CN116901028A - Mobile robot device for post-disaster rescue and rescue method - Google Patents
Mobile robot device for post-disaster rescue and rescue method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a mobile robot device for post-disaster rescue, which comprises a separable rescue system and a navigation system; the detachable system separates the mobile robot into a main four-wheel robot and a miniature single-wheel robot, wherein the miniature single-wheel robot can enter a narrow space, and the navigation system is used for realizing autonomous movement in a complex disaster environment; the two systems are combined together to realize information collection of trapped people, environment exploration after disaster, generation of a post-disaster rescue scheme and specific implementation. The invention also discloses a method for rescuing the mobile robot device for post-disaster rescue. The invention realizes real-time information exploration and on-site rescue work for disaster places, especially narrow areas, after natural disasters and unexpected dangers occur, reduces the risks of rescue workers and rapidly ensures the life safety of trapped people.
Description
Technical Field
The invention belongs to the field of mobile robots, and particularly relates to a mobile robot system device for post-disaster rescue and a rescue method.
Background
Along with various influences of natural environment and artificial activities, the existence of dangerous environment is unavoidable, and in order to reduce casualties in the dangerous environment, the rescue efficiency and quality are improved, and the development of rescue robots is imperative. Due to the age change and the technical optimization, the rescue robot has wider application range and more vivid technical characteristics, and is involved in rescue activities in dangerous environments to form good rescue effects. Along with the continuous improvement of the requirements and the application of the intelligent and automatic mobile rescue robot, the safety and the reliability of the rescue personnel in the actual rescue process are guaranteed to be the important importance of the field of the mobile rescue robot besides the research of the structure and the algorithm of the robot.
Chinese patent CN113246155a (publication No. 2021.8.13) discloses a rescue robot which designs a scheme of moving a chassis and a jaw manipulator to rescue, and expands a range of use and use by switching jaw states, but this scheme does not consider the narrow terrain passing and autonomous operation conditions. Chinese patent CN112295134a (publication date 2021.2.2) discloses a rescue apparatus for a small space and a method for using the same, which can replace rescue workers to go deep under the small space to independently rescue, and has the following drawbacks: 1. the whole device cannot be separated and moved, and is large; 2. the rescue system is used for rescuing trapped people simply, and the rescue method is not properly adjusted according to the specific structure of a narrow space.
Disclosure of Invention
The invention aims to solve the problem of providing a mobile robot device for post-disaster rescue and a rescue method, which are used for realizing real-time information exploration and on-site rescue work of disaster places, especially narrow areas, after natural disasters and accidental dangers occur, reducing the risks of rescue workers and rapidly guaranteeing the life safety of trapped workers.
The invention relates to a mobile robot device for post-disaster rescue, which comprises a separable rescue system and a navigation system; the detachable system separates the mobile robot into a main four-wheel robot and a miniature single-wheel robot, wherein the miniature single-wheel robot can enter a narrow space, and the navigation system is used for realizing autonomous movement in a complex disaster environment; the two systems are combined together to realize information collection of trapped people, environment exploration after disaster, generation of a post-disaster rescue scheme and specific implementation.
Further, the main four-wheel robot is connected with the miniature single-wheel robot through an electromagnetic trigger control device; the electromagnetic trigger control device comprises an active attraction device and two passive attraction iron blocks, wherein the active attraction device is arranged at the front part of the main four-wheel robot, and the two passive attraction iron blocks are arranged at the rear part of the miniature single-wheel robot.
Further, the main four-wheel robot comprises a main machine body, a mechanical arm, a main control computer, a main power supply and front and rear two moving mechanisms, each moving mechanism comprises a damping mechanism, a transmission mechanism, a main motor and two travelling wheels, the mechanical arm is arranged at the top of the main machine body, the main motor, the transmission mechanism, the damping mechanisms and the four travelling wheels are arranged at the bottom of the main machine body, the transmission mechanism is respectively connected with the main motor and the travelling wheels, the damping mechanisms are arranged on the travelling wheels, the main power supply is arranged in the main machine body, and the main control computer is arranged on the side surface of the main machine body; the miniature single-wheel robot comprises a miniature body, a travelling wheel, a miniature power supply, a gyroscope self-balancing device, a miniature processor, a miniature motor and an integrated device, wherein the integrated device comprises an infrared detector and a gas sensor, the miniature power supply, the gyroscope self-balancing device, the miniature processor and the miniature motor are arranged in the miniature body, the travelling wheel is arranged at the bottom of the miniature body, and the integrated device is arranged in front of the miniature body.
