Robot emergency processing system and method

Abstract

The invention relates to the technical field of robot control, in particular to a robot emergency processing system and method. The invention provides a robot emergency treatment system, which comprises a toxic gas collection module, an emergency treatment module and a control module, the integrated gas sensor module is used for detecting specific toxic gas components of the air collected by the toxic gas collecting module; the thermal imaging and camera integration module is used for collecting temperature distribution and visible light images; and the marking module is used for controlling the robot to use physics to mark the leakage source position. The technical problem that in the prior art, poisonous gas leakage needs to be handled manually is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a robot emergency handling system and method. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. In some highly developed countries, intelligent robots are currently used in transportation to replace human labor.

[0003] Emergency response robots are specially developed for emergency response to chemical storage leakage accidents. They are particularly suitable for enterprises or laboratories that store hazardous chemicals, such as chlor-alkali production plants, furniture factories and electroplating plants, and laboratories such as chemical laboratories and material laboratories. They are designed to respond to various chemical leakage situations quickly, comprehensively and safely. However, there is currently a lack of emergency response robots, and robots will inevitably encounter various failures or unexpected situations during operation, such as power outages, loss of control, or inability to operate normally due to obstacles, resulting in the need for manual processing, which poses a threat to human safety. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a robot emergency handling system and method, which aims to solve the technical problem in the prior art that toxic gas leakage requires human handling.

[0005] To achieve the above object, the present invention proposes a robot emergency handling system, the system comprising: Toxic gas collection module, used to collect air; An integrated gas sensor module for detecting specific toxic gas components of the air collected by the toxic gas collection module; Thermal imaging and camera integrated module to collect temperature distribution and visible light images; The marking module is used to control the robot to use physical markings to locate the leak source.

[0006] Preferably, the toxic gas collection module comprises an air pump, and the integrated gas sensor module is arranged at the air outlet of the air pump.

[0007] Preferably, the system further comprises: Radar detection module, used by robots to locate obstacles and people in extremely harsh environments; Sand dumping module, used to dump sand to cover the leakage source; Master-slave isomorphic robotic arm control module, used by the operator to precisely control the robot's movements; Environmental perception module, used for robots to move in complex environments.

[0008] Preferably, the thermal imaging and camera integrated module includes a thermal imaging module and a high-definition camera module; the thermal imaging module is capable of detecting the temperature of various components of a living organism or equipment and providing real-time thermal images; the high-definition camera module is equipped with a wide-angle lens, night vision function, infrared imaging technology, high resolution and wide dynamic range.

[0009] Preferably, the robot comprises a chassis and a mechanical arm, the robot is controlled by a single chip microcomputer, and the chassis and the mechanical arm communicate via CAN.

[0010] Preferably, the gas sensor module is capable of identifying burnt gas.

[0011] To achieve the above object, the present invention proposes a robot emergency handling method, using the above system, comprising the following steps: S1. The robot enters the disaster site and collects air on site; S2. Detect the components in the air, including alcohol solvent concentration, combustible gas content, and particulate matter concentration; S3. Use the robotic arm to clear obstacles in the passage to ensure that the passage is unobstructed for subsequent personnel; S4. Use LiDAR to build a warehouse map and find and locate the source of the leak based on changes in the concentration of the monitored gas; S5. After finding the leakage location, deal with it according to the leakage situation, move the large solid leakage source to the designated treatment location, and absorb the small solid leakage source and place it in the designated sealed box; S6. For leaks that are already flowing out, use sand to isolate and bury them to prevent the spread of the leak. For leaks that are difficult for the robot to handle, use the brush module and radar to mark the location of the leak, providing clear guidance for rescuers and facilitating subsequent processing.

[0012] Compared with the prior art, the robot emergency handling system and method provided by the present invention have the following beneficial effects: The robot integrates multiple sensors such as radar, high-definition camera and thermal imager, which can provide all-round environmental perception data, including obstacle detection, temperature distribution and visible light images, to assist operators in identifying the location of the leak source in multiple dimensions and assist remote operators in making decisions. Through cameras and thermal imagers, it helps to find trapped people, provide accurate rescue guidance and improve rescue efficiency. This integrated perception system can monitor environmental changes in real time and provide timely feedback to remote operators, thereby ensuring efficient rescue operations.

