Comprehensive test building for emergency robot in dangerous building caused by earthquake disaster

Abstract

The invention relates to the technical field of earthquake rescue, in particular to a comprehensive test building for an emergency robot in a dangerous building caused by earthquake disasters, which comprises an overground building part, and the overground building part comprises a climbing turning test mechanism (1), a weak light environment test mechanism (2) and a narrow space test mechanism (3); the climbing and turning testing mechanism (1) is used for testing the climbing and turning performance of the emergency robot; the weak light environment testing mechanism (2) is used for testing the first-aid operation performance of the first-aid robot in a weak light environment; and the narrow space testing mechanism (3) is used for testing the passing performance and / or the first-aid operation performance of the first-aid robot in the narrow space. The comprehensive test building provides a complete environment for research, development and test of the emergency robot, can comprehensively evaluate the performance of the robot under various complex conditions, and provides powerful support for rescue work in earthquake disaster areas.

Description

Technical Field

[0001] The invention relates to the technical field of earthquake rescue, and in particular to a comprehensive test building for an emergency rescue robot inside a dangerous building caused by an earthquake disaster. Background Art

[0002] Earthquakes are a strong movement of the earth's crust. The types of building ruins caused by earthquakes are diverse. Frame structures, civil structures, brick-wood structures, brick-concrete structures, and steel structures affected by earthquakes will form unique earthquake ruins. At the same time, earthquake ruins are usually accompanied by secondary disasters, because strong earthquakes can cause damage to lifeline systems such as power supply, water supply and drainage, and gas supply, which may cause electric shocks, floods, fires, gas leaks, and even explosions.

[0003] Therefore, the dangerous buildings caused by earthquakes may have narrow spaces, extremely weak light, various road environments, and potential dangers such as aftershocks, toxic and harmful gases, fires, etc., which are not suitable for rescue teams to enter directly or cannot enter the ruins quickly. Reliable emergency robots can help rescue trapped people as soon as possible, improve the efficiency of earthquake rescue work, and effectively reduce casualties of trapped people and rescuers.

[0004] In order to improve the adaptability and working performance of emergency rescue robots in post-earthquake environments, they need to be tested and evaluated. Therefore, there is an urgent need for a comprehensive building that can simulate various post-earthquake environments. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and to provide a comprehensive test building for first aid robots inside dangerous buildings caused by earthquake disasters.

[0006] In order to solve the above technical problems, the technical solution of the present invention provides a comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters, including: an above-ground building part, the above-ground building part includes: a climbing and turning test mechanism 1, a weak light environment test mechanism 2 and a narrow space test mechanism 3; wherein,

[0007] The climbing and turning test mechanism 1 is used to test the climbing and turning performance of the emergency robot, and includes: a first platform 11, a second platform 12, an extension platform 13, a first staircase 14 and a second staircase 15; wherein,

[0008] The top end of the first staircase 14 is connected to the first platform 11 , and the bottom end is connected to the first side 1201 of the second platform 12 ;

[0009] The top end of the second staircase 15 is connected to the second side 1202 of the second platform 12, and the bottom end extends to the ground;

[0010] The extension platform 13 is flippably connected to the third side 1203 of the second platform 12, and has a first extension platform position extending parallel to the second platform 12 toward the outside and a second extension platform position overlapping the second platform 12;

[0011] The first side 1201 and the second side 1202 of the second platform 12 are connected, and the angle between the two is 90 to 180 degrees;

[0012] The first side 1201 and the third side 1203 of the second platform 12 are arranged opposite to each other;

[0013] The low-light environment testing mechanism 2 is used to test the first aid operation performance of the first aid robot in a low-light environment, and comprises: a box constructed of light-isolating materials, wherein an adjustable light source is arranged in the box; and the outer wall of the box is connected to the first platform 11 through a slope simulation device;

[0014] The narrow space testing mechanism 3 is used to test the passing performance and / or first aid operation performance of the first aid robot in a narrow space, and includes: a narrow space and a road simulation device placed in the narrow space, and the narrow space is connected to the first platform 11 through a slope simulation device.

[0015] Preferably, the extension platform 13 is flipably connected to the third side 1203 of the second platform 12 via a hinge, and the climbing and turning test mechanism 1 also includes: a limit member 16 connected to the extension platform 13, used to support the extension platform 13 so that the extension platform 13 is parallel to the second platform 12 when it is in the first position of the extension platform.