Further, the navigation system comprises a high-precision combined positioning sensing module, a navigation control module and a chassis control module; the high-precision combined positioning sensing module comprises a laser radar device, a GPS module and a visual odometer camera, wherein the laser radar device and the GPS module are arranged at the top of the main machine body, and the visual odometer camera is arranged on an integrated device on the micro machine body; the main four-wheel robot and the miniature single-wheel robot are internally provided with a navigation control module and a chassis control module; the high-precision combined positioning sensing module, the navigation control module and the chassis control module are electrically connected; the chassis control module comprises four functional areas of electric control steering, electric control driving, electric control braking and wheel speed coding.
Further, the mobile robot device also comprises a remote control system, wherein the remote control system comprises a remote end control computer and a wireless communication module; the wireless communication module realizes communication between the remote control computer and the mobile robot; the main control computer of the mobile robot transmits data to the remote control computer in real time, and the remote computer generates a simple rescue scheme and transmits the simple rescue scheme to the main control computer.
The invention discloses a method for rescuing a mobile robot device for post-disaster rescue, which comprises the following steps: step one: after the disaster occurs, the rescue team dispatches the mobile robot to the scene to participate in rescue; step two: when the mobile robot arrives at the disaster scene, the mobile robot rapidly arrives at the area nearby the trapped person according to the approximate azimuth of the trapped person marked in the obtained rear information system; step three: when the mobile robot reaches the area near the trapped person, the trapped person is buried in the deep part of ruins, and the mobile robot is too large to enter, so that the vehicle body separation operation is started, and the micro single-robot is separated to enter a narrow area; step four: after the miniature single-wheel robot enters a narrow area, the azimuth of trapped personnel is sensed through an infrared detector, ruin structures are scanned along the way through a visual odometer camera, and data are sent back to the main four-wheel robot in real time; step five: after the miniature single-wheel robot finds out trapped personnel, rescue is started: the vital sign information of the trapped person is scanned through the infrared detector, the surrounding environment of the trapped person is scanned through the visual odometer camera, harmful substance detection data and the like are obtained through the gas sensor, and the data are sent back to the main four-wheel robot; meanwhile, the communication device is used as a contact machine to communicate with outside rescue workers, so that the mental requirements of trapped workers are met; step six: after receiving the information report sent back by the miniature single-wheel robot, the external main four-wheel robot starts to operate: generating a simple rescue scheme, and carrying out broken stone cleaning operation until a rescue task is completed; meanwhile, the intelligent judgment of the trapped person needs the material urgently and conveys the material to the area nearby the trapped person so as to meet the material requirement of the trapped person.
Further, in step two: the control flow of the mobile robot navigation is as follows: 1) In an initial place (disaster scene), a main control computer of the mobile robot calculates and processes information sent by a high-precision combined positioning sensing module to finish the posture calibration of the initial position; 2) The main control computer generates a global motion track according to the position of the target point and the reference map information; 3) Performing autonomous navigation operation according to the generated global motion trail, and outputting a navigation execution control instruction by the main control computer; 4) In the moving process of the target point, the main control computer performs local track optimization according to the data transmitted by the high-precision combined positioning and sensing module, performs cost weight judgment on the obstacle, and autonomously plans an obstacle surmounting or obstacle avoidance path.
Further, the step 2) specifically comprises: after the mobile robot arrives at the disaster scene, global map information is acquired through a GPS module and then stored in a main control computer, and after the specific position of a target place is acquired through the global map information, a path from an initial place (the disaster scene) to the target place (the area near trapped personnel) is planned; the step 4) is specifically as follows: in the moving process of the mobile robot, the laser radar acquires map information of disaster environment and barrier information through scanning, the visual odometer camera acquires displacement information of the mobile robot through image information processing, and the map information and the barrier information are fused and positioned to sense the barrier on a planning path; a server in a main control computer receives and transmits instructions and data between a sensor and a processor, wherein the sensor comprises a laser radar and a visual odometer camera; the processor in the main control computer carries out odometer error compensation on the position information output by the laser radar and the visual odometer and the speed information output by the visual odometer camera, corrects the error of the odometer by utilizing the explored and created map based on multi-sensor fusion SLAM (instant positioning and map construction), and realizes the positioning of the mobile robot in an unknown environment; the operation module in the main control computer calculates the cost (the cost consumed when planning different paths) consumed by the mobile robot in the moving process; and the chassis control module receives the optimization control instruction of the control module and completes the autonomous navigation task.
