CN115366117A - Autonomous explosion-removing system and method for mobile robot in unknown environment - Google Patents

Abstract

The invention is suitable for the field of explosive ordnance disposal of unexploded bombs, and provides an autonomous explosive ordnance disposal system and method for a mobile robot in an unknown environment. The explosive ordnance disposal device can complete the task of removing the unexploded bomb without requiring explosive ordnance disposal personnel to enter a dangerous area, thereby ensuring the life safety of the explosive ordnance disposal personnel.

Description

Autonomous explosion-removing system and method for mobile robot in unknown environment

Technical Field

The invention belongs to the field of explosive disposal of unexploded bombs, and particularly relates to an autonomous explosive disposal system and method for a mobile robot in an unknown environment.

Background

The robot explosion elimination technology in the unknown environment is characterized in that a robot enters an unknown area, data are acquired through a laser radar carried by the robot, an environment map is built through a SLAM (Simultaneous Localization and Mapping) algorithm, a motion path is planned for the robot and real-time obstacles are avoided through a path planning algorithm, a camera is used for identifying the environment at the same time, whether unexploded bombs exist or not is judged, the position and the posture of the unexploded bombs can be determined, and the unexploded bombs can be eliminated in the later period conveniently.

At present, the method for removing the unexploded bomb is to send a blaster to perform explosive disposal operation or use a remote control robot to perform explosive disposal, and the method has the following defects: 1) The explosive removal is high-risk operation, and once an accident occurs, the life of an explosive worker can be threatened; 2) When the remote control robot is used, the remote control distance is limited, the remote control technology requirement on an operator is high, and the remote control robot consumes manpower and has high material cost.

Therefore, it is indispensable to utilize the robot in the independent searching of unknown regional not explode the bullet and get rid of, and this method can be given the robot with most work and accomplished, reduces the manpower consumption, does not need personnel to get into danger area to can guarantee personnel's life safety.

In view of the above current situation, there is an urgent need to develop an autonomous explosion-venting system and method for a mobile robot in an unknown environment, so as to overcome the disadvantages in the current practical application.

Disclosure of Invention

The invention aims to provide an autonomous explosion-removing system and method for a mobile robot in an unknown environment, and aims to solve the problems mentioned in the background.

The invention is realized in such a way, the autonomous explosion-removing system of the mobile robot in the unknown environment comprises a remote control terminal and an explosion-removing robot, wherein the remote control terminal is in wireless communication connection with the explosion-removing robot, the explosion-removing robot comprises a mechanical arm, a camera, a laser radar and an industrial personal computer, the industrial personal computer is used for acquiring map information of the environment through an SLAM algorithm, calculating the position information entropy of the environment through the known map boundary points scanned by the laser radar, determining the point with the large position information entropy as a target point to be reached next by the explosion-removing robot, planning a global path from the current position to the target position for the explosion-removing robot by utilizing a global path planning algorithm, and avoiding obstacles in real time by utilizing a local path planning algorithm; the camera is used for acquiring environment information and is matched with the industrial personal computer to identify whether unexploded bombs exist in the environment or not by utilizing a target identification algorithm; if the unexploded bomb exists, the industrial personal computer returns the environmental information and the position information of the unexploded bomb to the remote control terminal, and the industrial personal computer also places the detonation device at the position of the unexploded bomb through the mechanical arm; and the remote control terminal is also used for remotely controlling the detonation device to detonate the unexploded bomb through the industrial personal computer.

According to a further technical scheme, the laser radar comprises a transmitting module, a receiving module and an information processing module, wherein the transmitting module is used for transmitting laser beams to detect the position and the speed characteristics of a target; the laser radar adopts 8-line, 16-line, 32-line or 64-line radar.

Further technical scheme, industrial computer still can dismantle electric connection has display and keyboard, through the keyboard is used for the input command to give the industrial computer, the debugging is in operation robot operating system on the industrial computer, and pass through display system operation conditions.

Another objective of the present invention is to provide an autonomous explosion-removing method for a mobile robot in an unknown environment, comprising the following steps:

step 1, determining a dangerous area according to the requirement of an explosion-removing task, and placing an explosion-removing robot at the edge of the dangerous area;

step 2, starting an industrial personal computer of the explosive-handling robot and a remote control terminal, and connecting the explosive-handling robot and the remote control terminal to the same local area network;

step 3, starting a search program of the explosive-handling robot through the remote control terminal;

step 4, starting an rviz program at the remote control terminal to monitor the map information acquired by the explosive ordnance disposal robot through the laser radar in real time, starting a camera monitoring program at the same time, and acquiring environmental information through a camera in real time;

step 5, the robot to be detonated searches an unknown area, and the position and the posture information of the unexploded bomb are determined;

step 6, setting the position of each unexploded bomb as a target point by utilizing a path planning algorithm and a multi-target point navigation algorithm so as to guide the explosive ordnance disposal robot to place the explosive devices at the explosive positions one by one, and then retreating the explosive ordnance disposal robot to a safe area;

and 7, detonating the unexploded bomb by remotely controlling the detonating device through the remote control terminal, so that the unexploded bomb is eliminated.

