CN111220999A - Restricted space detection system and method based on instant positioning and mapping technology - Google Patents
Restricted space detection system and method based on instant positioning and mapping technology Download PDFInfo
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Abstract
The invention discloses a limited space detection system and a method based on instant positioning and mapping, belonging to the field of robot intelligent sensing, wherein the system comprises an embedded controller, a human body infrared detector, a toxic gas detector, a combustible gas detector, a laser radar, an infrared distance meter, a gyroscope, an infrared camera, an upper computer and a wireless communication module; the embedded controller processes the received structural information of the laser radar transmission limited space environment and the received real-time attitude information transmitted by the gyroscope through a CoreSlAM algorithm, respectively processes the received human body vital sign information transmitted by the human body infrared detector, the toxic gas information transmitted by the toxic gas detector and the combustible gas information transmitted by the combustible gas detector through an improved CoreSlAM algorithm, and autonomously avoids obstacles according to the distance signal from the infrared distance meter to the obstacles; and finally, a movement track map and a barrier map in the limited space are obtained, and the detection system and the detection method are convenient for rescue workers to know the limited space environment and timely carry out rescue.
Description
Technical Field
The invention relates to the field of intelligent perception of robots, in particular to a system and a method for detecting a limited space based on an instant positioning and mapping technology.
Background
Post-disaster confined space personnel are difficult to access and present a safety risk, the unknown and time-varying nature of their information being problematic. If the multi-information map construction can be carried out in the limited space, the damage condition of the limited space and the distribution of survivors can be observed, and the rescue efficiency can be improved and the rescue difficulty can be reduced. The detection system in China starts late, but with the continuous improvement of the national attention degree, the investment of capital is continuously increased, and a series of fruitful results are obtained.
The instant positioning and mapping technology is that a detection system starts from an unknown place of an unknown environment, positions the position of the detection system by repeatedly observing map features in the motion process, and constructs an incremental map according to the position of the detection system, so that the purpose of simultaneously positioning and constructing the map is achieved. The development direction of the future SLAM technology is multi-sensor information fusion, data association optimization, loop detection, robustness improvement and the like.
At present, SLAM algorithms widely applied in the technical field of instant positioning and mapping are Gmiping, HectrSLAM, Cartographer and the like, and most of the SLAM algorithms are realized based on an ROS platform.
The LabVIEW platform adopts complete graphical programming, does not need any form of text codes, integrates a module capable of generating a large number of graphical interfaces, has rich and practical numerical analysis and signal processing functions, can be called by a large number of library functions, has portability and can run on various devices. The LabVIEW bottom layer is developed by using C language, seamless connection with C/C + + can be achieved, mixed programming can be used for improving the operation efficiency when tasks with large operation amount are executed, the LabVIEW programming is adopted, graphic interface display can be directly carried out on an upper computer, the configuration compiling by MCGS and other software is not needed, and the method has the advantages compared with the traditional method.
In a limited space, unknown environmental factors (such as adverse factors including a strong magnetic field and a long communication distance) are mostly contained, and if the system is controlled manually, signals of an upper computer operated by a director are difficult to be completely transmitted to a detection system, so that autonomous traveling and construction of an environment map with multiple information fusion in the limited space cannot be realized.