Further, in step three: the separation workflow of the robot separable device is as follows: the electromagnetic triggering control device receives a remote separation signal, the active suction device is powered off, and electromagnetic force disappears; the passive attraction iron block on the miniature single-wheel robot is separated from the active attraction device, and automatically falls off from the main four-wheel robot, and the separation process is finished.
Further, in step four: the miniature single-wheel robot is positioned by an independent vision odometer camera when the narrow area is explored autonomously: the real scale of the moving track can be estimated by aligning the position sequence estimated by the visual odometer camera, the visual odometer camera predicts the position of the image frame and the position of the characteristic point at the last moment in the image of the next frame, and the gravity vector provided by the accelerometer in the visual odometer camera converts the estimated position into a world coordinate system required by actual navigation.
The mobile robot device and the rescue method have the advantages that: 1. the main four-wheel robot and the miniature single-wheel robot after the mobile robot is separated are mutually matched, so that the rescue task of trapped personnel in a narrow area is realized, the safe rescue rate of the trapped personnel is improved, the danger caused by the entrance of rescue personnel into the narrow area is avoided, and the safe reliability of rescue is improved; 2. the navigation system optimizes the consistency of the actual motion track and the theoretical generation path of the mobile robot in the working process, realizes obstacle avoidance and obstacle surmounting in the autonomous moving process, has high positioning precision, reduces the time spent on reaching the places of trapped people, and improves the rescue efficiency; 3. when special conditions occur, the remote control well realizes the supplement to the autonomous work of the robot; 4. the rescue method has complete flow, can realize real-time information exploration and on-site rescue work for the narrow area, reduces the risk of rescue personnel and rapidly ensures the life safety of trapped personnel.
Drawings
FIG. 1 is a schematic view of a mobile robot apparatus according to the present invention;
FIG. 2 is a combined schematic of a main four-wheel robot and a single-wheel robot;
FIG. 3 is a schematic structural view of a main four-wheel robot;
FIG. 4 is a schematic structural view of a single-wheel robot;
FIG. 5 is a schematic diagram of a detachable rescue system;
FIG. 6 is a schematic diagram of a navigation system;
fig. 7 is a flow chart of a method of rescuing.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the present invention will be made with reference to the accompanying drawings and preferred embodiments, and it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
Example 1
As can be seen from fig. 1, the mobile robot device for post-disaster rescue of the present invention comprises a detachable rescue system and a navigation system; the detachable system separates the mobile robot into a main four-wheel robot and a miniature single-wheel robot, wherein the miniature single-wheel robot can enter a narrow space, and the navigation system is used for realizing autonomous movement in a complex disaster environment; the two systems are combined together to realize information collection of trapped people, environment exploration after disaster, generation of a post-disaster rescue scheme and specific implementation.
Example 2
As can be seen from fig. 1, 2 and 3, the main four-wheel robot is connected with the miniature single-wheel robot through an electromagnetic trigger control device; the electromagnetic triggering control device comprises an active attraction device 7 and two passive attraction iron blocks 13, wherein the active attraction device 7 is arranged at the front part of the main four-wheel robot, and the two passive attraction iron blocks 13 are arranged at the rear part of the miniature single-wheel robot.
In the separable rescue system: the main four-wheel robot comprises a main machine body 1, a mechanical arm 3, a main control computer 5, a main power supply 11 and front and rear moving mechanisms, wherein each moving mechanism comprises a damping mechanism 9, a transmission mechanism 10, a main motor 12 and two travelling wheels 8, the mechanical arm 3 is arranged at the top of the main machine body 1, the main motor 12, the transmission mechanism 10, the damping mechanism 9 and four travelling wheels 8 are arranged at the bottom of the main machine body 1, the transmission mechanism 10 is respectively connected with the main motor 12 and the travelling wheels 8, the damping mechanism 9 is arranged on the travelling wheels 8, the main power supply 11 is arranged in the main machine body 1, and the main control computer 5 is arranged on the side surface of the main machine body 1; the miniature single-wheel robot comprises a miniature machine body 2, a travelling wheel 8, a miniature power supply 14, a gyroscope self-balancing device 15, a miniature processor 16, a miniature motor 20 and an integrated device, wherein the integrated device comprises an infrared detector 18 and a gas sensor 19, the miniature power supply 14, the gyroscope self-balancing device 15, the miniature processor 16 and the miniature motor 20 are arranged in the miniature machine body 2, the travelling wheel 8 is arranged at the bottom of the miniature machine body 2, and the integrated device is arranged in front of the miniature machine body 2.
