Six-caterpillar-band and four-swinging-arm rescue robot and automatic walking control method

Abstract

The invention discloses a six-caterpillar-band and four-swinging-arm rescue robot, which comprises a robot body, two walking caterpillar band components and four swinging arm caterpillar band assemblies, wherein the robot body comprises a lower box cavity, an upper box cavity, a sensor cavity, three gear cavities and two support wheel cavities; the three gear cavities are respectively a front gear cavity, a left back gear cavity and a right back gear cavity; the two support wheel cavities are respectively a left support wheel cavity and a right support wheel cavity; the two walking caterpillar band assemblies are respectively a left walking caterpillar band assembly and a right walking caterpillar band assembly; the four swinging arm caterpillar band assemblies are respectively a left front swinging arm caterpillar band component, a left back swinging arm caterpillar band component, a right front swinging arm caterpillar band component and a right back swinging arm caterpillar band component. The invention discloses an automatic walking control method of the six-caterpillar-band and four-swinging-arm rescue robot. The six-caterpillar-band and four-swinging-arm rescue robot has the advantages that the structure is compact; the design is novel and reasonable; the intelligent degree is high; the work stability and the reliability are high; the practicability is high; the use effect is good; the popularization and the use are convenient.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a rescue robot with six tracks and four swing arms and an autonomous walking control method thereof. Background technique [0002] my country is one of the countries with the most disasters and accidents in the world, such as underground gas explosions in coal mines, landslide accidents, fires on the ground, earthquake landslides, and similar types of man-made accidents, which have caused great harm to the safety of people's lives and property. After gas explosions, landslides and other accidents in coal mines or other disaster environments, the surrounding environment is severely damaged, and the disaster-affected environment information cannot be directly transmitted to the rescue command center, and rescuers cannot engage in rescue operations, which seriously affects rescue efficiency. Great risk to life. Then there is an urgent need for rescue robots to explore di...

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Problems solved by technology

[0003] But at the same time, the disaster environment is very complicated. The rescue robot uses wireless communication to detect the environment, which is often disturbed by the environment, resulting in the loss of the robot signal, and making the rescue robot trapped in the disaster environment. At this time, the robot needs to perf

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