Disclosure of Invention
According to the problems in the prior art, the invention discloses a limited space detection system based on an instant positioning and mapping technology, which comprises an embedded controller, a human body infrared detector, a toxic gas detector, a combustible gas detector, a laser radar, an infrared distance meter, a gyroscope, an infrared camera, an upper computer and a wireless communication module, wherein the human body infrared detector is connected with the upper computer through the wireless communication module;
the laser radar collects the internal structure information of the limited space environment, returns point cloud data according to a fixed data protocol and stores the point cloud data to the embedded controller;
the human body infrared detector transmits the detected human body vital sign information to the embedded controller in the form of different values of a level signal;
the toxic gas detector transmits the detected toxic gas and the concentration information thereof to the embedded controller in the form of different values of level signals;
the combustible gas detector transmits the detected combustible gas and the concentration information thereof to the embedded controller in the form of different values of level signals;
the infrared distance meter transmits a measured obstacle distance signal to the embedded controller, and judges whether an obstacle exists in front or not according to the distance signal;
the infrared camera transmits the shot limited space environment image to the upper computer and the embedded controller through the wireless communication module;
the gyroscope transmits the acquired attitude information to the embedded controller;
the embedded controller carries out structural information processing on the received structural information of the laser radar transmission limited space environment and the received real-time attitude information transmitted by the gyroscope through a CoreSlAM algorithm, respectively processes the received human body vital sign information transmitted by the human body infrared detector, the toxic gas information transmitted by the toxic gas detector and the combustible gas information transmitted by the combustible gas detector by adopting an improved CoreSlAM algorithm to obtain whether trapped personnel, toxic gas information and combustible gas information exist at the position corresponding to the moment, and carries out autonomous obstacle avoidance according to the received distance obstacle distance signal transmitted by the infrared distance meter; and finally obtaining a movement track map and a barrier map in the limited space.
Further: the improved CoreSlAM algorithm is used for obtaining a motion trail map and an obstacle map by adopting the following modes:
s1, taking N level signals in sequence each time, and calculating an average value;
s2, storing the average value into a one-dimensional array according to the time sequence;
s3, comparing the average value to obtain the average value and dividing the range of the average value;
and S4, if the average value is in the responding level range, setting a pixel block with determined color and size by taking the position unit of the corresponding time as the center to be displayed on the graph, and changing the size of the corresponding pixel block according to the level, if the average value is not in the responding level range, not processing the group of signals.
Further, the autonomous obstacle avoidance adopts the following mode:
s1, the infrared distance meter (6) detects the distance to the front obstacle, and converts the received returned infrared signal into a level signal with a corresponding size;
s2, if the level signal is less than the set threshold M1, continuing stepping according to the current advancing direction, if the level signal obtained by returning is greater than the set threshold M1, starting turning to the right or left;
and S3, in the steering process, when the level signal is less than the set level threshold M1, the system stops steering and advances in the direction, and when the level signal is greater than the set level threshold M1, the system continues steering.
Further, a detection method of a restricted space detection system based on an instant positioning and mapping technology comprises the following steps:
s1, setting matched sampling frequency for the laser radar, the human body infrared detector, the toxic gas detector and the combustible gas detector;
s2, processing the structural data of the surrounding environment of the laser radar data acquisition through a CoreSlAM algorithm, processing the vital sign related information data, the toxic gas related information data and the combustible gas related information data of a human body through an improved CoreSlAM algorithm, and obtaining a motion trail map by combining the traveling speed of a detection system;
s3, obtaining the position of the detection system at each moment from the movement track map, and obtaining the position coordinates of the obstacle according to the angle and distance information collected by the laser radar at the corresponding moment, thereby drawing the obstacle map in the space;
and S4, overlapping the movement track map and the obstacle map to obtain a multi-information map displayed by multiple colors.
By adopting the technical scheme, the limited space detection system and the limited space detection method based on the instant positioning and mapping technology have the advantages that the detection system is small in size and convenient to enter a limited space which is difficult for rescue workers to enter, a high-capacity rechargeable battery is used for supplying power, the detection system can be guaranteed to normally work in the limited space for a long time, the system is automatically controlled, the robot autonomously detects, the risk of information loss during communication with an upper computer is avoided, NI-LabVIEW is used for graphical language programming, an operation panel is simple, display is convenient, and operation is easy.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a block diagram of the connection of an embedded controller with other sensors used in the present invention;
FIG. 2 is a flow chart of the operation of the present invention;
FIG. 3 is a simplified hardware configuration of the present invention;
FIG. 4 is a schematic diagram of obstacle location using the CoreSlAM algorithm of the present invention;
fig. 5 is a multi-information fusion map drawn by the present invention.