[0013] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a schematic structural diagram of a robot emergency handling system according to an embodiment of the present invention.

[0014] Figure 2 The present invention is a flowchart of a robot emergency handling method according to an embodiment of the present invention.

[0015] Figure 3 It is a flowchart of the robot software program.

[0016] Figure 4 It is the robot sensor program diagram.

[0017] Figure 5 It is a hardware system flow chart.

[0018] in: 1-toxic gas collection module; 2-integrated gas sensor module; 3-thermal imaging and camera integration module; 31-thermal imaging module; 32-high-definition camera module; 4-marking module; 5-radar detection module; 6-sand dumping module; 7-master-slave isomorphic robotic arm control module; 8-environmental perception module. DETAILED DESCRIPTION In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0019] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0020] In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invention product is usually placed when in use, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0021] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] See also Figure 1 , Figure 3 , Figure 4 and Figure 5 , an embodiment of the present invention provides a robot emergency handling system, the system comprising: Toxic gas collection module 1, used for collecting air; An integrated gas sensor module 2 is used to detect specific toxic gas components in the air collected by the toxic gas collection module; Thermal imaging and camera integrated module 3, used to collect temperature distribution and visible light images; The marking module 4 is used to control the robot to use physical markings to locate the leakage source.

[0023] In an optional embodiment, the toxic gas collection module 1 includes an air pump, and the integrated gas sensor module 2 is arranged at the air outlet of the air pump.

[0024] In an optional embodiment, the system further comprises: a radar detection module 5, which is used for the robot to locate obstacles and personnel in extremely harsh environments; Sand dumping module 6, used for dumping sand to cover the leakage source; The master-slave isomorphic robot arm control module 7 is used for the operator to accurately control the robot's movements; The environment perception module 8 is used for the robot to move in a complex environment.

[0025] In an optional embodiment, the thermal imaging and camera integration module 3 includes a thermal imaging module 31 and a high-definition camera module 32; the thermal imaging module 31 is capable of detecting the temperature of various components of a living body or equipment and providing real-time thermal images; the high-definition camera module 32 is equipped with a wide-angle lens, night vision function, infrared imaging technology, high resolution and wide dynamic range.

[0026] In an optional embodiment, the robot includes a chassis and a robotic arm, the robot is controlled by a single-chip microcomputer, and the chassis and the robotic arm communicate via CAN.

[0027] In an optional embodiment, the gas sensor module 2 is capable of identifying burnt gas.

[0028] There are mainly two types of robots, one is the hazardous chemical robot and the other is the mutual assistance robot. The hazardous chemical robot is developed for emergency response to chemical storage leakage accidents. The mutual assistance robot is mainly designed to rescue other robots including hazardous chemical robots.

[0029] The hazardous chemical robot system combines high-precision remote control technology and enhanced SCARA robotic arms to improve operational accuracy and efficiency while ensuring system stability and durability. The robot is equipped with an enhanced scara robotic arm and a modified Mecanum wheel mobile chassis, which can transport large solid leak sources to designated processing locations (such as upwind outlets) to effectively isolate hazards. Small solid leak sources can be sucked up and placed in designated sealed boxes to prevent secondary contamination.

[0030] The sand dumping module allows the robot to isolate and bury the leak source with inert materials (sand) to quickly contain the spread of the leak. For leak sources that are difficult for the robot to handle, the brush module can mark the location of the leak source, providing clear guidance for rescuers and facilitating subsequent processing.

[0031] Master-slave homogeneous manipulator design: Our robots are equipped with master-slave homogeneous manipulator controllers, which ensure that the operator's hand movements can be accurately replicated on the remote robot's manipulator, thus achieving high-precision synchronous operation. This homogeneous design ensures that the master manipulator and the slave manipulator on the robot have consistent structure and motion characteristics, allowing operators to gain a more intuitive and precise operating experience when remotely controlling.