According to a further technical scheme, in the step 4, the explosive ordnance disposal personnel can monitor the dynamic state of the explosive ordnance disposal robot and the acquired environment and map information in real time at the remote control terminal.

When the autonomous explosion-removing system and the method for the mobile robot in the unknown environment are in work, the explosion-removing robot can autonomously search in an unknown bullet-removing area and autonomously acquire local map information of the unknown environment, so that the aim of searching while walking is fulfilled; meanwhile, the environment in the local environment can be identified, and the position and the posture information of the unexploded bomb are obtained and returned to the remote control terminal; by adopting the mode of combining the path planning algorithm and the global path planning algorithm, the explosion-removing robot is guided to explore the unsearched area, dynamic obstacle avoidance is realized, the safety of the explosion-removing robot is ensured, explosion-removing personnel is not required to enter the dangerous area, and the task of removing unexploded bombs can be completed, so that the life safety of the explosion-removing personnel is ensured.

Drawings

Fig. 1 is a schematic structural diagram of an autonomous explosion-elimination system of a mobile robot in an unknown environment according to an embodiment of the present invention;

fig. 2 is a flowchart of a method for explosive ordnance disposal of the explosive ordnance disposal robot according to the embodiment of the present invention.

In the figure: 10-a remote control terminal, 20-an explosive-handling robot, 201-a mechanical arm, 202-a camera, 203-a laser radar, 204-a frame body, 205-an industrial personal computer, 206-a power supply, 207-a walking piece, 208-a servo motor and 209-a motor driver.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Specific implementations of the present invention are described in detail below with reference to specific embodiments.

As shown in fig. 1, the mobile robot autonomous explosion elimination system in an unknown environment provided for an embodiment of the present invention includes a remote control terminal 10 and an explosion elimination robot 20, where the remote control terminal 10 and the explosion elimination robot 20 are connected in a wireless communication manner, and the remote control may be implemented by using a conventional technology, without limitation.

Arrange and explode robot 20 includes arm 201, camera 202, laser radar 203, support body 204, industrial computer 205, power 206, walking piece 207, servo motor 208 and motor driver 209, walking piece 207 and be used for driving pivoted servo motor 208 to walking piece 207 are installed to the bottom of support body 204, arm 201, camera 202 and laser radar 203 are installed respectively to the top of support body 204, industrial computer 205, power 206 and motor driver 209 are installed respectively to the inboard of support body 204.

Further, the rack 204 may be a multi-layer structure, the size and material of the rack 204 may be determined according to the circumstances, and the material of the outer shell of the entire explosive ordnance disposal robot 20 may also be determined according to the circumstances, which is not limited herein.

Further, the walking members 207 are wheels or endless tracks, that is, the movement of the explosive disposal robot 20 can be tracks or wheels, which is not limited herein; the wheels are applied to the environment with relatively smooth road conditions; the annular crawler belt is applied to the environment with complicated road conditions and hollow road conditions.

Further, the power source 206 is electrically connected with the industrial personal computer 205, and the power source 206 is used for supplying power to the mechanical arm 201, the camera 202, the laser radar 203, the industrial personal computer 205, the servo motor 208 and the motor driver 209; the power source 206 may be a cube, and is preferably mounted on the chassis of the frame body 204, and is used for supplying power to all the electric devices carried by the explosive-handling robot 20, so as to ensure that the explosive-handling robot 20 can continuously operate.

Further, the motor driver 209 is electrically connected to the industrial personal computer 205 and the servo motor 208, respectively, and the motor driver 209 is configured to perform work control on the servo motor 208, execute a motion instruction sent by the industrial personal computer 205, and ensure that the explosion-venting robot 20 moves according to a planned manner; the servo motor 208 is an engine for controlling mechanical elements to operate in a servo system, is an indirect speed change device of a supplementary motor, generally needs four servo motors 208 with the same specification to drive wheels or endless tracks to realize four-wheel drive movement, and the specific installation driving mode is not limited, and the prior art can be adopted.

Further, the laser radar 203 is electrically connected with the industrial personal computer 205, the laser radar 203 is used for obtaining a local map of an unknown area, the laser radar 203 comprises a transmitting module, a receiving module and an information processing module, and the three parts are radar parts which transmit laser beams to detect characteristic quantities such as the position and the speed of a target through high-speed rotation of the three parts, so that the environment information such as the map and an obstacle can be obtained in real time; different types and precisions of lidar 203 may be selected, such as 8-line, 16-line, 32-line, and 64-line radars, depending on the complexity of the task being performed.