The main power supply 11 provides power support for the mobile robot, the main motor 12 drives the travelling wheel 9 to rotate through the transmission mechanism 10 so that the main four-wheel robot or the mobile robot integrally walks, the travelling wheel 8 is a Mecanum wheel which can move in all directions, the damping mechanism 9 reduces vibration of the robot during walking to protect the whole device, and the mechanical arm 3 is used for rescue work; the miniature power supply 14 provides power support for the miniature single-wheel robot, the miniature motor 20 drives the travelling wheel 8 to enable the miniature single-wheel robot to walk, the gyroscope self-balancing device 15 enables the miniature single-wheel robot to keep balance in a severe topography environment, the infrared detector 18 is used for sensing the azimuth and vital sign information of trapped personnel, and the gas sensor 19 is used for sensing harmful substances in a narrow space and detecting data.
As can be seen from fig. 4, the detachable rescue system has the function that the micro single-wheel robot enters the narrow space to realize the rescue task for trapped people, so as to avoid the danger caused by the rescue personnel entering the narrow space, thereby improving the search and rescue efficiency and reliability: when rescue personnel and a conventional mobile robot cannot enter a narrow space in the rescue process, a main control computer of the main four-wheel robot outputs a separation instruction, an electromagnetic trigger control device receives the instruction and then performs separation operation to separate the miniature single-wheel robot from the main four-wheel robot, the miniature single-wheel robot independently enters the narrow space to search trapped personnel and scan a narrow area structure, real-time data are transmitted to the main control computer of the main four-wheel robot through a micro processor, external personnel are helped to acquire related information in the narrow space, and meanwhile, a communication machine is used for communication with the external rescue personnel to meet the mental requirements of the trapped personnel; the main four-wheel robot receives and processes data sent by the miniature single-wheel robot through the main control computer to generate a simple rescue scheme, and controls the mechanical arm to use a rescue tool to clear and break the ruins generated in the post-disaster environment, such as carrying out broken stone clearing operation, strengthening or jacking easy-collapse parts, until the rescue task is completed, so as to provide charging for the miniature single-wheel robot to ensure endurance, intelligently judge the urgent needs of trapped personnel and provide the materials, and meet the material demands of the trapped personnel. When moving in a wide space, the mobile robot device integrally drives the miniature single-wheel robot to walk together through the main four-wheel robot, and the main four-wheel robot can carry rescue materials for post-disaster rescue.
In addition, the shell of the mobile robot is of a fireproof and explosion-proof structure, so that larger accidents caused by damage to robots due to disasters are prevented.
Example 3
As can be seen from fig. 1, 2 and 3, the mobile robot device of the present invention: the navigation system comprises a high-precision combined positioning sensing module, a navigation control module and a chassis control module; the high-precision combined positioning sensing module comprises a laser radar device 6, a GPS module 4 and a visual odometer camera 17, wherein the laser radar device 6 and the GPS module 4 are arranged at the top of the main machine body 1, and the visual odometer camera 17 is arranged on an integrated device on the miniature machine body 3; the main four-wheel robot and the miniature single-wheel robot are internally provided with a navigation control module and a chassis control module; the high-precision combined positioning sensing module, the navigation control module and the chassis control module are electrically connected; the chassis control module comprises four functional areas of electric control steering, electric control driving, electric control braking and wheel speed coding.
As can be seen from fig. 5, the navigation system is used for realizing autonomous navigation in the whole moving process of the mobile robot device and the micro single-wheel robot, optimizing the consistency of the actual moving track and the theoretical generating path of the mobile robot in the working process, increasing the cost weight judgment value for the obstacle, realizing obstacle avoidance and obstacle surmounting in the autonomous moving process, and reducing the time spent in reaching the place of the trapped person: the navigation control module receives the instruction of the main control computer, combines the high-precision combined positioning sensing module to carry out motion planning autonomous operation, the chassis control module receives the instruction of the navigation control module to move, and meanwhile, feeds back the speed information and the steering information in the moving process to the high-precision combined positioning sensing module to carry out data fusion so as to improve the navigation positioning precision.
As can be seen from fig. 5, the functions of the functional areas in the chassis control module are: the electric control steering is used for executing steering instructions, completing steering behaviors in autonomous navigation control and feeding back to the high-precision combined positioning sensing module; the electric control drive is used for executing a speed instruction and completing acceleration behavior in navigation; the electric control brake is used for executing a speed instruction and completing deceleration behavior in navigation; the wheel speed codes are used for measuring the actual running speed of the started robot and feeding back to the high-precision combined positioning sensing module.
