Shoufeng Tang

Research on stereo vision matching algorithm for rescue robot

After coal mine gas explosion and other accidents, rapid rescue is an important task. The underground tunnel is generally narrow and the number of people passing through it is limited. Therefore, a real-time detection technique is urgently needed to feedback the mine environment in real time and locate the trapped miners accurately. Under the actual environment, the rescue robot technology is urgently needed in the underground abominable environment. The rescue robot can use the airborne binocular camera to respond the downhole environment to the ground operation platform in real time. Due to the complexity of the environment in the mine, we must study a robust, real-time and accurate matching algorithm to restore the real scenes in the mine. In this paper, the improved census algorithm is used for stereo vision matching, and compared with the traditional SAD algorithm in the matching performance, and the superiority of the improved census algorithm is proved.

Boundary exploration algorithm of disaster environment of coal mine based on multi-UAVs

This paper proposes a boundary exploration algorithm of multiple unmanned aerial vehicles (multi-UAVs) under the disaster environment of coal mine. Firstly, the paper analyzed characteristics and disadvantages of the boundary exploration algorithm based on the utility value. Secondly, the angle factor in the process of navigation is taken into consideration and the dispersion function is introduced. As a result, a novel improved boundary exploration algorithm thus is proposed. Finally, the detection effect is compared between the two algorithm by simulation experiment. The simulation results shows that the improved boundary exploration algorithm can shorten the detection time and reduce the phenomenon of repeated coverage and crowding. Besides, the energy required for UAVs is reduced by about 13.5%.

Research on sound separation and identification of trapped miners based on fastica algorithm

After coal mine gas explosion and other accidents, rapid rescue is an important task to reduce casualties. The use of robots through the rescue channel to quickly enter the post-disaster mine search for trapped miners is currently used as a method. In the search for trapped miners, we use voice recognition to search for trapped miners, but the post-disaster mine environment is complex. Various noise will interfere with the identification of miners voice, and a signal separation method needs to be studied to obtain the desired signal. In this paper, we use the FastICA to study the blind separation of the sound, and compared with the common blind source separation method JADE algorithm, to verify the superiority of the FastICA algorithm in signal separation.

Application of chain-type multi-hop networks for unmanned aerial vehicle in the mine

Ad hoc network is a multi hop, non center, self-organizing wireless network, also known as multi hop network, no infrastructure network or self-organizing network. The entire network has no fixed infrastructure, and each node is mobile, and can be maintained in any way dynamically with other nodes. In this paper, Ad Hoc network is used for multi robot communication for mine disaster searching. the paper summarizes the lack of fairness in MIMC-AODV protocol, the problem of wasting time in SA-TDMA protocol, the technology of joint channel assignment and time slot allocation, and introduces the multi channel time slot allocation cross — layer protocol (MSAT) combined with AODV and TDMA.MSAT protocol in video transmission performance is more suitable for the application of the online video transmission based on multi hop Ad Hoc network of UAV in the mine.