Further, the camera 202 is electrically connected with the industrial personal computer 205, the camera 202 can be electrically connected with the industrial personal computer 205 by adopting a USB data line, the camera 202 is used for acquiring environmental information, and meanwhile, image recognition is performed on the environmental information by using an image recognition algorithm disclosed in the prior art to judge whether unexploded bombs exist; if the information exists, the environmental information and the position information of the unexploded bomb are returned to the remote control terminal 10. In addition, the specification of the camera 202 can be selected as required, and the purpose is to transmit the acquired live-action information to the industrial personal computer 205, perform recognition processing in the industrial personal computer 205, and determine whether there is a unexploded bomb.

Further, the industrial personal computer 205 is further electrically connected with the mechanical arm 201 and is in wireless communication connection with the remote control terminal 10, and the industrial personal computer 205 is used for carrying out work control on the mechanical arm 201, the camera 202, the laser radar 203 and the motor driver 209. In addition, the appearance of the industrial personal computer 205 is a cubic computer, and the external part of the industrial personal computer 205 can be connected with a display, a computer keyboard and the like besides the components, and can also be extended with other sensors and the like; the display is an output device of the industrial personal computer 205, and is used for debugging a Robot Operating System (ROS) running on the industrial personal computer 205 and displaying the running state of the System; the keyboard is a computer input device for inputting instructions to the industrial personal computer 205.

The industrial personal computer 205 adopts a SLAM (simultaneous localization and mapping) algorithm to acquire map information of the environment, calculates the position information entropy of the known map boundary points scanned by the laser radar 203, determines the point with large position information entropy as a target point to be reached next by the explosion-removing robot 20, plans a global path from the current position to the target position for the explosion-removing robot 20 by using a global path planning algorithm, and carries out real-time obstacle avoidance by using a local path planning algorithm; according to the environment information obtained by the camera 202, the industrial personal computer 205 identifies whether unexploded bombs exist in the environment by using a target identification algorithm; if there is a non-explosive cartridge, the industrial personal computer 205 returns the environmental information and the position information of the non-explosive cartridge to the remote control terminal 10.

In the embodiment of the invention, when the explosive ordnance disposal robot 20 is placed in an explosive ordnance disposal area to execute a task, the explosive ordnance disposal robot 20 acquires a local map of an unknown area through a laser radar 203 carried by the explosive ordnance disposal robot, acquires environmental information by using a camera 202, and performs image recognition on the environmental information by using an image recognition algorithm to judge whether unexploded bombs exist or not; if there is a non-explosive cartridge, the industrial personal computer 205 returns the environmental information and the position information of the non-explosive cartridge to the remote control terminal 10. And acquiring the position to be reached next for the robot through a global path planning algorithm, and carrying out real-time obstacle avoidance through a local path planning algorithm in the movement process of the explosion-removing robot 20. By parity of reasoning, the explosive-handling robot 20 searches the whole unknown area, determines the position and the posture of the unexploded bomb, and finally detonates the searched unexploded bomb by the unmanned explosive-handling technology, so that the personnel safety is ensured.

To sum up, in the autonomous explosion-removing system for the mobile robot in the unknown environment, when the autonomous explosion-removing system works, the explosion-removing robot 20 can autonomously search in an unknown bomb-removing area and autonomously acquire local map information of the unknown environment, so that the purpose of searching while walking is achieved; meanwhile, the environment in the local environment can be identified, and the position and posture information of the unexploded bomb are obtained and returned to the remote control terminal 10; by adopting a mode of combining a path planning algorithm and a global path planning algorithm, the explosion-proof robot 20 is guided to explore an unsearched area, dynamic obstacle avoidance is realized, the safety of the explosion-proof robot 20 is ensured, and the task of eliminating unexploded bombs can be completed without the need of explosive eliminating personnel to enter a dangerous area.

As shown in fig. 1-2, an embodiment of the present invention further provides an autonomous explosion-elimination method for a mobile robot in an unknown environment, including the following steps:

step 1, determining a dangerous area according to the requirement of an explosion removing task, and placing an explosion removing robot 20 at the edge of the dangerous area;

step 2, starting the industrial personal computer 205 of the explosive-handling robot 20 and the remote control terminal 10, and connecting the explosive-handling robot 20 and the remote control terminal 10 under the same local area network;

step 3, starting a search program of the explosive ordnance disposal robot 20 through the remote control terminal 10;

step 4, starting an rviz program at the remote control terminal 10 to monitor the map information acquired by the explosive ordnance disposal robot 20 through the laser radar 203 in real time, starting a camera 202 monitoring program at the same time, and acquiring environmental information through the camera 202 in real time;

step 5, the robot 20 to be detonated searches an unknown area, and determines the position and posture information of the unexploded bomb;

step 6, setting the position of each unexploded bomb as a target point by utilizing a path planning algorithm and a multi-target point navigation algorithm so as to guide the explosive ordnance disposal robot 20 to put the explosive devices (which can be energy-gathered bombs) to the explosive position one by one, and then returning the explosive ordnance disposal robot 20 to a safe area;

and 7, remotely controlling the detonation device to detonate the unexploded bomb through the remote control terminal 10, so as to eliminate the unexploded bomb.

