АВТОНОМНЫЙ РОБОТ ДЛЯ МОНИТОРИНГА НАЗЕМНЫХ АРХЕОЛОГИЧЕСКИХ РАСКОПОК

Abstract

The great interest in cultural heritage reflects a person's desire to know and understandtheir origins and achievements. However, archaeological sites, like the natural environment, arefinite non-renewable resources. Of all the types of heritage under threat, archaeological sites andtheir wealth of information and artifacts are the most threatened. In current practice, options forthe preservation of archaeological sites include reconstruction, reassembly (anastilesis), in situ conservation and protection, including shelter and/or tissue consolidation, ex situ preservation byrelocation, and reburial with or without site interpretation. her. However, it is very important notto move or lose artifacts during archaeological excavations. If they are lost or moved, their informationpotential is lost. In order to ensure constant control of the process of archaeological research,fixing the artifacts found, building a three-dimensional model of the object under studyand ensuring safety at the site, an excavation monitoring system has been developed, deployed onan autonomous robot. The objective of this study is the development of hardware and software forthe robot. The robot is a suspended platform for data collection, the movement of which is providedby several cables fixed on fixed supports. The movement of the platform (both in the plane andin height) is provided by changing the length of the cables. Such a movement scheme makes itpossible to move the platform in the entire plane of the triangle formed by the fixed supports, aswell as to descend or ascend to a height limited by the height of the supports themselves. The dataacquisition platform is a flat platform with a communication module, a microcontroller and abattery installed on it. A gyro stabilizer is attached to the bottom, with a video camera and arangefinder mounted on it, which allows you to dampen vibrations during the movement of theplatform and external disturbances. A multi-agent algorithm for the operation of the robot monitoringsystem during excavation is presented. A program has been developed for managing andcollecting data from the monitoring system of archaeological sites.To test the monitoring system, arobot prototype was made, which was tested during excavations of a complex of archaeologicalmonuments in the Baksan region of the Kabardino-Balkarian Republic.