In the figure: 1. the system comprises an embedded controller, 2, a human body infrared detector, 3, a toxic gas detector, 4, a combustible gas detector, 5, a laser radar, 6, an infrared distance meter, 7, a gyroscope, 8, an infrared camera, 9, an upper computer, 10 and a wireless communication module.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
a restricted space detection system based on instant positioning and map building technology is provided with an embedded controller 1, a human body infrared detector 2, a toxic gas detector 3, a combustible gas detector 4, a laser radar 5, an infrared distance meter 6, a gyroscope 7, an infrared camera 8, an upper computer 9 and a wireless communication module 10;
and starting a power supply of the detection system, entering the limited space, transmitting the image in the limited space back to the display window in real time by the infrared camera 8 after entering the limited space, enabling the detection system to automatically advance in the limited space, judging the distance between the detection system and the obstacle by the infrared distance meter, and executing an obstacle avoidance program if the distance is smaller than a given threshold value. If manual control is needed, the automatic obstacle avoidance program can be interrupted, and manual operation is switched to on the control panel of the upper computer.
The laser radar 5 collects the internal structure information of the limited space environment, returns point cloud data according to the fixed data protocol of the limited space environment and stores the point cloud data to the embedded controller 1;
in the step-by-step process of the detection system, the laser radar 5 carries out real-time data acquisition on the internal structure information of the limited space and stores the internal structure information into the embedded controller, wherein the structure information comprises: the laser radar adopts the model YDLIDAR F4PRO, the range of the ranging frequency is 4000-6000Hz, the angular resolution is 0.46-0.48, the baud rate is 230400bps, the data bit comprises eight bits of data and one stop bit, and no check bit exists.
The detection system has an approximate moving speed of 0.25m/s, if the radar ranging frequency is too slow, the scanning data is too little, and if the radar ranging frequency is too fast, the data redundancy can be caused, the occupied memory is too much, and the quality of the built map can be influenced. To find a suitable lidar scanning frequency, the radar system is calibrated by (1)
Delay time(s) map resolution ratio distance measuring frequency/robot moving speed (1)
And calculating to obtain proper period delay time so as to realize the matching of the radar scanning frequency and the forward speed of the detection system, and obtaining the optimal matching relation between the laser radar and the forward speed of the detection system through theoretical derivation and actual verification.
And sending an action message according to a data protocol of the laser radar 5, storing the returned data in an embedded controller, screening to obtain the data of the total number, the starting angle, the ending angle and the distance of data points, and forming a plurality of data packets with the returned values of the human body infrared sensor, the toxic gas sensor and the combustible gas sensor.
The human body infrared detector 2 transmits the detected vital sign information of the human body to the embedded controller 1 in the form of different values of level signals to search whether survivors exist in the limited space; the human body infrared detector 2 adopts a sensor model HC-SR501, when a person enters the sensing range, high level is output, and when the person leaves the sensing range, low level (controllable delay time) is automatically delayed (ended).
The toxic gas detector 3 transmits the detected toxic gas and concentration information thereof to the embedded controller 1 in the form of different values of level signals, judges the gas concentration according to the magnitude of the induced electric signal, packs the acquired level signals into a plurality of groups to be stored in the embedded controller 1, and can transmit the groups to an upper computer through Wi-Fi;
the combustible gas detector 4 transmits the detected combustible gas and the concentration information thereof to the embedded controller 1 in the form of different values of level signals, judges the gas concentration according to the magnitude of the induced electric signal, packs the acquired level signals into a plurality of groups to be stored in the embedded controller, and can transmit the level signals to an upper computer through Wi-Fi;
the infrared distance meter 6 transmits a measured distance signal to the embedded controller 1, judges whether an obstacle exists in front of the embedded controller, and executes an obstacle avoidance program if the obstacle exists in front of the embedded controller; the infrared distance measuring instrument 6 adopts a Charpy GP2Y0A212YK0F sensor module, is installed at a lower position in front of the robot, and calibrates the relation between the distance of the obstacle and the output voltage of the sensor according to the actual distance and the output voltage corresponding to the sensor.