Further, in step 4, the explosive ordnance disposal personnel can monitor the dynamic state of the explosive ordnance disposal robot 20 and the acquired environment and map information in real time at the remote control terminal 10.

In the embodiment of the invention, the explosion-removing robot 20 is applied to the explosion-removing field, and explosion-removing personnel are not required to enter a dangerous area all the time from the start of the explosion-removing robot 20 and the remote control terminal 10 to the detonation of the unexploded bomb, so that the life safety of the explosion-removing personnel is ensured. In addition, the detonation unexploded bomb can not cause any damage to the explosive ordnance disposal robot 20, and the explosive ordnance disposal robot 20 can be repeatedly used, so that resources are saved.

In addition, the control, model and circuit connection of each component are not specifically limited, and can be flexibly set in practical application. The circuits, electronic components and modules referred to are well within the art of prior art and, needless to say, the present invention is not limited to software and process modifications.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (5)

1. An autonomous explosion-removing system of a mobile robot in an unknown environment is characterized by comprising a remote control terminal and an explosion-removing robot, wherein the remote control terminal is in wireless communication connection with the explosion-removing robot;

the explosive-handling robot comprises a mechanical arm, a camera, a laser radar and an industrial personal computer;

the industrial personal computer is used for acquiring map information of an environment through a SLAM algorithm, calculating position information entropy of the map information through known map boundary points scanned by the laser radar, determining a point with large position information entropy as a target point to be reached next by the explosion-elimination robot, planning a global path from a current position to a target position for the explosion-elimination robot through a global path planning algorithm, and performing real-time obstacle avoidance through a local path planning algorithm;

the camera is used for acquiring environment information and is matched with the industrial personal computer to identify whether unexploded bombs exist in the environment or not by utilizing a target identification algorithm; if the unexploded bomb exists, the industrial personal computer returns the environmental information and the position information of the unexploded bomb to the remote control terminal, and the industrial personal computer also places the detonation device at the position of the unexploded bomb through the mechanical arm;

the remote control terminal is also used for remotely controlling the detonation device to detonate the unexploded bomb through the industrial personal computer.

2. The autonomous explosion-eliminating system for the mobile robot in the unknown environment according to claim 1, wherein the laser radar comprises a transmitting module, a receiving module and an information processing module;

the transmitting module is used for transmitting laser beams to detect the position and speed characteristics of a target;

the laser radar adopts 8-line, 16-line, 32-line or 64-line radar.

3. The mobile robot autonomous explosion elimination system under the unknown environment according to claim 1 or 2, wherein the industrial personal computer is detachably and electrically connected with a display and a keyboard;

the keyboard is used for inputting instructions to the industrial personal computer, a robot operating system running on the industrial personal computer is debugged, and the running state of the system is displayed through the display.

4. An autonomous explosion-removing method for a mobile robot in an unknown environment is characterized by comprising the following steps:

step 1, determining a dangerous area according to the requirement of an explosion-removing task, and placing an explosion-removing robot at the edge of the dangerous area;

step 2, starting an industrial personal computer of the explosive-handling robot and a remote control terminal, and connecting the explosive-handling robot and the remote control terminal to the same local area network;

step 3, starting a search program of the explosive-handling robot through the remote control terminal;

step 4, starting an rviz program at the remote control terminal to monitor the map information acquired by the explosive ordnance disposal robot through the laser radar in real time, starting a camera monitoring program at the same time, and acquiring environmental information through a camera in real time;

step 5, searching an unknown area by the robot to be detonated, and determining the position and posture information of the unexploded bomb;

step 6, setting the position of each unexploded projectile as a target point by utilizing a path planning algorithm and a multi-target point navigation algorithm so as to guide the explosive-handling robot to place the explosive devices at the explosive-handling positions one by one, and then withdrawing the explosive-handling robot to a safe area;

and 7, detonating the unexploded bomb by remotely controlling the detonating device through the remote control terminal, so that the unexploded bomb is eliminated.

5. The autonomous explosion-removing method for the mobile robot in the unknown environment according to claim 4, wherein in step 4, the explosion-removing personnel can monitor the dynamic state of the explosion-removing robot and the acquired environment and map information in real time at the remote control terminal.

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