[0016] Preferably, the climbing and turning test mechanism 1 further comprises: a first guardrail 17, wherein the first guardrail 17 is arranged above the second platform 12, and has a first guardrail first position overlapping with the third side 1203 of the second platform 12 and a first guardrail second position avoiding the second platform 12 and the extension platform 13;

[0017] A limiting hole is provided at one end of the third side 1203 of the second platform 12; the bottom end of the first side of the first guardrail 17 extends into the limiting hole; the first guardrail 17 uses its first side as the rotation center and switches between the first guardrail first position and the first guardrail second position.

[0018] Preferably, a locking assembly is provided on the second side of the first guardrail 17 for locking the first guardrail 17 to the first guardrail first position; the climbing and turning test mechanism 1 also includes: four second guardrails 18, wherein the four second guardrails 18 are respectively fixed to both sides of the first staircase 14 and the second staircase 15.

[0019] Preferably, the road surface simulation device includes at least one or more of the following devices: a hydraulic road surface simulation device, a rotating drum road surface simulation device, a vibration platform road surface simulation device, a slope simulation device, a slippery road surface simulation device and a road surface temperature simulation device.

[0020] Preferably, the hydraulic road surface simulation device comprises: a plurality of plates of the same or different shapes; the plurality of plates are spliced ​​together to form a road surface, and a hydraulic component for adjusting the height of the plate is connected under each plate; the rotating roller road surface simulation device comprises: a plurality of rollers arranged side by side, and the rollers are respectively connected to drive motors; the vibration platform road surface simulation device comprises: a plurality of plates of the same or different shapes, the plurality of plates are spliced ​​together to form a road surface, and a vibrator for adjusting the vibration frequency of the plate is connected under each plate; the slippery road surface simulation device comprises: a container for storing liquid, a spraying device for spraying liquid, a plate and a controller; wherein the spraying device is respectively connected to the container and the spraying controller, and is used to spray the liquid onto the plate at a speed controlled by the spraying controller.

[0021] Preferably, the low-light environment testing mechanism 2 further comprises: a light sensor and a light controller; the light controller is connected to the light sensor and the light source.

[0022] Preferably, the comprehensive test building also includes: an underground building part; the underground building part is located in the underground space, including: at least two test units 41 connected in series, the test units 41 are connected through a channel 43, each test unit 41 is placed with a passability test device 42 and / or an environmental control device 49, and the channel 43 is selectively opened or closed by a door 44; a lifting device 47, as a connecting channel 43 between the above-ground space and the underground space, used to carry the emergency robot to switch between the above-ground space and the underground space; an extreme environment simulation unit 46, used to simulate a comprehensive extreme environment; and a climbing test device 45, connected to the test unit 41 and the extreme environment simulation unit 46.

[0023] Preferably, the types of the environmental control devices 49 include: heaters, refrigerators, smoke generators and humidifiers; the types of the passability test devices 42 include: obstacle simulation devices, narrow space simulation channels, terrain simulation devices and surface simulation devices; two adjacent test units 41 are provided with different types of environmental control devices 49 or / and different types of passability test devices 42.

[0024] Preferably, the extreme environment simulation unit 46 comprises: a room 48 for providing a test space; and an environment change device group, which is placed in the room 48 and is used to change the environment of the test space; wherein the environment change device group comprises at least any two of the following environment change devices: a heater, a refrigerator, a smoke generator and a humidifier; the room 48 is provided with a pipe 410, one end of which passes through the room 48 and is connected to the ground space, and the other end is connected to the environment change device; the ventilation pipe 410 or the drainage pipe 410 of the environment change device passes through the pipe 410 and is connected to the ground space; the electric wires of the environment change device pass through the pipe 410 and are connected to the power supply device arranged in the ground space.

