of the ith stimulation signal is higher than the adjustment rate threshold, performing forward intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the forward intensity adjustment is as follows:
If the adjustment rate of the ith stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows:
wherein S is i Characterized by the vector form of the ith stimulus signal, S i-1 Characterized by a vector form of the initial stimulus signal, a, b characterized by constant coefficients, a, b being user-defined by the user.
The forward strength adjustment corresponds to increasing the search speed or increasing the steering angle to jump off the search area as soon as possible to search for a more valuable search area, the reverse strength adjustment corresponds to decreasing the search speed or decreasing the steering angle to perform fine search in the search area, the calculation formula of the forward strength adjustment and the calculation formula of the reverse strength adjustment obtained by fitting in this embodiment can increase the search speed or increase the steering angle in the case of the ith stimulus signal adjustment rate when the similarity is high, and the larger the search speed or the larger the steering angle is increased in the case of the higher the similarity, the more valuable search area can be found more quickly, the search efficiency can be improved, and the smaller the search speed or the smaller the steering angle is in the case of the ith stimulus signal adjustment rate when the similarity is low, and the smaller the search speed or the smaller the steering angle is increased in the case of the lower the similarity, the more valuable search area can be found more accurately, and the search precision can be improved.
If the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
and S5, i, carrying out self-adding 1, and repeatedly executing the step S4 until the search and rescue is completed or the search and rescue personnel actively stop the search and rescue.
And transmitting a stop instruction to gray matter around a midbrain water guide pipe at the back side of the biological brain central nervous system through a stop steering stimulation channel by the upper computer at the end time sequence of the preset search time period so as to induce the rat to generate an alert and rigid avoidance response, and enabling the rat biological body to execute stop action at the current position at the end time sequence of the preset search time period and wait for the adjusted stimulation signal.
Determining whether a trapped person is detected or not based on the 1 st trapped person vital sign detection data, comprising:
if the 1/i trapped person vital sign detection data is in the standard vital sign detection data confidence interval, judging that the trapped person is detected;
if the 1/i trapped person vital sign detection data is not in the standard vital sign detection data confidence interval, judging that the trapped person is not detected.
The forward direction intensity adjustment corresponds to an increase in forward speed in the search and rescue behavior, an increase in steering angle, and the reverse direction intensity adjustment corresponds to a decrease in forward speed in the search and rescue behavior, a decrease in steering angle.
The rat robot realized by brain-computer interface technology directly takes the body of the rat as a body, does not need to be additionally considered to be manufactured by using alloy or special materials, keeps the good functions of the animal subjected to natural evolution, senses external stimulus through a visual sensor, a chemical sensor, a mechanical stimulus sensor, a magnetic sensor and the like, does not need to detect and judge the environment by a special control algorithm in a complex environment, can autonomously realize the motion control and obstacle avoidance functions by utilizing the existing capability of the rat, and adaptively adjusts the stimulus signal intensity of the biological body of the rat at the same time so as to realize the increase of the stimulus signal intensity in a search and rescue area far away from trapped personnel, thereby improving the advancing speed and the steering angle of the rat, improving the search and rescue breadth, reducing the stimulus signal intensity in the search and rescue area close to the trapped personnel, and further improving the search precision.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.