When the miniature single-wheel robot enters a narrow area, the visual odometer camera scans ruins in the narrow area along the way, the infrared detector senses the orientations of trapped people, after the miniature single-wheel robot finds the trapped people, the infrared detector further senses vital sign information, the visual odometer camera is further scanned by surrounding environments of the trapped people so as to search and rescue, the gas sensor is used for sensing harmful substances in the narrow area and detecting data, and the micro processor sends the detected related data of post-disaster information back to the main control computer in real time so as to help outside people to obtain the information of the trapped people and determine a search and rescue scheme.
Example 4
As can be seen from fig. 6, the mobile robot device of the present invention further comprises a remote control system, wherein the remote control system comprises a remote control computer and a wireless communication module; the wireless communication module realizes communication between the remote control computer and the mobile robot; the main control computer of the mobile robot transmits data to the remote control computer in real time, and the remote computer generates a simple rescue scheme and transmits the simple rescue scheme to the main control computer.
When the robot encounters a situation that autonomous operation cannot be performed, for example, due to too complicated topography, the robot cannot plan a proper route, the robot is trapped in the topography and cannot move, at the moment, a rescue worker switches the control mode of the robot to remote control, a main processor in a main control computer transmits information comprising a characteristic environment map, vital signs of trapped people, harmful substance detection data and the like to a remote control computer in real time, the rescue worker analyzes and judges the information through the remote control computer to determine an executable rescue scheme and transmits the information to the main control computer through a wireless communication module, and a main processor in the main control computer gives a haircut and distributes instructions to control the action of the robot: if the mobile robot is controlled to move, the execution efficiency of rescue tasks is improved; when the position of trapped personnel is reached, the mechanical arm is controlled to execute a rescue task, and a surrounding environment which is convenient for rescue by a rescue team is created through the switching of the rescue tool; the surrounding environment of the trapped person is judged to control the mobile robot to perform separation operation, so that the single-wheel robot can go deep into the trapped narrow area to rescue, and the time required by rescue detection is shortened. The remote control system analyzes and judges the robot transmission information, and rapidly determines an executable rescue scheme before the arrival of the secondary disaster, so that casualties are reduced.
Example 6
As can be seen from fig. 7, a method for rescuing a mobile robot device for post-disaster rescue according to the present invention comprises:
step one: after the disaster occurs, the rescue team dispatches the mobile robot to the scene to participate in rescue;
step two: when the mobile robot arrives at the disaster scene, the mobile robot rapidly arrives at the area nearby the trapped person according to the approximate azimuth of the trapped person marked in the obtained rear information system;
step three: when the mobile robot reaches the area near the trapped person, the trapped person is buried in the deep part of ruins, and the mobile robot is too large to enter, so that the vehicle body separation operation is started, and the micro single-robot is separated to enter a narrow area;
step four: after the miniature single-wheel robot enters a narrow area, the azimuth of trapped personnel is sensed through an infrared detector, ruin structures are scanned along the way through a visual odometer camera, and data are sent back to the main four-wheel robot in real time;
step five: after the miniature single-wheel robot finds out trapped personnel, rescue is started: the vital sign information of the trapped person is scanned through the infrared detector, the surrounding environment of the trapped person is scanned through the visual odometer camera, harmful substance detection data and the like are obtained through the gas sensor, and the data are sent back to the main four-wheel robot; meanwhile, the communication device is used as a contact machine to communicate with outside rescue workers, so that the mental requirements of trapped workers are met;
step six: after receiving the information report sent back by the miniature single-wheel robot, the external main four-wheel robot starts to operate: generating a simple rescue scheme, and carrying out broken stone cleaning operation until a rescue task is completed; meanwhile, the intelligent judgment of the trapped person needs the material urgently and conveys the material to the area nearby the trapped person so as to meet the material requirement of the trapped person.
Example 7
In step two: the control flow of the mobile robot navigation is as follows: 1) In an initial place (disaster scene), a main control computer of the mobile robot calculates and processes information sent by a high-precision combined positioning sensing module to finish the posture calibration of the initial position; 2) The main control computer generates a global motion track according to the position of the target point and the reference map information; 3) Performing autonomous navigation operation according to the generated global motion trail, and outputting a navigation execution control instruction by the main control computer; 4) In the moving process of the target point, the main control computer performs local track optimization according to the data transmitted by the high-precision combined positioning and sensing module, performs cost weight judgment on the obstacle, and autonomously plans an obstacle surmounting or obstacle avoidance path.