[0025] Compared with the prior art, the advantage of the present invention is that the comprehensive test building provided by the present invention for first aid robots inside dangerous buildings caused by earthquake disasters provides a complete environment for the research and development and testing of first aid robots, can comprehensively evaluate the performance of robots in various complex situations, and provide strong support for rescue work in earthquake-stricken areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A comprehensive testing building for first aid robots inside dangerous buildings caused by earthquake disasters;

[0027] Figure 2 It is a schematic diagram of a climbing and turning test mechanism 1;

[0028] Figure 3 is a schematic diagram of the extended platform 13 and the second platform 12;

[0029] Figure 4 This is a three-dimensional diagram of the underground building part;

[0030] Figure 5 is a schematic diagram of a lifting device 47;

[0031] Figure 6 This is a top view of the underground building.

[0032] Figure 7 Schematic diagram of the extreme environment simulation unit. DETAILED DESCRIPTION

[0033] The technical solution provided by the present invention is further illustrated below in conjunction with embodiments.

[0034] like Figure 1 As shown, the comprehensive test building for first aid robots inside dangerous buildings caused by earthquake disasters provided in this embodiment includes: an above-ground building part, and the above-ground building part includes: a climbing and turning test mechanism 1, a low-light environment test mechanism 2 and a narrow space test mechanism 3.

[0035] like Figure 2 and Figure 3 As shown, the climbing and turning test mechanism 1 may include: a first platform 11 , a second platform 12 , an extension platform 13 , a first staircase 14 and a second staircase 15 .

[0036] The top of the first staircase 14 is connected to the first platform 11, and the bottom is connected to the first side 1201 of the second platform 12; the top of the second staircase 15 is connected to the second side 1202 of the second platform 12, and the bottom extends to the ground; the extension platform 13 is flippably connected to the third side 1203 of the second platform 12, and has a first extension platform position extending from the second platform 12 to the outside in parallel and a second extension platform position overlapping with the second platform 12; the first side 1201 and the second side 1202 of the second platform 12 are connected, and the angle between the two is 90 to 180 degrees; the first side 1201 and the third side 1203 of the second platform 12 are arranged opposite to each other. Figure 2 The case where the angle between the first side 1201 and the second side 1202 is 90 degrees is shown, that is, the first aid robot needs to turn 90 degrees when turning from the first staircase 14 to the second staircase 15. However, in other embodiments, the angle between the first side 1201 and the second side 1202 can be 90 to 180. For example, when the angle is 180 degrees, the first side 1201 and the second side 1202 are in a straight line, the facing direction of the first staircase 14 is opposite to the facing direction of the second staircase 4, and the first aid robot needs to turn 180 degrees when turning from the first staircase 14 to the second staircase 15.

[0037] The extension platform 13 can be flipably connected to the third side 1203 of the second platform 12 through a 180-degree limit hinge, so that the extension platform 13 is parallel to the second platform 12 when it is in the first position of the extension platform. Figure 2 The 180-degree limit hinge is not shown in the figure, but it is an existing product and its installation method is also a technical means well known to those skilled in the art.

[0038] The extension platform 13 can also be flipably connected to the third side 1203 of the second platform 12 through a hinge that does not limit the angle, and a limit member 16 connected to the extension platform 13 is provided to support the extension platform 13 so that the extension platform 13 is parallel to the second platform 12 when it is in the first position of the extension platform.

[0039] It is worth noting that the 180-degree limit hinge can also be used in conjunction with the limit member 16, so that the extension platform 13 has a stable supporting force sufficient to support the emergency robot when it is in the first position.

[0040] For easy storage, the limiter 16 can be a telescopic support, which is hinged to the extension platform 13 and extends from the bottom of the extension platform 13 to the ground when the extension platform 13 is in the first position. When the extension platform 13 is in the second position, the limiter 16 can be flipped to overlap with the extension platform 13.

[0041] However, in other embodiments, the limiting member 16 may also be a support rod.

[0042] The first staircase 14 includes a plurality of first steps, and the plurality of first steps have the same or different heights; the second staircase 15 includes a plurality of second steps, and the plurality of second steps have the same or different heights. The heights of the first steps and the second steps are 210 mm to 350 mm.