[0032] ① Multifunctional environmental detection module: Our robot integrates multiple sensors such as radar, high-definition camera and thermal imager, which can provide all-round environmental perception data, including obstacle detection, temperature distribution and visible light images, assisting operators to identify the location of the leak source through multiple dimensions and assisting remote operators to make decisions.

[0033] ②Assisted rescue guidance: Through cameras and thermal imaging sensors, it helps to find trapped people, provides accurate rescue guidance, and improves rescue efficiency. This integrated perception system can monitor environmental changes in real time and provide timely feedback to remote operators, thereby ensuring efficient rescue operations.

[0034] ③ Intelligent analysis and decision support: With the integrated detection module, remote operators can obtain rich environmental information to help them make accurate judgments and locate the specific location of the leak source. This intelligent analysis and decision support function enables operators to obtain key information at the first time and effectively guide rescue operations.

[0035] By sucking in toxic gases for detection through an air pump, the versatility and adaptability of the equipment are greatly improved. The performance of the gas sensor, including sensitivity to specific gases, response speed, and reliability, has been greatly improved. We selected several sensors that can cover common toxic gases and conducted a combination test on them.

[0036] Combining thermal imaging systems and camera systems, in complex environments, a single visual detection method may not provide enough information to locate the source of the leak. Combining thermal imaging systems and camera systems can provide richer information, including temperature distribution and visible light images of the leak source. This integrated perception system can help remote operators make accurate judgments faster and improve the efficiency of locating the leak source. By selecting the performance of the appropriate camera and thermal imager, including resolution, sensitivity and response time. Among them, high-definition cameras are usually equipped with wide-angle lenses and night vision functions to capture clear images under different light conditions. This is critical for remote monitoring and guiding rescue operations. High resolution and wide dynamic range: ensure that high-quality images can be captured under various light conditions. Infrared imaging technology: allows clear images to be captured in low light conditions. Thermal imaging sensors can detect heat signals emitted by living organisms and can find trapped people even in complete darkness or smoke environments. Uncooled thermal imaging sensors: sensors that do not require cooling equipment to work, are low-cost and easy to maintain. Real-time thermal image: Provide real-time thermal image feedback.

[0037] The multi-sensor module includes but is not limited to temperature and humidity sensors, light intensity sensors, gas detection sensors, etc., which are used to fully perceive the environmental status. These sensors can monitor the concentration of harmful substances in the air, temperature changes and other important parameters, thereby helping remote operators make wise decisions. High-precision sensors: ensure data accuracy. Anti-interference ability: ensure reliable data can still be provided in complex environments.

[0038] The addition of radar detection systems is mainly used to locate obstacles and personnel in extremely harsh environments, especially in smoke, dust or dark conditions. These conditions often make visible light devices ineffective, while radar technology can penetrate these obstacles and provide target detection at longer distances. We use lidar to determine the distance and position of objects by emitting a laser beam and measuring the time it takes to reflect back, which is suitable for obtaining higher-precision location information.

[0039] The basic framework uses a self-built RTOS-based general operating system code framework. By using such a system, CPU resources can be used more reasonably and efficiently. At the same time, it also simplifies the design process of application software, shortens the system development cycle, and ensures the real-time and reliability of the system.

[0040] The software development mainly uses Keil as the embedded development platform to allocate the computing resources of the MCU CPU and the storage resources of the MCU to each process according to the process priority and data processing volume, and allocate the I / O communication resources of the MCU to each communication processing function in NVIC according to the priority of each communication interrupt.

[0041] In the overall framework, the robot arm is separated from the chassis, and CAN is used for communication between the two boards, which reduces the operation time of a single board and makes the operation smoother. The upper board is mainly responsible for the movement and extension function of the robot arm, including the large Yaw axis of the robot arm's Joint 1 composed of DM6006, the small Yaw axis of Joint 2 composed of DM4310, the large Roll axis of Joint 3 composed of DM4310, and the pitch axis Roll axis control composed of two M2006s, the lifting motor control, and the remote control data reception. The lower board is mainly responsible for the chassis motor, the lifting toolbox and the yaw axis and Pitch control of the gimbal, and uses CAN to realize the data transmission and reception between the two boards.

