Deep-well rescue robot applicable to narrow spaces and rescue method

Abstract

The invention particularly relates to a deep-well rescue robot applicable to narrow spaces and with strong passing capability, in-time rescue and convenience in carry and a rescue method. The deep-well rescue robot comprises an elliptical spherical-shell-shaped path finding body and a plurality of spherical-shell-shaped rescue bodies, wherein four-rotor or six-rotor type flying mechanisms are arranged at the corresponding positions of respective upper end surfaces of the path finding body and the rescue bodies; and the outer side surface of the path finding body is provided with two rows of supporting leg groups horizontally arranged in a ring shape along the vertical direction, and each row of supporting leg group comprises a plurality of automatically-telescopic folding type supporting legs. The rescue robot can realize flying movement or creeping movement under a well by means of the flying mechanisms or the supporting legs, is compact in volume and can meet underwater rescue; and the path finding bodies can realize elusion when descending and encountering obstacles, is strong in passing capability and is suitable for rescuing in the narrow spaces. When descending, the path finding body can draw a first-type deep-well map and a second-type deep-well map so as to be beneficial to increasing the descending speed and the ascending speed of the rescue bodies and the path finding body.

Description

technical field [0001] The invention relates to the technical field of deep well rescue, in particular to a deep well rescue robot suitable for narrow spaces and a rescue method. Background technique [0002] In our living environment, there are a large number of holes and holes for various purposes, such as abandoned machine shafts, mine shafts, exploratory shafts, pipelines, building foundation pile holes, deep sewage wells, etc. Due to various reasons, people or things accidentally fall into it happen from time to time, and the current rescue method still needs to use ropes to lift the rescuers, and the rescuers go deep into the well to find the people to be rescued. Most of the holes with small diameters have poor air circulation and even contain poisonous gas, which makes it very dangerous and difficult for rescuers to rescue, and may even cause rescuers to coma, and some holes are too narrow for rescuers to enter. [0003] In order to overcome the shortcomings of exis...

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Problems solved by technology

[0004] 1. The descending process of the rescue device is operated by on-site personnel, and many holes and holes are not vertically arranged, but have slopes or radians, and there is no light in the well, and the visibility is very low. In this case, in order to avoid bumps, the rescue device The speed of descent is often very slow, especially when there is well water in the well. When the robot needs to hang in the air and descend for a certain distance before diving into the water, it is difficult to control the speed of descent and dive, which often leads to untimely rescue; and when the rescuer catches the waiting When rescuers move upwards, they usually pull up the rescue device by pulling the rope at the wellhead. They also need to pay attention to the geographical environment above the rescue device, which causes the rescue device to rise slowly. A very important problem in deep well rescue is the short rescue time. , the rescue speed determines the rescue effect, so the rescue effect in the actual use of the rescue device is not ideal

[0005] 2. Some abandoned wells are deep. In order to prevent insufficient rescue ropes, it is often necessary to prepare a long spare rescue rope, which makes the robot bulky and difficult to carry.

[0006] 3. If an obstacle protruding laterally along the deep well section is encountered in the deep well, the rescuer cannot avoid and detour, and the scope of application is limited

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