The infrared camera 8 stores the shot environment information of the limited space to the embedded controller 1, and transmits the shot image to the upper computer 9 through the wireless communication module 10, so that a rescuer can observe the real condition in the limited space conveniently;
the gyroscope 7 transmits the acquired attitude information to the embedded controller 1; the gyroscope 7 is an MPU6050 type, data communication can be realized through a serial TTL, and information processing can be realized according to a decoding program provided by a manufacturer. The used embedded controller NI-myRIO has integrated gyroscope module inside;
the embedded controller 1 processes the received structural information of the limited space environment transmitted by the laser radar 5 and the received real-time attitude information transmitted by the gyroscope 7 through a CoreSLAM algorithm, respectively processes the received human body vital sign information transmitted by the human body infrared detector 2, the toxic gas information transmitted by the toxic gas detector 3 and the combustible gas information transmitted by the combustible gas detector 4 by adopting an improved CoreSLAM algorithm to obtain whether trapped personnel, toxic gas information and combustible gas information exist at the positions corresponding to the moment, and autonomously avoids obstacles according to the received distance obstacle distance signals transmitted by the infrared distance meter 6; and finally, obtaining a movement track map and a barrier map in the limited space, wherein besides drawing the edge position of the barrier, the map is also marked with information including the position of survivors, the distribution position and concentration information of toxic gas and combustible gas, so that fusion of space multi-information and a two-dimensional plane map is completed, the obtained map is transmitted to an upper computer for display, and reference basis can be provided for rescue work.
Further, the system can avoid obstacles in an autonomous manner as follows:
s1, the infrared distance meter 6 detects the distance to the front obstacle, and converts the received returned infrared signal into a level signal with corresponding size;
s2, if the level signal is less than the set threshold M1, continuing stepping according to the current advancing direction, if the level signal obtained by returning is greater than the set threshold M1, starting turning to the right or left;
and S3, in the steering process, when the level signal is less than the set level threshold M1, the system stops steering and advances in the direction, and when the level signal is greater than the set level threshold M1, the system continues steering.
The improved CoreSLAM algorithm is characterized in that a plurality of environment parameter variables are added in the original composition algorithm, and multi-channel data are integrated to finally form a map containing multiple information. The improved algorithm is suitable for the laser radar, the algorithm can be independently executed on the embedded controller, and the basic principle of the positioning and mapping algorithm is as follows:
the basis of the particle filtering is Bayesian Importance Sampling (BIS), and the core idea of the BIS is to approximate the posterior probability density by using a series of weighted random samples and further obtain the required estimated value of statistics such as mathematical expectation or square difference. Because the posterior probability density of the random variable can not be directly obtained, the posterior probability density of the random variable is approximately expressed by a series of discrete samples with weights in Bayesian importance sampling, and the problem that the posterior probability density can not be directly obtained is solved. Setting a state variable x0:kIs g (x)0:k) Then the function g (x)0:k) The mathematical expectation of (d) can be expressed as:
E(g(x0:k))＝∫g(x0:k)p(x0:k|z1:k)dx0:k(2)
according to the Monte Carlo simulation principle, when N is sufficiently large, from the posterior probability density: p (x)0:k|z1:k) Extracting N particles x with same distribution independently0:k(i) N, so that the mathematical expectation can be approximated as
In order to solve the problem that it is difficult to directly sample from the posterior probability density in the practical problem, a reference function q (x) of the known importance probability density is introduced0:k|z1:k) Using Bayesian equations and q (x)0:k|z1:k) Calculating the expectation of the function, the weight is
According to the Monte Carlo simulation principle, the mathematical expectation is further expressed as:
the Sequence Importance Sampling (SIS) is a Bayesian importance sampling method which is modified and written into a sequence form, a weight is calculated by adopting a recursive update mode, and the method comprises the following specific implementation steps: s1 prediction xk(i)q(xk|x0:k-1(i),z1:k) (i ═ 1, 2.., N), a new sample x is obtained0:k(i)＝{xk(i),x0:k-1(i) And S2, updating: calculating the weight of each new sample and normalizing to obtain
The probability density that is found can be approximated by a weighted sum of the set of samples as:
the core idea of the particle filter-based positioning algorithm is to use N weighted discrete particles
The posterior probability density to represent the pose of the detection system is:
wherein, at the time k,detection system on-position attitude state xkThe particles of (A) are
Particles
Corresponding weight value
Indicating that the detection system is at time k
Probability of state. Calculating a particle set S by PF positioning algorithm at each moment kkFor approximating posterior density p (x)k|z1:k) Each iteration cycle is divided into two stages of motion prediction and perception updating:
s1, initialization: when k is 0, p (x) is distributed from the prior experiment0) A set of particles of sample size N is extracted.