[0042] In the dangerous environment detection system, the STM32 microcontroller is used to initialize and control multiple sensors (including temperature and humidity sensor SHT11, light intensity sensor BH1750 and infrared ranging sensor, etc.) through UART, I2C, ADC and other peripheral interfaces. In the main loop, the program reads the data of each sensor in turn every 1 second, prints the environmental information through the serial interface, continuously monitors the temperature, humidity, light intensity and distance of the surrounding environment, and provides real-time data support for detection and transportation in crisis situations.

[0043] Power management: includes the source and distribution of power. For example, when the MiniPC is used to power JetsonNX, the power management module is responsible for distributing the main power to different distribution boards to ensure that each component has a stable power supply. At the same time, it also includes chassis power supply, which is related to the power requirements of the chassis or other key components.

[0044] Component connections and interfaces: Components are interconnected through different interfaces and connection points. This includes the connection between the power supply and the distribution board, and the connection between the distribution board and various actuators, sensors and other modules. These connections ensure the effective transmission of data, instructions and power, and realize the coordinated work of the entire system. Sensors are used to perceive environmental information, actuators are responsible for performing specific actions, and the main control module is responsible for coordinating and controlling the work of each part. CAN communication ensures information exchange and coordinated work between various parts of the system, realizing the overall function and performance of the system.

[0045] Improvements to mutual assistance robots: Thermal imaging technology: Thermal imagers can detect the temperature of various parts of the robot and identify abnormally high temperature areas. Overheating of circuits or mechanical parts is often an early sign of failure, and thermal imaging can quickly lock onto these areas, providing clues for further inspection.

[0046] Gas sensor: When the internal parts of the robot are burned or damaged, burnt gas is usually released. The pump-suction gas detection module based on the robotic arm can absorb and analyze the gas composition in the surrounding air, identify whether there is burnt gas, and thus help locate possible fault points.

[0047] Multi-sensor fusion: Combining data from multiple sensors, such as thermal imaging and gas detection, can improve the accuracy and reliability of fault detection. Multi-sensor fusion technology allows for a more comprehensive perception of the fault location and reduces the potential for misjudgment from a single sensor. The basic framework uses a self-built RTOS-based general operating system code framework. By using such a system, CPU resources can be used more reasonably and efficiently. At the same time, it also simplifies the design process of application software, shortens the system development cycle, and ensures the real-time and reliability of the system.

[0048] The software development mainly uses Keil as the embedded development platform to allocate the computing resources of the MCU CPU and the storage resources of the MCU to each process according to the process priority and data processing volume, and allocate the I / O communication resources of the MCU to each communication processing function in NVIC according to the priority of each communication interrupt.

[0049] In the overall framework, the robot arm is separated from the chassis, and CAN is used for communication between the two boards, which reduces the operation time of a single board and makes the operation smoother. The upper board is mainly responsible for the movement and extension function of the robot arm, including the large Yaw axis of the robot arm's Joint 1 composed of DM6006, the small Yaw axis of Joint 2 composed of DM4310, the large Roll axis of Joint 3 composed of DM4310, and the pitch axis Roll axis control composed of two M2006s, the lifting motor control, and the remote control data reception. The lower board is mainly responsible for the chassis motor, the lifting toolbox and the yaw axis and Pitch control of the gimbal, and uses CAN to realize the data transmission and reception between the two boards.

[0050] In the dangerous environment detection system, the STM32 microcontroller is used to initialize and control multiple sensors (including temperature and humidity sensor SHT11, light intensity sensor BH1750 and infrared ranging sensor, etc.) through UART, I2C, ADC and other peripheral interfaces. In the main loop, the program reads the data of each sensor in turn every 1 second, prints the environmental information through the serial interface, continuously monitors the temperature, humidity, light intensity and distance of the surrounding environment, and provides real-time data support for detection and transportation in crisis situations.

[0051] Power management: includes the source and distribution of power. For example, when the MiniPC is used to power JetsonNX, the power management module is responsible for distributing the main power to different distribution boards to ensure that each component has a stable power supply. At the same time, it also includes chassis power supply, which is related to the power requirements of the chassis or other key components.