Claims (10)

1. The rat search and rescue robot based on multi-mode fusion positioning is characterized by comprising a rat biological body (3), an electronic knapsack module (4) and a system platform (2), wherein the electronic knapsack module (4) comprises a microprocessor, a pulse generator, a channel selector, a wireless communication signal receiving module, a UWB human body existence sensor, a positioning module and a power supply circuit, the microprocessor, the pulse generator, the channel selector, the wireless communication signal receiving module, the UWB human body existence sensor and the positioning module are electrically connected with the power supply circuit through electric wires, the pulse generator, the channel selector, the wireless communication signal receiving module, the UWB human body existence sensor and the positioning module are electrically connected with the microprocessor through wires, the system platform (2) comprises an upper computer (1) and a wireless communication signal transmitting module, the wireless communication signal transmitting module and the wireless communication signal receiving module are connected in a wireless communication mode to build an information interaction path between the rat biological body (3), the electronic knapsack module (4) and the system platform (2) and a biological central nervous system, and the upper computer system is used for generating a control signal to transmit a control signal to the control signal through the control signal interaction path;
The electronic backpack module (4) is worn and fixed on the back of the rat biological body (3) through a magic tape (7), the wireless communication signal receiving module is used for receiving the control signals from the information interaction path, the microprocessor is used for converting the control signals into stimulation signals sent to the biological brain central nervous system of the rat biological body, the pulse generator and the channel selector are used for sending the stimulation signals to the biological brain central nervous system, the UWB human body presence sensor is used for detecting vital signs of trapped people, and the positioning module is used for accurately acquiring positioning information of the trapped people, feeding the positioning information back to the microprocessor and transmitting the positioning information to a rescue person at the upper computer along the information interaction path by the microprocessor;
the positioning module in the electronic backpack module (4) comprises a nine-axis attitude sensor consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and the nine-axis attitude sensor is used for carrying out data fusion on obtained track data through a complementary filtering algorithm so as to realize self-correction dead reckoning of the rat biological body;
the track data of the nine-axis attitude sensor and the UWB human body presence sensor in the electronic backpack module are subjected to data fusion to eliminate errors of the nine-axis attitude sensor, and the method comprises the following steps:
Modeling the errors of each nine-axis attitude sensor as Gaussian distributions which are independent of each other, and estimating the mean value and the variance of the errors of the nine-axis attitude sensors by using a maximum posterior estimation method from the difference between the historical track data of the rat organism and the track data measured by the nine-axis attitude sensors;
inputting historical track data and track data measured by a nine-axis attitude sensor into a transducer encoder to obtain an attention matrix, inputting the current position of a rat organism acquired by the nine-axis attitude sensor into a decoder, fusing the historical track data to obtain the attention matrix, constructing a query module in a self-attention mechanism, and calculating to obtain the current real position of the rat;
the upper computer carries out self-adaptive adjustment on the control signal according to vital sign monitoring data of trapped personnel fed back by the UWB human body existence sensor so as to realize self-adaptive adjustment on the stimulation signal of the rat biological body;
the adaptive adjustment includes:
the wireless communication signal receiving module in the electronic knapsack module receives the initial control signal and transmits the initial control signal to the microprocessor, the microprocessor controls the pulse generator to generate an initial stimulation signal according to the initial control signal, the control channel selector selects a stimulation channel for conducting the initial stimulation signal, and the initial stimulation signal is controlled to be conducted to the biological brain central nervous system sequentially through the stimulation channel, the lead and the stimulation electrode, so that the rat biological body is controlled to execute corresponding search and rescue behaviors within a 1 st preset search time period according to the initial stimulation signal;
Acquiring the 1 st group of trapped person vital sign detection data of the rat biological body at the position of the end time sequence of the 1 st preset search time period in real time by using a UWB human body presence sensor, judging whether trapped person is detected or not based on the 1 st group of trapped person vital sign detection data, wherein,
if no trapped person is detected, the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point is used as a 1 st stimulation signal adjustment rate, and the initial stimulation signal is updated into a 1 st stimulation signal according to the 1 st stimulation signal adjustment rate;
if the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
controlling the rat biological body to execute corresponding search and rescue actions within the ith preset search time period according to the ith stimulation signal, acquiring the vital sign detection data of the ith group of trapped people at the position of the ith preset search time period end time sequence of the rat biological body in real time by utilizing the UWB human body presence sensor, judging whether the trapped people are detected or not based on the vital sign detection data of the ith group of trapped people,
If no trapped person is detected, the similarity between vital sign detection data of the trapped person in the i group and vital sign detection data of the trapped person in the i-1 group is used as an i-th stimulation signal adjustment rate, the i-1-th stimulation signal is updated into an i-th stimulation signal according to the i-th stimulation signal adjustment rate, i is more than or equal to 2, and i is a metering constant;
if the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path.
2. The multi-modal fusion positioning-based rat search and rescue robot of claim 1, wherein: the skull of the biological brain is fixedly provided with a stimulating electrode (6), the stimulating electrode (6) is connected with a plurality of stimulating channels in the channel selector through a conducting wire (8), the stimulating electrode is connected with the central nervous system of the biological brain, stimulating signals are sequentially conducted to the central nervous system of the biological brain along the stimulating channels, the conducting wire (8) and the stimulating electrode (6), so that search and rescue personnel control instructions are written into the central nervous system of the biological brain to control a rat biological body to execute search and rescue behaviors according to the search and rescue personnel control instructions, and the multiple stimulating channels have mutual exclusivity in the type of transmitting the stimulating signals.
