CN110888436A - Post-disaster rescue hexapod robot autonomous detection system and method - Google Patents

Abstract

The invention provides an autonomous detection system and method for a post-disaster rescue hexapod robot, which relate to the field of robot technology application, and comprise a control module, a sensing module, an execution module and a monitoring module; the hexapod robot adopts an improved artificial potential field method for autonomous detection, and when the post-disaster wounded person is not detected, the set values of the GPS and the inertial measurement unit are used as moving target points of the hexapod robot; when the post-disaster wounded person is detected, the hexapod robot changes the priority of the sensor, and the position of the post-disaster wounded person is used as a target point for the hexapod robot to move. The hexapod robot fuses ultrasonic waves and infrared photoelectric switch data through a neural network algorithm so as to achieve obstacle avoidance and obstacle crossing of the hexapod robot, autonomous positioning and navigation of the hexapod robot are achieved by fusing GPS and inertial measurement unit data through a Kalman filtering algorithm, sensing and positioning of a post-disaster wounded person are achieved by combining reasonable arrangement of an infrared pyroelectric sensor, and an autonomous detection function of the hexapod robot is achieved.

Description

A post-disaster rescue hexapod robot autonomous detection system and method

technical field

The invention relates to the application field of robot technology, in particular to an autonomous detection system and method of a post-disaster rescue hexapod robot.

Background technique

All over the world, disasters occur from time to time due to natural disasters, chemical spills, and terrorist activities. Although people's alertness and ability to respond to disasters have improved, after a disaster occurs, due to the complex environment at the disaster site, many people often die due to untimely rescue. If rescuers rush into the scene to carry out rescue, it is very easy to cause new casualties. Therefore, if the situation at the scene can be obtained immediately after the disaster, and the location of the survivors can be found out, it is of great significance to carry out further rescue work and reduce casualties in the future. The use of rescue robots with autonomous intelligence to search and rescue survivors in dangerous and complex disaster environments is an emerging and challenging field in robotics. Hexapod robots have diverse gaits and rich limb structures, and are representatives of bionic-footed robots. Compared with traditional wheeled and crawler mobile robots, hexapod robots have the advantages of flexible movement and high reliability. With the deepening of the research on hexapod robots by researchers, universities and research institutes have achieved remarkable research results in the structure, gait and multi-leg control of hexapod robots, and developed a variety of experiments with excellent performance. The robot realizes the bionic motion of the robot to a certain extent. At present, the rescue work of robots relies heavily on manual operation. When the robot works in an environment that cannot be recognized by humans, the decision-making ability of human beings is limited, and it is difficult to issue correct instructions to the robot, and the autonomous detection ability of the robot needs to be improved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to improve the autonomous perception and detection ability of the hexapod robot based on the remote monitoring of the hexapod robot, aiming at the environment that is difficult for humans to identify.

To achieve the above purpose, the present invention provides an autonomous detection system and method for a hexapod robot for post-disaster rescue.

In one aspect, the present invention provides an autonomous detection system for a post-disaster rescue hexapod robot, which is characterized by comprising a control module 22 , a perception module 23 , an execution module 24 and a monitoring module 25 ;

The control module 22 includes the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12; the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12 use RS-232 to USB serial port 18 and the Wi-Fi module. The connection mode of 20 is used to realize the information transmission between the upper computer and the lower computer;