[0052] Component connections and interfaces: Components are interconnected through different interfaces and connection points. This includes the connection between the power supply and the distribution board, and the connection between the distribution board and various actuators, sensors and other modules. These connections ensure the effective transmission of data, instructions and power, and realize the coordinated work of the entire system. Sensors are used to perceive environmental information, actuators are responsible for performing specific actions, and the main control module is responsible for coordinating and controlling the work of each part. CAN communication ensures information exchange and coordinated work between various parts of the system, realizing the overall function and performance of the system.

[0053] A robot emergency response method, using the above system (including a hazardous chemical robot and a rescue robot), includes the following steps: S1. The robot enters the disaster site and collects air on site; S2. Detect the components in the air, including alcohol solvent concentration, combustible gas content, and particulate matter concentration; S3. Use the robotic arm to clear obstacles in the passage to ensure that the passage is unobstructed for subsequent personnel (rescue robots rescue other robots); S4. Use LiDAR to build a warehouse map and find and locate the source of the leak based on changes in the concentration of the monitored gas; S5. After finding the leakage location, deal with it according to the leakage situation, move the large solid leakage source to the designated treatment location, and absorb the small solid leakage source and place it in the designated sealed box; S6. For leaks that are already flowing out, use sand to isolate and bury them to prevent the spread of the leak. For leaks that are difficult for the robot to handle, use the brush module and radar to mark the location of the leak, providing clear guidance for rescuers and facilitating subsequent processing.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot emergency response system, characterized in that: The system comprises: A toxic gas collection module (1), used for collecting air; An integrated gas sensor module (2) is used to detect specific toxic gas components in the air collected by the toxic gas collection module; A thermal imaging and camera integrated module (3) for collecting temperature distribution and visible light images; The marking module (4) is used to control the robot to use physical markings to locate the leakage source.

2. A robot emergency handling system as claimed in claim 1, characterized in that: The toxic gas collection module (1) comprises an air pump, and the integrated gas sensor module (2) is arranged at the air outlet of the air pump.

3. A robot emergency handling system as claimed in claim 1, characterized in that: The system further comprises: A radar detection module (5) is used for the robot to locate obstacles and people in extremely harsh environments; A sand dumping module (6) is used to dump sand to cover the leakage source; A master-slave isomorphic robot arm control module (7) is used by the operator to precisely control the movements of the robot; The environment perception module (8) is used for the robot to move in a complex environment.

4. A robot emergency handling system as claimed in claim 1, characterized in that: The thermal imaging and camera integrated module (3) comprises a thermal imaging module (31) and a high-definition camera module (32); the thermal imaging module (31) is capable of detecting the temperature of a living body or various components of a device and providing a real-time thermal image; the high-definition camera module (32) is equipped with a wide-angle lens, a night vision function, infrared imaging technology, high resolution and a wide dynamic range.

5. A robot emergency handling system as claimed in claim 1, characterized in that: The robot comprises a chassis and a mechanical arm. The robot is controlled by a single chip microcomputer, and the chassis and the mechanical arm communicate via CAN.

6. A robot emergency handling system as claimed in claim 2, characterized in that: The gas sensor module (2) is capable of identifying burnt gas.

7. A robot emergency handling method, characterized in that: Using the system described in any one of 1-6 comprises the following steps: S1. The robot enters the disaster site and collects air on site; S2. Detect the components in the air, including alcohol solvent concentration, combustible gas content, and particulate matter concentration; S3. Use the robotic arm to clear obstacles in the passage to ensure that the passage is unobstructed for subsequent personnel; S4. Use LiDAR to build a warehouse map and find and locate the source of the leak based on changes in the concentration of the monitored gas; S5. After finding the leakage location, deal with it according to the leakage situation, move the large solid leakage source to the designated treatment location, and absorb the small solid leakage source and place it in the designated sealed box; S6. For leaks that are already flowing out, use sand to isolate and bury them to prevent the spread of the leak. For leaks that are difficult for the robot to handle, use the brush module and radar to mark the location of the leak, providing clear guidance for rescuers and facilitating subsequent processing.

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