3. The multi-modal fusion positioning-based rat search and rescue robot of claim 2, wherein: the search and rescue personnel control instruction comprises: a left turn command, a right turn command, a forward command, a stop command, the stimulus signal comprising: a left-turning stimulation signal, a right-turning stimulation signal, an advancing stimulation signal, a stopping stimulation signal, the stimulation channels including a left-turning stimulation channel, a right-turning stimulation channel, an advancing stimulation channel, a stopping stimulation channel, wherein,
the left steering instruction transmits a left steering stimulation signal to the left side of a primary somatosensory cortex beard region of the biological brain central nervous system through a left steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behavior, and the rat biological body is realized to execute the left steering behavior;
the right steering instruction transmits a right steering stimulation signal to the right side of a primary somatosensory cortex beard region of the biological brain central nervous system through a right steering stimulation channel so as to induce the rat biological body to generate virtual beard touch feeling to generate evasion behavior, and the rat biological body is realized to execute the right steering behavior;
the advancing instruction transmits an advancing stimulation signal to an inner forebrain bundle of a biological brain central nervous system through an advancing stimulation channel so as to improve the excitability and pleasure degree of a rat biological body, cause release of transnuclear dopamine, increase the liveness and the movement willingness of the rat, give an advancing reward in the advancing process of the rat biological body, train the conditional reflex relation of the rat for obtaining the advancing reward, and realize the progress before the rat biological body is executed;
The stopping instruction transmits a stopping stimulation signal to grey matter around a dorsal midbrain water guide pipe of a biological brain central nervous system through a stopping stimulation channel so as to induce the rat to generate an alert and rigid avoidance response, and the biological body of the rat executes stopping behaviors.
4. A multi-modal fusion positioning based rat search and rescue robot as defined in claim 3, wherein: the upper computer is provided with stimulation parameters of the control instructions of the search and rescue personnel so as to realize intensity regulation and control of the stimulation signals, and the stimulation parameters of the control instructions of the search and rescue personnel comprise a movement direction, pulse intervals, pulse quantity and pulse width.
5. A method for searching and rescuing a rat search and rescue robot based on multi-mode fusion positioning according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
step S1, an electronic knapsack module is worn on the back of a rat biological body, the rat biological body is placed at a search and rescue starting point, an upper computer receives a search and rescue personnel control instruction and a stimulation parameter, generates an initial control signal according to the search and rescue personnel control instruction and the stimulation parameter, transmits the initial control signal to the electronic knapsack module through a wireless communication signal module, and acquires vital sign detection data of trapped personnel at the search and rescue starting point through a UWB human body presence sensor;
Step S2, a wireless communication signal receiving module in the electronic knapsack module receives an initial control signal and transmits the initial control signal to a microprocessor, the microprocessor controls a pulse generator to generate an initial stimulation signal according to the initial control signal, a control channel selector selects a stimulation channel for conducting the initial stimulation signal, and the initial stimulation signal is controlled to be conducted to the biological brain central nervous system sequentially through the stimulation channel, a lead and a stimulation electrode, so that a rat biological body is controlled to execute corresponding search and rescue behaviors within a 1 st preset search time period according to the initial stimulation signal;
step S3, acquiring the 1 st group of vital sign detection data of trapped people of the rat biological body at the position of the 1 st preset searching time period end time sequence in real time by utilizing a UWB human body presence sensor, judging whether the trapped people are detected or not based on the 1 st group of vital sign detection data of the trapped people, wherein,
if no trapped person is detected, the similarity between the vital sign detection data of the trapped person in the 1 st group and the vital sign detection data of the trapped person at the search and rescue starting point is used as a 1 st stimulation signal adjustment rate, and the initial stimulation signal is updated into a 1 st stimulation signal according to the 1 st stimulation signal adjustment rate;
If the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
step S4, controlling the rat biological body to execute corresponding search and rescue actions within the ith preset search duration according to the ith stimulation signal, acquiring the vital sign detection data of the ith group of trapped people at the position of the ith preset search duration end time sequence of the rat biological body in real time by utilizing the UWB human body presence sensor, judging whether the trapped people are detected or not based on the vital sign detection data of the ith group of trapped people,
if no trapped person is detected, the similarity between vital sign detection data of the trapped person in the i group and vital sign detection data of the trapped person in the i-1 group is used as an i-th stimulation signal adjustment rate, the i-1-th stimulation signal is updated into an i-th stimulation signal according to the i-th stimulation signal adjustment rate, i is more than or equal to 2, and i is a metering constant;
if the trapped person is detected, the positioning module is used for acquiring the positioning information of the trapped person, the positioning information is fed back to the microprocessor, and then the microprocessor transmits the positioning information to the search and rescue person at the upper computer along the information interaction path;
And S5, i, carrying out self-adding 1, and repeatedly executing the step S4 until the search and rescue is completed or the search and rescue personnel actively stop the search and rescue.