The sensing module 23 includes an inertial measurement unit 2, a monocular camera 3, a GPS module 1, 4 infrared pyroelectric sensors 4, 3 infrared diffuse reflection photoelectric switches 5 and 2 ultrasonic sensors 6, 6 thin film pressure sensors 7 and 6 voltage conversion modules 19; the inertial measurement unit 2 is placed at the center of the body of the hexapod robot, and the GPS module 1 is placed in the opposite direction of the inertial measurement unit 2 and the advancing direction of the hexapod robot, The six thin film pressure sensors 7 are respectively placed at the foot end positions of the six legs of the hexapod robot, and are connected to the STC single-chip microcomputer 12 through the six voltage conversion modules 19, the monocular camera 3, the two ultrasonic waves The sensor 6 and the three infrared diffuse reflection photoelectric switches 5 adopt a layered layout structure: the upper-layer monocular camera 3 is placed on the Raspberry Pi 8 and connected to the Raspberry Pi 8 through a USB cable, and the direction of the monocular camera 3 is It is the forward direction of the hexapod robot; the angle between the direction of the two ultrasonic sensors 6 in the middle layer and the direction of the monocular camera 3 is 30°, and the angle between the two ultrasonic sensors is 60°; the lower layer has 3 infrared diffuse reflection photoelectric Switch 5, one of the infrared diffuse reflection photoelectric switches 5 is facing the direction of the monocular camera 3, the other two infrared diffuse reflection photoelectric switches 5 and the monocular camera 3 are at an angle of 60°, and the two adjacent infrared diffuse reflection The included angle of the photoelectric switch 5 is 60°; 4 infrared pyroelectric sensors 4 are placed on the top of the hexapod robot, and one of the infrared pyroelectric sensors 4 and the monocular camera 3 face the same straight line as the center of the human perception system. The three infrared pyroelectric sensors 4 are centered on the pyroelectric sensor 4 in the center of the human body perception system, and are evenly distributed with the distance from the center to the monocular camera 3 as a radius;

The execution module 24 includes 18 servo steering gears, and the 18 steering gears are divided into 6 groups in groups of 3, respectively corresponding to the hexapods of the hexapod robot, and the 3 steering gears in each group respectively correspond to the hexapod robots. Hip joint 9, knee joint 10 and ankle joint 11;

The monitoring module 25 includes a server 15, a display 16, a mouse and a keyboard 17. The monitoring module 25 obtains the data uploaded by the sensing module 23 through the Wi-Fi module 20 and the control module 22, and then obtains the ontology information 26 of the hexapod robot and the external environment. Information 27; the operator sends instructions to the hexapod robot through the server 15, the mouse and the keyboard 17 to assist the hexapod robot to move.

On the other hand, the present invention provides an autonomous detection method for a hexapod robot for post-disaster rescue, which is realized by the aforementioned autonomous detection system for a hexapod robot for post-disaster rescue, including the following steps:

Step 1, the operator sends the target point position to the hexapod robot host computer Raspberry Pi 8 through the remote monitoring module 25, and the hexapod robot moves to the artificially set target point;

Step 2. During the movement of the hexapod robot to the target point, the hexapod robot detects whether there are post-disaster casualties through the infrared pyroelectric sensor 4. If no post-disaster casualties are detected, the hexapod robot continues to the target set by the operator. If the post-disaster casualty is detected, the hexapod robot will take the post-disaster casualty's position as the target point and move to it;

In the process of moving the hexapod robot to the target point described in step 2, the host computer Raspberry Pi 8 fuses the data of the GPS module 1 and the inertial measurement unit 2 through the Kalman filter algorithm to realize autonomous positioning, and fuses the ultrasonic sensor through the neural network algorithm. 6 and infrared diffuse reflection photoelectric switch 5 to realize obstacle avoidance and obstacle crossing of the hexapod robot; Raspberry Pi 8 sends the decision after sensor information processing to the lower computer STC microcontroller 12, and the lower computer controls 18 steering gears to achieve The motion of the hexapod robot;

The Raspberry Pi 8 processes the external environment information 27 obtained by the sensor and the attitude information 26 of the hexapod robot to form a closed-loop control system. The hexapod robot completes the hexapod robot according to the current position and target point position, the body attitude information 26 and the external environment information 27 It can realize the autonomous detection function of the hexapod robot.

Beneficial effects of the present invention:

(1) The structure design of the present invention is ingenious and the operation is simple. The layered arrangement of the ultrasonic sensor and the infrared diffuse reflection photoelectric switch improves the obstacle avoidance and obstacle crossing performance of the hexapod robot. The design of the RS-232 to USB serial port and the local area network to establish a communication system makes the The information transmission between the sensing module, the control module, the monitoring module and the execution module is more efficient and reliable, which is beneficial to the realization of human-machine shared control.

