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Post-disaster rescue hexapod robot autonomous detection system and method

A hexapod robot and autonomous detection technology, which is applied in control/regulation systems, instruments, non-electric variable control, etc., can solve the problems that the robot's autonomous detection ability needs to be improved, it is difficult for the robot to issue correct instructions, and human decision-making ability is limited. , to achieve the effects of man-machine shared control, improved obstacle avoidance and obstacle clearance performance, and ingenious structural design

Pending Publication Date: 2020-03-17
东北大学秦皇岛分校
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Problems solved by technology

When the robot works in an environment that cannot be recognized by humans, the decision-making ability of humans is limited, it is difficult to give correct instructions to the robot, and the autonomous detection ability of the robot needs to be improved

Method used

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  • Post-disaster rescue hexapod robot autonomous detection system and method
  • Post-disaster rescue hexapod robot autonomous detection system and method
  • Post-disaster rescue hexapod robot autonomous detection system and method

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Embodiment Construction

[0026] The invention provides an autonomous detection system and method for a post-disaster rescue hexapod robot.

[0027] On the one hand, the present invention provides an autonomous detection system for a post-disaster rescue hexapod robot, such as figure 1 , figure 2 Said, including control module 22, perception module 23, execution module 24 and monitoring module 25;

[0028] Described control module 22 comprises upper computer raspberry pie 8 and lower computer STC single-chip microcomputer 12; image 3 with Figure 4 As shown, the upper computer Raspberry pie 8 and the lower computer STC microcontroller 12 adopt the connection mode of RS-232 to USB serial port 18 and the Wi-Fi module 20 to realize the information between the upper computer and the lower computer transmission; such as Figure 4 As shown, four infrared pyroelectric sensors 4 are placed on the top of the hexapod robot. Such as Figure 5 As shown, part of the lenses of the pyroelectric sensors 4 at p...

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Abstract

The invention provides a post-disaster rescue hexapod robot autonomous detection system and method, and relates to the field of robot technology application. The system comprises a control module, a sensing module, an execution module and a monitoring module, wherein a hexapod robot adopts an improved artificial potential field method for autonomous detection, when a post-disaster wounded person is not detected, a set value of a GPS and inertia measurement unit serves as a target point for movement of the hexapod robot; when the post-disaster wounded person is detected, the hexapod robot changes priority of sensors, and the position of the post-disaster wounded person serves as a target point where the hexapod robot moves. The system is advantaged in that the hexapod robot fuses ultrasonicwave and infrared photoelectric switch data through a neural network algorithm so as to realize obstacle avoidance and obstacle crossing of the hexapod robot, a Kalman filtering algorithm is adoptedto fuse GPS and inertial measurement unit data to complete autonomous positioning and navigation of the hexapod robot, reasonable arrangement of an infrared pyroelectric sensor is combined to completeperception and positioning of the post-disaster wounded person, and the autonomous detection function of the hexapod robot is achieved.

Description

technical field [0001] The invention relates to the application field of robot technology, in particular to an autonomous detection system and method for a post-disaster rescue hexapod robot. Background technique [0002] All over the world, disasters occur frequently due to natural disasters, chemical spills, and terrorist activities. Although people's alertness and ability to respond to disasters has improved, many people often die due to untimely rescue due to the complex environment of the disaster scene after the disaster. If rescuers rush into the scene to carry out rescue, it is very easy to cause new casualties. Therefore, it is of great significance to carry out further rescue work and reduce casualties if the scene situation can be obtained as soon as the disaster occurs and the location of the survivors can be ascertained. The use of rescue robots with autonomous intelligence for searching and rescuing survivors in dangerous and complex disaster environments is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0246G05D1/0255G05D1/0221G05D1/0278G05D1/0276
Inventor 顾德英何昊祁超飞贺佳伟侯旭晖孙辉宋婕李世新徐瑞杰孙书航董航顾立佳
Owner 东北大学秦皇岛分校
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