S2, motion prediction stage: using the set of time particles S at k-1k-1And detecting the system motion model p (x)k|xk-1,uk-1) Prediction of a predicted particle set s 'at time k'k. I.e. for the set of particles sk-1Each particle of (1)
From a kinematic model p (x) according to motion control commandsk|xk-1,uk-1) Predicting the sampling to obtain new particles
Forming a set of predicted particles
S3, perception updating stage: sensing data z measured by sensor at time kkAnd a sensor perception model p (z)k|xk) Update s'kThe weight of each sample in the system is normalized, i.e. updated to obtain an approximate posterior summaryRate density p (x)t|z1:t) Particle set s oft. And finally, resampling is carried out, particles with small weight values are removed, and particles with large weight values are copied.
And when k is equal to k +1 in S4, returning to S2 and starting a new iteration cycle. Recursively invoking motion prediction and perceptual update, the detection system continuously updating the weighted set of particles skAnd using the set of particles skAnd estimating the pose of the detection system. The location unit of the detection system can be obtained after the coordinate transformation, and the gray value of the location unit is set as 0.
Further, the specific process of processing the human body vital sign information data detected by the human body infrared detector (2) by adopting the improved CoreSLAM algorithm is as follows:
the data obtained by the human body infrared detector 2 is processed by sequentially selecting N level signal data at the kth moment, averaging the N level signal data and storing the N level signal data to a blank array unit PkSince the detector generates high level, about 3.3V, when detecting the human body signal, the average value is compared numerically, and if the average value is greater than 3.0V, a red map pixel block with a size of 9 × 9 and a color set to RGB (255,0,0) is drawn with the position unit where the detection system is located as the center; if the average value is less than 3.0V, no treatment is carried out.
Further, the procedure of processing the toxic gas detected by the toxic gas detector 3 and the concentration information data thereof by using the modified CoreSLAM algorithm is as follows:
the data obtained by the toxic gas detector 3 is processed by sequentially selecting N level signal data at the kth moment, averaging the N level signal data and storing the N level signal data to a blank array unit Q1k. Because the detector can generate level signals with different sizes for gases with different concentrations, and high level, about 4V, can be generated when the concentration of toxic gas is detected to be high, the average value of the toxic gas is divided into ranges, if the average value is more than 3.8V, a yellow map pixel block with the size of 9 x 9 and the color set as RGB (255, 0) is drawn by taking a position unit where the detection system is located as the center; if the average value is less than 3.8V and more than 1.8V, drawing a value of 5 x 5 and color setting by taking the position unit where the detection system is located as the centerSetting yellow map pixel blocks with RGB (255, 0), and representing the concentration of harmful gas by different sizes of the pixel blocks; if the average value is less than 1.8V, no treatment is carried out.
Further, the improved CoreSLAM algorithm is adopted to process the data of the combustible gas detected by the combustible gas detector 4 and the concentration information thereof as follows:
the data obtained by the combustible gas detector 4 is processed by sequentially selecting N level signal data at the kth moment, averaging the N level signal data and storing the N level signal data to a blank array unit Q2k. The detector detects that the toxic gas concentration is high, high level is generated, about 4V is generated, when the concentration of the combustible body at the position is reduced, the level signal is also reduced, so that the average value of the level signal is subjected to range division, and if the average value is more than 3.5V, a green map pixel block with the size of 9 x 9 and the color set to RGB (0,255,0) is drawn by taking the position unit where the detection system is located as the center; if the mean value is less than 3.5V and more than 1.6V, a green map pixel block with the size of 5 x 5 and the color set as RGB (0,255,0) is drawn by taking the position unit where the detection system is located as the center; expressing the combustible gas concentration by different sizes of the pixel blocks; if the average value is less than 1.6V, no treatment is carried out.