(2) The present invention improves the annular arrangement of the infrared pyroelectric sensors, improves the performance of the hexapod robot in sensing the human body, and enables the hexapod robot to sense the approach and distance of the human body and the azimuth angle of the human body.

(3) The present invention calculates the moving distance of the robot by programming and recording the number of commands received by the robot, combining the data changes of the robot step length and the ultrasonic sensor, and then combining the inertial measurement unit to realize the autonomous hexapod robot in the environment of poor GPS signal. Positioning, and then realize the path planning of the improved artificial potential field method.

Description of drawings

Fig. 1 is a system frame diagram of the present invention;

In the figure, 1-GPS module, 2-Inertial measurement unit, 3-Monocular camera, 4-Infrared pyroelectric sensor, 5-Infrared diffuse reflection photoelectric switch, 6-Ultrasonic sensor, 7-Film pressure sensor, 8-Tree Raspberry Pi, 9-hip, 10-knee, 11-ankle, 12-STC microcontroller, 15-server, 16-monitor, 17-mouse and keyboard, 18-USB serial port, 19-voltage conversion module, 22- Control module, 23-sensing module, 24-execution module, 25-monitoring module;

Fig. 2 is the hardware connection schematic diagram of the present invention;

Fig. 3 is the front view of the present invention;

Fig. 4 is the top view of the present invention;

Fig. 5 is the working principle diagram of the human body perception system of the present invention;

FIG. 6 is a flow chart of the autonomous detection of the present invention.

Detailed ways

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

In one aspect, the present invention provides a post-disaster rescue hexapod robot autonomous detection system, as shown in FIG. 1 and FIG. 2 , including a control module 22 , a perception module 23 , an execution module 24 and a monitoring module 25 ;

The control module 22 includes the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12; as shown in Figures 3 and 4, the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12 use RS-232 to USB The connection mode of the serial port 18 and the Wi-Fi module 20 is used to realize the information transmission between the upper computer and the lower computer; as shown in FIG. 4 , four infrared pyroelectric sensors 4 are placed on the top of the hexapod robot. As shown in Figure 5, cover part of the lenses of the pyroelectric sensor 4 at positions 2, 3, and 4 with black opaque tape, and set the sensing distance of the pyroelectric sensor 4 to 1 meter, so that the positions 2, 3, and 4 The sensing area of the sensor is B, C, D area. Set the sensing distance of the pyroelectric sensor at position 1 to 2 meters, so that its sensing area is the sum of areas A, B, C, and D. Whether the robot is close to or far away from the post-disaster casualty can be determined by the sequential triggering sequence of the pyroelectric sensors 4 . The general direction of the wounded can be judged by the sensors at positions 2, 3, and 4;

The sensing module 23 includes an inertial measurement unit 2, a monocular camera 3, a GPS module 1, 4 infrared pyroelectric sensors 4, 3 infrared diffuse reflection photoelectric switches 5 and 2 ultrasonic sensors 6, 6 thin film pressure sensors 7 and 6 voltage conversion modules 19; the inertial measurement unit 2 is placed at the center of the body of the hexapod robot, and the GPS module 1 is placed in the opposite direction of the inertial measurement unit 2 and the advancing direction of the hexapod robot, The six thin film pressure sensors 7 are respectively placed at the foot end positions of the six legs of the hexapod robot, and are connected to the STC single-chip microcomputer 12 through the six voltage conversion modules 19, the monocular camera 3, the two ultrasonic waves The sensor 6 and the three infrared diffuse reflection photoelectric switches 5 adopt a layered layout structure: the upper-layer monocular camera 3 is placed on the Raspberry Pi 8 and connected to the Raspberry Pi 8 through a USB cable, and the direction of the monocular camera 3 is It is the forward direction of the hexapod robot; the angle between the direction of the two ultrasonic sensors 6 in the middle layer and the direction of the monocular camera 3 is 30°, and the angle between the two ultrasonic sensors is 60°; the lower layer has 3 infrared diffuse reflection photoelectric Switch 5, one of the infrared diffuse reflection photoelectric switches 5 is facing the direction of the monocular camera 3, the other two infrared diffuse reflection photoelectric switches 5 and the monocular camera 3 are at an angle of 60°, and the two adjacent infrared diffuse reflection The included angle of the photoelectric switch 5 is 60°; 4 infrared pyroelectric sensors 4 are placed on the top of the hexapod robot, and one of the infrared pyroelectric sensors 4 and the monocular camera 3 face the same straight line as the center of the human perception system, such as As shown in FIG. 5 , the other three infrared pyroelectric sensors 4 are centered on the pyroelectric sensor in the center of the human body perception system, and are evenly distributed with the distance from the center to the monocular camera 3 as a radius;

