The scheme of mine search multifunctional robot based on the inertial navigation

Xianke He; Ming Lu; Rui Liu; Zuguo Chen

doi:10.1117/12.2627111

14 February 2022 The scheme of mine search multifunctional robot based on the inertial navigation

Xianke He, Ming Lu, Rui Liu, Zuguo Chen

Proceedings Volume 12161, 4th International Conference on Informatics Engineering & Information Science (ICIEIS2021); 121610B (2022) https://doi.org/10.1117/12.2627111
Event: 4th International Conference on Informatics Engineering and Information Science, 2021, Tianjin, China

Abstract

During the Eleventh Five Year Plan period, China has included the "ruins search and rescue robot" project in the National 863 key project, which is jointly developed by the State Key Laboratory of robotics of Shenyang Institute of automation, Chinese Academy of Sciences and China Earthquake Emergency Search and rescue center, and has successfully developed the "waste ruins deformable search and rescue robot, robotic life detector and rotor UAV" Three robots. These three robots have been rated by the State Seismological Bureau as one of the 10 most effective scientific and technological achievements since the eleventh five year plan. In this paper, a multi-functional mine search robot scheme based on inertial navigation is proposed. The main controller uses ten axis gyroscope and GPS to establish a three-dimensional geospatial coordinate system and record the search trajectory. The collapse terrain data is obtained through 3D visual camera and radar, integrated into the three-dimensional geospatial coordinates to obtain a three-dimensional terrain space model, and infrared sensors search for the victims, Mark it into the model and transmit the data to the host computer through industrial wireless module. The slave controller can collect the voltage and current data in the voltage and current transformer, measure the data of cable current in each area under the mine, and judge whether the power supply in the local area is normal, which can be used as one of the parameters to judge whether it collapses. Search and rescue personnel can formulate effective rescue plans according to the directions and partial characteristics of the victims displayed by the host computer, so as to improve the efficiency of rescue operations

Citation Download Citation

Xianke He, Ming Lu, Rui Liu, and Zuguo Chen "The scheme of mine search multifunctional robot based on the inertial navigation", Proc. SPIE 12161, 4th International Conference on Informatics Engineering & Information Science (ICIEIS2021), 121610B (14 February 2022); https://doi.org/10.1117/12.2627111

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KEYWORDS

3D modeling

3D image processing

Data modeling

Radar

Mining

Sensors

Transformers

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