6. The search and rescue method as defined in claim 5, wherein: the similarity calculation formula between the trapped person vital sign detection data of the 1 st group and the trapped person vital sign detection data at the search and rescue starting point is as follows:the method comprises the steps of carrying out a first treatment on the surface of the In (1) the->Characterized by the similarity between the group 1 vital sign detection data of the trapped person and the vital sign detection data of the trapped person at the start of the search and rescue, < +.>Vector form characterized by group 1 vital sign detection data of trapped person, +.>Characterized by a vector form of vital sign detection data of trapped people at the start of search and rescue,the Euclidean distance between the vital sign detection data of the trapped person in the group 1 and the vital sign detection data of the trapped person at the search and rescue starting point;
the similarity calculation formula between the vital sign detection data of the i-th trapped person and the vital sign detection data of the i-1-th trapped person is as follows:the method comprises the steps of carrying out a first treatment on the surface of the In (1) the->Characterized by the similarity between the vital sign detection data of the trapped person in the i group and the vital sign detection data of the trapped person in the i-1 group, < ->Vector form characterized by vital sign detection data of group i trapped person,/i >Characterized by a vector form of vital sign detection data of the group i-1 trapped person,characterized by Euclidean distance between the vital sign detection data of the trapped person in the i group and the vital sign detection data of the trapped person in the i-1 group.
7. The search and rescue method of claim 6, wherein updating the initial stimulation signal to a 1 st stimulation signal based on a 1 st stimulation signal adjustment rate comprises:
setting an adjustment rate threshold, comparing the adjustment rate of the 1 st stimulation signal with the adjustment rate threshold, wherein,
if the adjustment rate of the 1 st stimulation signal is higher than the threshold value of the adjustment rate, the initial stimulation signal is subjected to forward intensity adjustment to obtain the 1 st stimulation signal, and the calculation formula of the forward intensity adjustment is as follows:the method comprises the steps of carrying out a first treatment on the surface of the If the adjustment rate of the 1 st stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the 1 st stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows: />The method comprises the steps of carrying out a first treatment on the surface of the In (1) the->Characterized by the vector form of the 1 st stimulation signal, < >>Characterized by a vector form of the initial stimulus signal, +.>、/>Characterization is a constant coefficient;
updating the initial stimulation signal to an i-th stimulation signal based on the i-th stimulation signal adjustment rate, comprising:
Setting an adjustment rate threshold, comparing the adjustment rate of the ith stimulation signal with the adjustment rate threshold, wherein,
if the adjustment rate of the ith stimulation signal is higher than the adjustment rate threshold, performing forward intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the forward intensity adjustment is as follows:the method comprises the steps of carrying out a first treatment on the surface of the If the adjustment rate of the ith stimulation signal is smaller than or equal to the adjustment rate threshold, performing reverse intensity adjustment on the initial stimulation signal to obtain the ith stimulation signal, wherein the calculation formula of the reverse intensity adjustment is as follows: />The method comprises the steps of carrying out a first treatment on the surface of the In the method, in the process of the invention,characterized by the vector form of the ith stimulation signal, < >>Characterized by a vector form of the initial stimulus signal, +.>、/>Characterized by constant coefficients.
8. The search and rescue method as defined in claim 7, wherein a stop command is transmitted by the upper computer to the gray matter around the dorsal midbrain water guide tube of the biological brain central nervous system through a stop stimulation channel at the end timing of the preset search period to induce the alert, rigid avoidance response of the rat, so that the rat biological body performs a stop action at the end timing of the preset search period to wait for the adjusted stimulation signal at the current position.
9. The search and rescue method of claim 8, wherein determining whether a trapped person is detected based on the 1 st trapped person vital sign detection data comprises:
if the 1/i trapped person vital sign detection data is in the standard vital sign detection data confidence interval, judging that the trapped person is detected;
if the 1/i trapped person vital sign detection data is not in the standard vital sign detection data confidence interval, judging that the trapped person is not detected.
10. A search and rescue method as claimed in claim 9, wherein the forward strength adjustment corresponds to an increase in forward speed and an increase in steering angle in search and rescue operations, and the reverse strength adjustment corresponds to a decrease in forward speed and a decrease in steering angle in search and rescue operations.
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