The execution module 24 includes 18 servo steering gears, and the 18 steering gears are divided into 6 groups in groups of 3, respectively corresponding to the hexapods of the hexapod robot, and the 3 steering gears in each group respectively correspond to the hexapod robots. Hip joint 9, knee joint 10 and ankle joint 11;

The monitoring module 25 includes a server 15, a display 16, a mouse and a keyboard 17. The monitoring module 25 obtains the data uploaded by the sensing module 23 through the Wi-Fi module 20 and the control module 22, and then obtains the ontology information 26 of the hexapod robot and the external environment. Information 27; the operator sends instructions to the hexapod robot through the server 15, the mouse and the keyboard 17 to assist the hexapod robot to move.

On the other hand, the present invention provides a post-disaster rescue hexapod robot autonomous detection method, as shown in FIG. 6 , implemented by the aforementioned post-disaster rescue hexapod robot autonomous detection system, including the following steps:

Step 1, the operator sends the target point position to the hexapod robot host computer Raspberry Pi 8 through the remote monitoring module 25, and the hexapod robot moves to the artificially set target point;

Step 2. During the movement of the hexapod robot to the target point, the hexapod robot detects whether there are post-disaster casualties through the infrared pyroelectric sensor 4. If no post-disaster casualties are detected, the hexapod robot continues to the target set by the operator. If the post-disaster casualty is detected, the hexapod robot will take the post-disaster casualty's position as the target point and move to it;

In the process of moving the hexapod robot to the target point described in step 2, the host computer Raspberry Pi 8 fuses the data of the GPS module 1 and the inertial measurement unit 2 through the Kalman filter algorithm to realize autonomous positioning, and fuses the ultrasonic sensor through the neural network algorithm. 6 and infrared diffuse reflection photoelectric switch 5 to realize obstacle avoidance and obstacle crossing of the hexapod robot; Raspberry Pi 8 sends the decision after sensor information processing to the lower computer STC microcontroller 12, and the lower computer controls 18 steering gears to achieve The motion of the hexapod robot;

The Raspberry Pi 8 processes the external environment information 27 obtained by the sensor and the attitude information 26 of the hexapod robot to form a closed-loop control system. The hexapod robot completes the hexapod robot according to the current position and target point position, the body attitude information 26 and the external environment information 27 It can realize the autonomous detection function of the hexapod robot.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope defined by the claims of the present invention .

Claims (3)