Further, the data is initially processed, and the processing content includes that the scanning distance of the laser radar 5 is linearly transformed, and the data is scaled according to a proper proportion and then participates in subsequent correlation operation.
Further, a gray scale map composed of 2048 × 2048 pixel points and 255 color depth is established as an original map, and an initial position point of the detection system is established. Establishing two coordinate systems, wherein one coordinate system takes the left lower corner of an original map as an original point, and the other coordinate system upwards is the positive direction of a Y axis and rightwards is the positive direction of an X axis; the other one takes the position of the detection system as an original point, and the upward direction is the positive direction of the Y axis, and the rightward direction is the positive direction of the X axis. And processing the data returned by the laser radar through the data such as the initial angle, the final angle, the scanning obtained distance and the like to coordinate the data, so that the stepping track of the detection system is mapped onto the environment map.
Further, an improved SLAM algorithm is used, a Monte Carlo algorithm is applied to the coordinated data based on a particle filter principle to generate random numbers, a mathematical expectation is solved, and after multiple iterations, the edge position of the obstacle is estimated. And calculating and predicting the position of the obstacle possibly existing by comparing the data of the sampling points obtained in the adjacent sampling time and combining the speed and the direction of the detection system. And finally obtaining the position coordinate with the maximum probability by carrying out the Monte Carlo algorithm on the data obtained by sampling, determining the position coordinate as the position of the obstacle, and marking the position of the obstacle on the gray scale map after calculating and processing the conversion data of the coordinate axes.
Further, when the motion trail of the detection system is drawn, the data of the human body infrared sensor, the toxic gas sensor and the combustible gas sensor in the data packet at the same time are processed: if the Boolean quantity returned by the human body infrared detector 2 is true, adding a 9 × 9 red pixel block mark at the position of the detection system at the moment, and lighting a Boolean lamp on a display panel on the upper computer 9; if the Boolean quantity returned by the combustible gas detector 4 is true, adding a yellow pixel block mark of 9 × 9 or 5 × 5 to the position of the detection system at the moment; if the Boolean quantity returned by the toxic gas detector 3 is true, adding a green pixel block mark of 9 × 9 or 5 × 5 to the position of the detection system at the moment, and representing the concentration information of the gas by using the size of the pixel block, wherein the larger the pixel block is, the higher the gas concentration is, and finally synthesizing a map with multi-information fusion, which contains obstacle position information, survivor position information, toxic gas and combustible gas positions and corresponding concentrations thereof, and the motion trail of the detection system.
Further, when the autonomous traveling detection system detects that the traveling track forms a closed loop, the embedded controller controls the rotating speed of the motor to stop stepping of the detection system, transmits a stop signal and a map data packet to the upper computer through the wireless routing module, and waits for a next command of the upper computer.
Further, a detection method of a limited space detection system based on instant positioning and mapping comprises the following steps:
s1, setting equal sampling frequency for the laser radar 5, the human body infrared detector 2, the toxic gas detector 3 and the combustible gas detector 4;
s2, the detection system processes the structure data of the surrounding environment through a CoreSlAM algorithm in the stepping process, processes the vital sign related information data of the human body, the toxic gas related information data and the combustible gas related information data through an improved CoreSlAM algorithm, and obtains a motion trail map by combining the traveling speed of the detection system;
s3, obtaining the position of the detection system at each moment from the movement track map, and obtaining the position coordinates of the obstacle according to the angle and distance information collected by the laser radar at the corresponding moment, thereby drawing the obstacle map in the space;
and S4, overlapping the movement track map and the obstacle map to obtain a multi-information map displayed by multiple colors.
The system uses an NI-LabVIEW software platform running on a Windows system to carry out graphical language programming design of the whole system, and the operation panel is simple, convenient to display and easy to operate.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent substitutions or changes according to the technical solution and the inventive concept of the present invention should be covered by the scope of the present invention.