Wherein, the step 2) specifically comprises the following steps: after the mobile robot arrives at the disaster scene, global map information is acquired through a GPS module and then stored in a main control computer, and after the specific position of a target place is acquired through the global map information, a path from an initial place (the disaster scene) to the target place (the area near trapped personnel) is planned; the step 4) is specifically as follows: in the moving process of the mobile robot, the laser radar acquires map information of disaster environment and barrier information through scanning, the visual odometer camera acquires displacement information of the mobile robot through image information processing, and the map information and the barrier information are fused and positioned to sense the barrier on a planning path; a server in a main control computer receives and transmits instructions and data between a sensor and a processor, wherein the sensor comprises a laser radar and a visual odometer camera; the processor in the main control computer carries out odometer error compensation on the position information output by the laser radar and the visual odometer and the speed information output by the visual odometer camera, corrects the error of the odometer by utilizing the explored and created map based on multi-sensor fusion SLAM (instant positioning and map construction), and realizes the positioning of the mobile robot in an unknown environment; the operation module in the main control computer calculates the cost (the cost consumed when planning different paths) consumed by the mobile robot in the moving process; and the chassis control module receives the optimization control instruction of the control module and completes the autonomous navigation task.
Example 8
In step three: the separation workflow of the separable device is as follows: the electromagnetic triggering control device receives a remote separation signal, the active suction device is powered off, and electromagnetic force disappears; the passive attraction iron block on the miniature single-wheel robot is separated from the active attraction device, and automatically falls off from the main four-wheel robot, and the separation process is finished.
Example 9
In step four: the miniature single-wheel robot is positioned by an independent vision odometer camera when the narrow area is explored autonomously: the real scale of the moving track can be estimated by aligning the position sequence estimated by the visual odometer camera, the visual odometer camera predicts the position of the image frame and the position of the characteristic point at the last moment in the image of the next frame, and the gravity vector provided by the accelerometer in the visual odometer camera converts the estimated position into a world coordinate system required by actual navigation.
In summary, the mobile robot device comprises a separable rescue system, a navigation system and a remote control system, wherein the micro single-wheel robot is separated from the main four-wheel robot through the separable rescue system, the autonomous movement of the mobile robot in a complex disaster environment is realized through the navigation system, and the remote control is realized through the remote control system: the miniature single-wheel robot can independently enter a narrow space which can not be accessed by rescue workers and conventional mobile robots, trapped workers are searched, a narrow area structure is scanned, immediate transmission of rescue information is realized, external workers are helped to acquire relevant information in the narrow space, and meanwhile, the miniature single-wheel robot serves as a liaison machine to communicate with external rescue workers, so that the mental requirements of the trapped workers are met, and the effective rescue time is prolonged; the method comprises the steps of carrying out a first treatment on the surface of the The main four-wheel robot is used for relaying information transmission of the miniature single-wheel robot, generating a rescue scheme, cleaning ruin pavements, assisting rescue workers in rescue operation and shortening safe rescue time; therefore, the robot effectively improves the automation and intelligent level of the rescue process, realizes the rescue task of trapped personnel in a narrow area, improves the safe rescue rate of the trapped personnel, avoids the danger caused by the entry of the rescue personnel into the narrow area, and improves the safe reliability of rescue; 2. in the process that the whole mobile robot or the single-wheel robot moves independently, the navigation system generates a grid map according to terrain fusion data transmitted by the laser radar and the visual odometer camera to enable the robot to move autonomously, and detects the position of an obstacle in real time to analyze and process obstacle meeting strategies; 3. when the robot encounters a special condition and cannot autonomously make judgment or cannot move, the remote control system can realize actions such as separation, movement, navigation and the like of the robot by switching to remote control.
The mobile robot device and the rescue method have the advantages that: 1. the main four-wheel robot and the miniature single-wheel robot after the mobile robot is separated are mutually matched, so that the rescue task of trapped personnel in a narrow area is realized, the safe rescue rate of the trapped personnel is improved, the danger caused by the entrance of rescue personnel into the narrow area is avoided, and the safe reliability of rescue is improved; 2. the navigation system optimizes the consistency of the actual motion track and the theoretical generation path of the mobile robot in the working process, realizes obstacle avoidance and obstacle surmounting in the autonomous moving process, has high positioning precision, reduces the time spent on reaching the places of trapped people, and improves the rescue efficiency; 3. when special conditions occur, the remote control well realizes the supplement to the autonomous work of the robot; 4. the rescue method has complete flow, can realize the relevant functions of the device and complete a series of tasks.