[0043] The climbing and turning test mechanism 1 also includes: a first guardrail 17. The first guardrail 17 is arranged above the second platform 12, and has a first guardrail first position overlapping with the third side 1203 of the second platform 12 and a first guardrail second position avoiding the second platform 12 and the extension platform 13; a limiting hole is arranged at one end of the third side 1203 of the second platform 12; the bottom end of the first side of the first guardrail 17 extends into the limiting hole; the first guardrail 17 uses its first side as the rotation center and switches between the first guardrail first position and the first guardrail second position. A locking assembly is arranged on the second side of the first guardrail 17 for locking the first guardrail 17 to the first guardrail first position. When the first aid robot is being tested, the first guardrail 17 is in the second position, i.e., the open position. After the test is completed, the first guardrail 17 is in the first position, i.e., the closed position, and is locked by the locking assembly. The risk of the operator falling from the third side 1203 is avoided.

[0044] The climbing and turning test mechanism 1 further includes: four second guardrails 18, which are respectively fixed to both sides of the first staircase 14 and the second staircase 15. The extension platform 13 is fixedly connected to the guardrails except for the other edges of the first side 1201, the second side 1202 and the third side 1203. These guardrails prevent the robot from falling from its setting position and the operator from falling.

[0045] Before the emergency robot performs climbing and turning tests, the operator can open the first guardrail 17, flip the extension platform 13 to the first position, and make the telescopic rod perpendicular to the bottom surface.

[0046] When performing the climbing and turning test, the first aid robot starts from the first platform 11, first passes through the first staircase 14, then enters the second platform 12 to turn, and then climbs to the ground from the second staircase 15. If the first aid robot fails to brake, decelerate or turn, the movement trajectory of the first aid robot when turning may exceed the second platform 12. At this time, the extension platform 13 increases the area where the first aid robot can move, so that it will not fall, protecting the first aid robot and the operator on site.

[0047] It can be seen from the above description that the climbing and turning test mechanism 1 can test the climbing performance and turning performance of the first aid robot at the same time, and prevent the first aid robot from falling from the second platform 12 by extending the platform 13.

[0048] The applicant found that after an earthquake, the power supply in the disaster area is often interrupted, resulting in reduced ambient light or a complete lack of light. The collapsed buildings and chaotic site caused by the earthquake make rescue work very difficult. The emergency robot may need to perform search and rescue missions in dark, dusty or narrow spaces. After an earthquake, search and rescue work may also need to be carried out at night when the light is dim. Therefore, the emergency robot needs to be tested under such conditions to ensure that it can work in an environment lacking light sources and has the ability to perform search and rescue missions in low-light conditions.

[0049] In order to meet the above-mentioned earthquake rescue needs, this embodiment provides the weak-light environment testing mechanism 2 for testing the working performance of the emergency rescue robot in a weak-light environment. The weak-light environment testing mechanism 2 may include: a box constructed of light-isolating materials, in which an adjustable light source is arranged; the outer wall of the box is connected to the first platform 11 through a slope simulation device. The weak-light environment testing mechanism 2 may also include: a light sensor and a light controller; the light controller is connected to the light sensor and the light source.

[0050] In this embodiment, the light controller receives the light signal collected by the light sensor, and the brightness of the light source can be set. If the collected light signal does not match the set brightness of the light source, it can be adjusted through the optical fiber controller.

[0051] The applicant found that in the collapsed buildings caused by earthquakes, narrow spaces may appear, such as between collapsed floors, rubble piles, passages, etc. The chances of survival of trapped people in these narrow spaces are relatively high. After the earthquake, obstacles such as rubble and debris may block the passages and restrict the actions of search and rescue personnel. The road surface after the earthquake may also vibrate, become rough or slippery due to aftershocks, collapsed buildings, or broken pipes. By conducting passing performance and / or operating capability performance tests in narrow spaces, the first aid robot can evaluate the maneuverability and operability of the first aid robot in confined spaces. This helps to discover and solve possible problems in advance, thereby improving rescue efficiency and success rate.

[0052] In order to meet the above test requirements, this embodiment provides the narrow space testing mechanism 3 for testing the passing performance and / or operating ability of the emergency robot in a narrow space. The narrow space testing mechanism 3 may include: a narrow space and a road surface simulation device placed in the narrow space, and the narrow space is connected to the first platform 11 through a slope simulation device.

[0053] In this embodiment, the road simulation device may include at least one or more of the following devices:

[0054] Hydraulic road surface simulation device, rotating drum road surface simulation device, vibration platform road surface simulation device, slope simulation device, slippery road surface simulation device and road surface temperature simulation device.

