Fig. 8. Capo rescue construction robot
Poland University of Mining and Metallurgy developed a Capo fully automatic rescue construction robot, as shown in Figure 8. In order not to repeat the route, particle swarm optimization algorithm and greedy algorithm are applied to the path planning of the robot when exploring the unknown interior environment of the building. In order to realize the function of real-time distance measurement and obstacle avoidance, a vision control system based on monocular vision technology is adopted. Experiments have proved that the robot can achieve high precision fast orbit tracking and has strong robustness to external interference. Compared with the traditional rescue construction robot search, it can save 30% time.