In a word, the mobile robot is detachable autonomous mobile equipment with rescue tools and exploration equipment, and can quickly explore and form a rescue scheme for real-time information of a disaster place and develop rescue work on site by generating and implementing a detachable rescue scheme autonomously or through remote control after natural disasters and accidental dangers occur, so that the rescue efficiency is improved, the life safety of trapped personnel is ensured, the own risk of rescue personnel is reduced, and powerful support is provided for post-disaster rescue work. The mobile robot has stronger adaptability and larger exploration area to the working environment, is more convenient to disassemble and maintain, has simple control method and strong reliability, and improves the intelligent level in the rescue process.
Claims (10)
1. A mobile robot device for rescue after disaster, characterized by: the system comprises a separable rescue system and a navigation system; the detachable system separates the mobile robot into a main four-wheel robot and a miniature single-wheel robot, wherein the miniature single-wheel robot can enter a narrow space, and the navigation system is used for realizing autonomous movement in a complex disaster environment; the two systems are combined together to realize information collection of trapped people, environment exploration after disaster, generation of a post-disaster rescue scheme and specific implementation.
2. The mobile robotic device of claim 1, wherein: the main four-wheel robot is connected with the miniature single-wheel robot through an electromagnetic trigger control device; the electromagnetic triggering control device comprises an active attraction device (7) and two passive attraction iron blocks (13), wherein the active attraction device (7) is arranged at the front part of the main four-wheel robot, and the two passive attraction iron blocks (13) are arranged at the rear part of the miniature single-wheel robot.
3. The mobile robotic device of claim 2, wherein: the main four-wheel robot comprises a main machine body (1), a mechanical arm (3), a main control computer (5), a main power supply (11) and front and rear moving mechanisms, wherein each moving mechanism comprises a damping mechanism (9), a transmission mechanism (10), a main motor (12) and two travelling wheels (8); the mechanical arm (3) is arranged at the top of the main machine body (1), the main motor (12), the transmission mechanism (10), the damping mechanism (9) and the four travelling wheels (8) are arranged at the bottom of the main machine body (1), the transmission mechanism (10) is respectively connected with the main motor (12) and the travelling wheels (8), the damping mechanism (9) is arranged on the travelling wheels (8), the main power supply (11) is arranged in the main machine body (1), and the main control computer (5) is arranged on the side surface of the main machine body (1); the miniature single-wheel robot comprises a miniature machine body (2), a travelling wheel (8), a miniature power supply (14), a gyroscope self-balancing device (15), a miniature processor (16), a miniature motor (20) and an integrated device, wherein the integrated device comprises an infrared detector (18) and a gas sensor (19), the miniature power supply (14), the gyroscope self-balancing device (15), the miniature processor (16) and the miniature motor (20) are arranged in the miniature machine body (2), the travelling wheel (8) is arranged at the bottom of the miniature machine body (2), and the integrated device is arranged in front of the miniature machine body (2).
4. The mobile robotic device of claim 2, wherein: the navigation system comprises a high-precision combined positioning sensing module, a navigation control module and a chassis control module; the high-precision combined positioning sensing module comprises a laser radar device (6), a GPS module (4) and a visual odometer camera (17), wherein the laser radar device (6) and the GPS module (4) are arranged at the top of the main machine body (1), and the visual odometer camera (17) is arranged on an integrated device on the miniature machine body (3); the main four-wheel robot and the miniature single-wheel robot are internally provided with a navigation control module and a chassis control module; the high-precision combined positioning sensing module, the navigation control module and the chassis control module are electrically connected; the chassis control module comprises four functional areas of electric control steering, electric control driving, electric control braking and wheel speed coding.
5. The mobile robotic device of claim 1, wherein: the system also comprises a remote control system, wherein the remote control system comprises a remote end control computer and a wireless communication module; the wireless communication module realizes communication between the remote control computer and the mobile robot; the main control computer of the mobile robot transmits data to the remote control computer in real time, and the remote computer generates a simple rescue scheme and transmits the simple rescue scheme to the main control computer.
