缝隙搜救机器人镜体的形状重建和定位方法

Shape rebuilding and positioning method of search and rescue robot endoscope in ruin crack

搜救机器人的路径形状重建和定位是在搜救过程中一项最基本的任务,但地下复杂的环境使得GPS信号完全不可用,因此必须找到一种可替代的方法解决。为建立一套完整的搜救机器人系统,提出了一种能够利用惯性导航传感技术对废墟缝隙搜救机器人镜体形状重建的方法,该方法在初始位置已知的情况下,融合移动距离和方向角进行积分,得到机器人镜体形状曲线,并将其显示在三维坐标中。利用该方法,可以有效地对搜救机器人定位,及时救援发现的被困人员。文中详细叙述了该方法的理论基础,并以此展开了仿真和实验研究。结果表明,重建的轨迹与模拟废墟送进路径达到了非常高的匹配度,在3.4m长度中定位精度达到了20 cm以内。

Rebuilding the path shape and positioning of search and rescue robot is one of the most basic tasks in search and rescue process.While underground complex environment makes the GPS signals completely unavailable,an alternative solution is needed. To establish a complete set of search and rescue robot system,a shape rebuilding method of the endoscope of search and rescue robot in ruin cracks is proposed by using of inertial navigation sensing technology. Under the case of known initial position,this method can rebuild the robot path shape curve by integrating the moving distances and direction angles,and displays it in 3D coordinates. This method can effectively locate the search and rescue robot,and in consequence the trapped people could be rescued timely once being found. The theoretical basis of the method is elaborated in this paper,and simulation and experiment studies were carried out. The result shows that the rebuilding curve and the path of the feed-in simulation are matched greatly,in the path with a length of 3. 4 m,the positioning accuracy reaches within 20 cm.