Unknown environment exploration-oriented mobile robot self-deploying sensing network

Abstract

1. The invention provides an unknown environment exploration-oriented mobile robot self-deploying sensing network, and a system includes a remote control platform, a ZigBee wireless sensor network system and a mobile robot platform. The mobile robot platform carries a ZigBee wireless sensor network node to enter. 2. An unknown environment is explored, in the exploration process, sensor network nodes are continuously deployed according to the need, a wireless sensor network node is put in and joints a network, a radio frequency module of itself is utilized as communication relay to increase control distance of a robot, an environmental sensor module of itself is utilized to monitor environment in real time, thereby expanding a monitoring range, and location information of itself is used as a positioning anchor point to assist robot positioning. The unknown environment exploration-oriented mobile robot self-deploying sensing network in the invention can well realize rapid exploration and relatively precise positioning of an unknown environment by the robot, and can be well applied to the field of exploration of unknown environments of disaster relief, environment survey and the like.

Description

technical field [0001] The invention relates to the fields of wireless sensor network, robot control, disaster rescue and the like, and in particular relates to a mobile robot perception network for self-deployment of nodes facing unknown environment detection. Background technique [0002] In recent years, rescue and detection robots are one of the research hotspots at home and abroad. The exploration and real-time monitoring of unknown environments such as disaster sites has become a hot and difficult research topic in this field. When a disaster occurs, it is necessary to quickly search and comprehensively monitor the disaster site, so that rescuers can carry out timely and effective rescue work. However, the on-site environment after the disaster is severely damaged, there is a large degree of uncertainty, and sometimes it is a completely unknown environment, and the environment is harsh and dangerous, there are potential dangers, and it is easy to cause harm to the hum...

AI Technical Summary

Problems solved by technology

However, in practical applications, the environment to be detected is mostly an unknown environment, and there are often not enough geometric features that are easy to extract in the truly unknown environment, and the positioning error will continue to accumulate only by relying on inertial navigation, so the existing methods are not feasible.

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