6. A method for rescue by a mobile robotic device for post-disaster rescue, comprising:
step one: after the disaster occurs, the rescue team dispatches the mobile robot to the scene to participate in rescue;
step two: when the mobile robot arrives at the disaster scene, the mobile robot rapidly arrives at the area nearby the trapped person according to the approximate azimuth of the trapped person marked in the obtained rear information system;
step three: when the mobile robot reaches the area near the trapped person, the trapped person is buried in the deep part of ruins, and the mobile robot is too large to enter, so that the vehicle body separation operation is started, and the micro single-robot is separated to enter a narrow area;
step four: after the miniature single-wheel robot enters a narrow area, the azimuth of trapped personnel is sensed through an infrared detector, ruin structures are scanned along the way through a visual odometer camera, and data are sent back to the main four-wheel robot in real time;
step five: after the miniature single-wheel robot finds out trapped personnel, rescue is started: the vital sign information of the trapped person is scanned through the infrared detector, the surrounding environment of the trapped person is scanned through the visual odometer camera, harmful substance detection data and the like are obtained through the gas sensor, and the data are sent back to the main four-wheel robot; meanwhile, the communication device is used as a contact machine to communicate with outside rescue workers, so that the mental requirements of trapped workers are met;
step six: after receiving the information report sent back by the miniature single-wheel robot, the external main four-wheel robot starts to operate: generating a simple rescue scheme, and carrying out broken stone cleaning operation until a rescue task is completed; meanwhile, the intelligent judgment of the trapped person needs the material urgently and conveys the material to the area nearby the trapped person so as to meet the material requirement of the trapped person.
7. The method according to claim 6, characterized in that: in step two: the control flow of the mobile robot navigation is as follows: 1) In an initial place (disaster scene), a main control computer of the mobile robot calculates and processes information sent by a high-precision combined positioning sensing module to finish the posture calibration of the initial position; 2) The main control computer generates a global motion track according to the position of the target point and the reference map information; 3) Performing autonomous navigation operation according to the generated global motion trail, and outputting a navigation execution control instruction by the main control computer; 4) In the moving process of the target point, the main control computer performs local track optimization according to the data transmitted by the high-precision combined positioning and sensing module, performs cost weight judgment on the obstacle, and autonomously plans an obstacle surmounting or obstacle avoidance path.
8. The method according to claim 7, characterized in that: the step 2) is specifically as follows: after the mobile robot arrives at the disaster scene, global map information is acquired through a GPS module and then stored in a main control computer, and after the specific position of a target place is acquired through the global map information, a path from an initial place (the disaster scene) to the target place (the area near trapped personnel) is planned; the step 4) is specifically as follows: in the moving process of the mobile robot, the laser radar acquires map information of disaster environment and barrier information through scanning, the visual odometer camera acquires displacement information of the mobile robot through image information processing, and the map information and the barrier information are fused and positioned to sense the barrier on a planning path; a server in a main control computer receives and transmits instructions and data between a sensor and a processor, wherein the sensor comprises a laser radar and a visual odometer camera; the processor in the main control computer carries out odometer error compensation on the position information output by the laser radar and the visual odometer and the speed information output by the visual odometer camera, corrects the error of the odometer by utilizing the explored and created map based on multi-sensor fusion SLAM (instant positioning and map construction), and realizes the positioning of the mobile robot in an unknown environment; the operation module in the main control computer calculates the cost (the cost consumed when planning different paths) consumed by the mobile robot in the moving process; and the chassis control module receives the optimization control instruction of the control module and completes the autonomous navigation task.
9. The method according to claim 6, characterized in that: in step three: the separation workflow of the robot separable device is as follows: the electromagnetic triggering control device receives a remote separation signal, the active suction device is powered off, and electromagnetic force disappears; the passive attraction iron block on the miniature single-wheel robot is separated from the active attraction device, and automatically falls off from the main four-wheel robot, and the separation process is finished.
10. The method according to claim 6, characterized in that: in step four: the miniature single-wheel robot is positioned by an independent vision odometer camera when the narrow area is explored autonomously: the real scale of the moving track can be estimated by aligning the position sequence estimated by the visual odometer camera, the visual odometer camera predicts the position of the image frame and the position of the characteristic point at the last moment in the image of the next frame, and the gravity vector provided by the accelerometer in the visual odometer camera converts the estimated position into a world coordinate system required by actual navigation.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140534A (en) * | 2023-10-27 | 2023-12-01 | 锐驰激光(深圳)有限公司 | Control method of mining robot, mining robot and storage medium |
| CN117428792A (en) * | 2023-12-21 | 2024-01-23 | 商飞智能技术有限公司 | Operating system and method for robot |
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- 2023-08-22 CN CN202311064899.9A patent/CN116901028A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140534A (en) * | 2023-10-27 | 2023-12-01 | 锐驰激光(深圳)有限公司 | Control method of mining robot, mining robot and storage medium |
| CN117140534B (en) * | 2023-10-27 | 2024-03-15 | 锐驰激光(深圳)有限公司 | Control method of mining robot, mining robot and storage medium |
| CN117428792A (en) * | 2023-12-21 | 2024-01-23 | 商飞智能技术有限公司 | Operating system and method for robot |
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