1. A post-disaster rescue hexapod robot autonomous detection system, characterized in that: comprising a control module 22, a perception module 23, an execution module 24 and a monitoring module 25; The control module 22 includes the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12; the upper computer Raspberry Pi 8 and the lower computer STC microcontroller 12 use RS-232 to USB serial port 18 and the Wi-Fi module. The connection mode of 20 is used to realize the information transmission between the upper computer and the lower computer; The sensing module 23 includes an inertial measurement unit 2, a monocular camera 3, a GPS module 1, 4 infrared pyroelectric sensors 4, 3 infrared diffuse reflection photoelectric switches 5 and 2 ultrasonic sensors 6, 6 thin film pressure sensors 7 and 6 voltage conversion modules 19; the inertial measurement unit 2 is placed at the center of the body of the hexapod robot, and the GPS module 1 is placed in the opposite direction of the inertial measurement unit 2 and the advancing direction of the hexapod robot, The six thin film pressure sensors 7 are respectively placed at the foot end positions of the six legs of the hexapod robot, and are connected to the STC single-chip microcomputer 12 through the six voltage conversion modules 19, the monocular camera 3, the two ultrasonic waves The sensor 6 and the three infrared diffuse reflection photoelectric switches 5 adopt a layered layout structure: the upper-layer monocular camera 3 is placed on the Raspberry Pi 8 and connected to the Raspberry Pi 8 through a USB cable, and the direction of the monocular camera 3 is It is the forward direction of the hexapod robot; the angle between the direction of the two ultrasonic sensors 6 in the middle layer and the direction of the monocular camera 3 is 30°, and the angle between the two ultrasonic sensors is 60°; the lower layer has 3 infrared diffuse reflection photoelectric Switch 5, one of the infrared diffuse reflection photoelectric switches 5 is facing the direction of the monocular camera 3, the other two infrared diffuse reflection photoelectric switches 5 and the monocular camera 3 are at an angle of 60°, and the two adjacent infrared diffuse reflection The included angle of the photoelectric switch 5 is 60°; 4 infrared pyroelectric sensors 4 are placed on the top of the hexapod robot, and one of the infrared pyroelectric sensors 4 and the monocular camera 3 face the same straight line as the center of the human perception system. The three infrared pyroelectric sensors 4 are centered on the pyroelectric sensor in the center of the human perception system, and are evenly distributed with the distance from the center to the monocular camera as the radius; The execution module 24 includes 18 servo steering gears, and the 18 steering gears are divided into 6 groups in groups of 3, respectively corresponding to the hexapods of the hexapod robot, and the 3 steering gears in each group respectively correspond to the hexapod robots. Hip joint 9, knee joint 10 and ankle joint 11; The monitoring module 25 includes a server 15, a display 16, a mouse and a keyboard 17. The monitoring module 25 obtains the data uploaded by the sensing module 23 through the Wi-Fi module 20 and the control module 22, and then obtains the ontology information 26 of the hexapod robot and the external environment. Information 27; the operator sends instructions to the hexapod robot through the server 15, the mouse and the keyboard 17 to assist the hexapod robot to move. 2. A post-disaster rescue hexapod robot autonomous detection method, realized by a post-disaster rescue hexapod robot autonomous detection system according to claim 1, characterized in that, comprising the following steps: Step 1, the operator sends the target point position to the hexapod robot host computer Raspberry Pi 8 through the remote monitoring module 25, and the hexapod robot moves to the artificially set target point; Step 2. During the movement of the hexapod robot to the target point, the hexapod robot detects whether there are post-disaster casualties through the infrared pyroelectric sensor 4. If no post-disaster casualties are detected, the hexapod robot continues to the target set by the operator. If the post-disaster casualty is detected, the hexapod robot will take the post-disaster casualty's position as the target point and move to it. 3. a kind of post-disaster rescue hexapod robot autonomous detection method according to claim 2, is characterized in that, in the process that the hexapod robot described in step 2 moves to the target point, the host computer Raspberry Pi 8 passes Kalman The filtering algorithm integrates the data of the GPS module 1 and the inertial measurement unit 2 to realize autonomous positioning, and the neural network algorithm integrates the data of the ultrasonic sensor 6 and the infrared diffuse reflection photoelectric switch 5 to realize the obstacle avoidance and obstacle crossing of the hexapod robot; the Raspberry Pi 8 will The decision after sensor information processing is sent to the lower computer STC single chip 12, and the lower computer realizes the motion of the hexapod robot by controlling 18 steering gears; The Raspberry Pi 8 processes the external environment information 27 obtained by the sensor and the attitude information 26 of the hexapod robot to form a closed-loop control system. The hexapod robot completes the hexapod robot according to the current position and target point position, the body attitude information 26 and the external environment information 27 It can realize the autonomous detection function of the hexapod robot.

Images