[0055] The hydraulic road surface simulation device comprises: a plurality of plates of the same or different shapes; the plurality of plates are spliced ​​together to form a road surface, and a hydraulic assembly for adjusting the height of each plate is connected under each plate;

[0056] The rotating roller road simulation device comprises: a plurality of rollers arranged side by side, each of which is connected to a driving motor;

[0057] The vibration platform type road surface simulation device comprises: a plurality of plates of the same or different shapes, the plurality of plates are spliced ​​together to form a road surface, and a vibrator for adjusting the vibration frequency of the plate is connected under each plate;

[0058] The slippery road simulation device comprises: a container for storing liquid, a spraying device for spraying the liquid, a plate and a controller; wherein the spraying device is respectively connected to the container and the spraying controller, and is used to spray the liquid onto the plate at a speed controlled by the spraying controller.

[0059] like Figure 4 and Figure 6 As shown, this embodiment also includes an underground building part, which is located in the underground space and includes:

[0060] At least two test units 41 connected in series, the test units 41 are connected through a channel 43, a passability test device 42 and / or an environmental control device 49 is placed in each test unit 41, and the channel 43 is selectively opened or closed by a door 44;

[0061] The lifting device 47, serving as a connecting passage between the above-ground space and the underground space, is used to carry the emergency robot to transfer between the above-ground space and the underground space;

[0062] An extreme environment simulation unit 46, used for simulating comprehensive extreme environments;

[0063] The climbing test device 45 is connected to the test unit 41 and the extreme environment simulation unit 46 .

[0064] The environmental control device 49 may be a heater, a refrigerator, a smoke generator, and a humidifier.

[0065] The passability test device 42 may be an obstacle simulation device, a narrow space simulation channel, a terrain simulation device, and a surface simulation device.

[0066] The obstacle simulation device can simulate obstacles of different heights, shapes and materials, such as blocks, cylinders, stairs, etc., to evaluate the performance of the robot when traversing obstacles.

[0067] The narrow space simulation channel can simulate the passage after the earthquake collapse;

[0068] A terrain simulation device that can simulate the rough roads caused by an earthquake;

[0069] The surface simulation device can simulate different types of surface materials, such as muddy land, sand, stones, etc., to evaluate the traction and mobility performance of the robot under different surface conditions.

[0070] Each test unit 41 has different types of passability test devices 42 and / or environmental control devices 49; when adjacent test units 41 are connected, different environmental control devices 49 in the test unit can perform comprehensive simulation of the environment; different passability test devices 42 in the test unit can perform comprehensive passability tests on the first aid robot.

[0071] The underground building has the following features:

[0072] Comprehensive testing: The system provides a comprehensive testing environment capable of simulating various post-earthquake emergency situations in underground spaces, including extreme environments and complex terrains.

[0073] Strong customizability: Through different test units and environmental control devices, different types of tests can be performed on the first aid robot according to specific needs to meet application requirements in different scenarios.

[0074] Provide safety guarantee: Placing the test system in underground space can prevent the smoke generated by the environmental test device from leaking to the outside and causing harm to the testers. At the same time, the temperature and humidity of the underground space are more stable than those of the above-ground space and are not affected by changes in the external environment.

[0075] Improving robot performance: By simulating extreme environments and climbing test rigs, the performance and stability of first aid robots in various complex situations can be evaluated and improved.

[0076] Improve efficiency and accuracy: The system design makes the testing process more efficient and accurate, and can quickly obtain the performance data of the first aid robot to guide subsequent improvement and optimization work.

[0077] like Figure 5 As shown, in order to facilitate the entry and exit of the emergency robot, the lifting device 47 can be a lifting platform. When testing the robot, the robot can enter the underground space from the ground space through the lifting platform.

[0078] An observation window is set at the top of the underground building part. The test personnel can observe the performance of the first aid robot in the underground building part of the underground space through the test window from the ground space.

[0079] The test unit 41 can be strictly sealed, a sealing strip is provided on the door 44, and an insulation layer is provided on the wall to ensure that when performing environmental simulation, higher extreme high temperatures and lower extreme low temperatures can be simulated.

[0080] However, for economical considerations, the test unit may not be sealed and may use ordinary walls. Higher extreme high temperatures and lower extreme low temperatures may be achieved by a separately provided extreme environment simulation unit 46. The extreme environment simulation unit 46 may be connected to the test unit 41 via a climbing test device 45.