Claims (4)
1. A limited space detection system based on instant positioning and mapping technology is characterized in that: the system comprises an embedded controller (1), a human body infrared detector (2), a toxic gas detector (3), a combustible gas detector (4), a laser radar (5), an infrared distance meter (6), a gyroscope (7), an infrared camera (8), an upper computer (9) and a wireless communication module (10);
the laser radar (5) collects the internal structure information of the limited space environment, returns point cloud data according to a fixed data protocol and stores the point cloud data to the embedded controller (1);
the human body infrared detector (2) transmits the detected human body vital sign information to the embedded controller (1) in the form of different values of level signals;
the toxic gas detector (3) transmits the detected toxic gas and the concentration information thereof to the embedded controller (1) in the form of different values of level signals;
the combustible gas detector (4) transmits the detected combustible gas and the concentration information thereof to the embedded controller (1) in the form of different values of level signals;
the infrared distance meter (6) transmits the measured obstacle distance signal to the embedded controller (1), and judges whether an obstacle exists in front or not according to the distance signal;
the infrared camera (8) transmits the shot limited space environment image to the upper computer (9) and the embedded controller (1) through the wireless communication module (10);
the gyroscope (7) transmits the acquired attitude information to the embedded controller (1);
the embedded controller (1) carries out structural information processing on the received structural information of the limited space environment transmitted by the laser radar (5) and the received real-time attitude information transmitted by the gyroscope (7) through a CoreSlAM algorithm, respectively processes the received human body vital sign information transmitted by the human body infrared detector (2), the toxic gas information transmitted by the toxic gas detector (3) and the combustible gas information transmitted by the combustible gas detector (4) by adopting an improved CoreSlAM algorithm to obtain whether trapped persons, toxic gas information and combustible gas information exist at the corresponding positions at the moment, and carries out autonomous obstacle avoidance according to the received obstacle distance signal transmitted by the infrared distance meter (6); and finally obtaining a movement track map and a barrier map in the limited space.
2. The system of claim 1, wherein the system is further characterized by: the improved CoreSlAM algorithm is used for obtaining a motion trail map and an obstacle map by adopting the following modes:
s1, taking N level signals in sequence each time, and calculating an average value;
s2, storing the average value into a one-dimensional array according to the time sequence;
s3, comparing the average value to obtain the average value and dividing the range of the average value;
and S4, if the average value is in the responding level range, setting a pixel block with determined color and size to be displayed on the graph by taking the position unit of the corresponding moment as the center, and changing the size of the corresponding pixel block according to the level, if the average value is not in the responding level range, the group of signals is not processed.
3. The system of claim 1, wherein the system is further characterized by: the autonomous obstacle avoidance adopts the following mode:
s1, the infrared distance meter (6) detects the distance between the infrared distance meter and the front obstacle, and converts the received returned infrared signal into a level signal with a corresponding size;
s2, if the level signal is less than the set threshold M1, continuing stepping according to the current advancing direction, if the level signal obtained by returning is greater than the set threshold M1, starting turning to the right or left;
and S3, in the steering process, when the level signal is less than the set level threshold M1, the system stops steering and advances in the direction, and when the level signal is greater than the set level threshold M1, the system continues steering.
4. A detection method of the constrained space detection system based on the instant positioning and mapping technology as claimed in claim 2, characterized in that: the method comprises the following steps:
s1, setting matched sampling frequency for the laser radar (5), the human body infrared detector (2), the toxic gas detector (3) and the combustible gas detector (4);
s2, processing the structural data of the surrounding environment of the laser radar data acquisition through a CoreSlAM algorithm, processing the vital sign related information data, the toxic gas related information data and the combustible gas related information data of a human body through an improved CoreSlAM algorithm, and obtaining a motion trail map by combining the traveling speed of a detection system;
s3, obtaining the position of the detection system at each moment from the movement track map, and obtaining the position coordinates of the obstacle according to the angle and distance information collected by the laser radar at the corresponding moment, thereby drawing the obstacle map in the space;
and S4, overlapping the movement track map and the obstacle map to obtain a multi-information map displayed by multiple colors.
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