Air-ground amphibious four-footed emergency rescue investigation robot

Abstract

The invention discloses an air-ground amphibious four-footed emergency rescue investigation robot. The investigation robot comprises an unmanned aerial vehicle system, a four-footed system and a transmission system, wherein the unmanned aerial vehicle system comprises a fuselage, arms, a dual output shaft motor and a rotor wing; the transmission system comprises a shell connected with the arms and a worm wheel and worm driving mechanism arranged in the shell, an input end of the worm wheel and worm driving mechanism is connected with the lower ends of output shafts of the dual output shaft motor by virtue of a unidirectional coupler, and an output end of the worm wheel and worm driving mechanism is connected with the four-footed system in a driving way; and the four-footed system comprises four sets of crank and connecting rod mechanisms and elastic soles arranged at the tail ends of the crank and connecting rod mechanisms respectively. Compared with the prior art, the air-ground amphibious four-footed emergency rescue investigation robot provided by the invention integrates flying and walking into a whole, is simple in structure and easy to control, has stability and robustness at the same time and can land to ground in a critical area, move everywhere on the ground and acquire site hazardous gas and video data, and the accuracy and effectiveness of data are improved.

Description

technical field [0001] The invention discloses a ground-air amphibious quadruped emergency rescue robot, which belongs to the technical field of production safety monitoring and emergency rescue. Background technique [0002] In recent years, frequent major safety accidents in chemical companies have brought huge losses to national security, environmental protection, and people's lives and property. Accidents in the chemical industry are often destructive and cause serious damage to the site, accompanied by serious disasters such as explosion, combustion, leakage of dangerous gas, and leakage of dangerous liquid. The ground facilities at the accident site are severely damaged and the situation is complicated. Moreover, the timeliness requirements for emergency rescue and rescue are high. If effective measures are not taken in time, secondary accidents and secondary disasters will occur. Therefore, the handling of petrochemical accidents requires a quick emergency response i...

AI Technical Summary

Problems solved by technology

However, the accident scene in the chemical industry is often in a fire, suffocation, toxic, and harmful environment. Rescuers at the scene of the accident are often unable to enter immediately, and it is difficult to obtain first-hand data quickly. Inappropriate rescue caused by insufficient investigation of the accident scene leads to the expansion of the accident. It is not uncommon to see such cases, which is one of the weak links in emergency rescue work

At present, UAVs in safety production monitoring and emergency rescue mostly use a single aerial reconnaissance method. Due to the disturbance of propellers, airflow and other factors, there is a large deviation between the data collected in the air and the data on the ground.

For example, the dangerous gas composition and concentration data collected in the air are much lower than those on the ground, which will cause misjudgment to a certain extent.

At the same time, due to the influence of factors such as propeller motor vibration, airflow interference and fuselage vibration when observing the ground conditions in the air, it will cause the problem of low resolution of the collected video data.

Now there are wheeled UAVs that can move on the ground, but the general terrain in need of rescue is relatively complex, and the movement of wheeled UAVs is greatly restricted. It is necessary to move and collect on-site dangerous gas and video data to improve the accuracy and effectiveness of the data

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