[0081] like Figure 7 As shown, the extreme environment simulation unit 46 includes: a room 48 for providing a test space, and the room 48 is a sealed room composed of walls.

[0082] To improve the thermal insulation of the room 48, the wall may be provided with a thermal insulation layer.

[0083] The room 48 is provided with a passage communicated with the ground space and a door matched with the passage. In order to improve the airtightness of the room 48, the door or / the passage is provided with a sealing strip, which increases the airtightness of the door and the passage.

[0084] In order to facilitate observation of the working status of the first aid robot, the room 48 may be provided with an observation window which may be covered by glass.

[0085] like Figure 7 As shown, an environment control device group is set in the room 48, and the group includes at least two types of environment control devices 49 for comprehensively simulating extreme environments. The types of environment control devices may include: heaters, refrigerators, smoke generators and humidifiers.

[0086] The combination of heater and humidifier can simulate extreme environment of high temperature and high humidity. The combination of heater, humidifier and smoke generator can simulate extreme environment of high temperature, high humidity and low visibility.

[0087] The combination of heater and smoke generator can simulate extreme environments of high temperature and low visibility.

[0088] Similarly to the refrigerator, the refrigerator can be combined with a smoke generator to simulate an extreme environment of low temperature and low visibility, or it can be combined with a humidifier to form an extreme environment of low temperature and high humidity. The refrigerator can also be combined with a smoke generator and a humidifier at the same time to simulate an extreme environment of low temperature, high humidity and low visibility.

[0089] Smoke generators and humidifiers can also be combined to simulate extreme environments of high humidity and low visibility at room temperature.

[0090] The environmental control device 49 may have a drain port and / or a vent. To prevent the discharged water or gas from affecting the environment in the room 48, the room 48 is provided with a pipe 410 connected to the ground space. The pipe 410 can be connected to the vent or drain port of the environmental control device to allow the water or gas discharged from the environmental control device 49 to enter the ground space.

[0091] Taking into account that the environmental control device 49 may itself be equipped with ventilation ducts and / or drainage ducts, the channel 10 can also be used to accommodate the ventilation ducts or drainage ducts to protect the ventilation ducts or drainage ducts and avoid damage or performance impact due to extreme environmental influences. For example, the drainage duct is prone to freezing in a low temperature environment and the ventilation ducts and / or drainage ducts are prone to corrosion in a high humidity environment.

[0092] Similarly, considering that the wires of the power supply device and the environmental control device 49 may also be affected by the extreme environment, the extreme environment simulation unit can place the power supply in the ground space, and allow the wires of the environmental control device 49 to pass through the pipe 410 out of the room 48 and connect to the power supply device, and the wires are protected by the pipe 410.

[0093] In order to improve the protection performance and durability of the pipeline 410, the pipeline 410 can be a heat-insulated pipeline and / or a waterproof pipeline.

[0094] In order to test the working performance of the first aid robot under extreme environment models, the present embodiment further includes a liftable operating platform 411 placed in the room 48. The extreme environment simulation unit 46 can combine multiple extreme environments, and can perform basic functional index test experiments of the first aid robot under comprehensive extreme climate conditions such as extreme cold, high temperature, high humidity, and low visibility. It has been verified that the test space can provide a temperature environment of -640°C to +60°C and a humidity environment of 50% to 90%.

[0095] The comprehensive test building provided in this embodiment for the first aid robot inside a dangerous building caused by an earthquake disaster includes an above-ground building part and an underground building part, and is intended to test the working performance of the first aid robot in various extreme environments and complex terrains.

[0096] The above-ground building part includes a climbing and turning test mechanism, a weak light environment test mechanism, and a narrow space test mechanism. The climbing and turning test mechanism tests the robot's climbing and turning capabilities through stairs and extended platforms at different angles. The weak light environment test mechanism simulates an environment with a lack of light sources to ensure that the robot can perform tasks under weak light conditions. The narrow space test mechanism simulates narrow passages and complex terrain caused by earthquakes to evaluate the robot's maneuverability and operability in confined spaces.

[0097] The underground construction part includes a series of test units, lifting devices, extreme environment simulation units and climbing test devices. The underground construction part provides a comprehensive test environment to simulate emergency situations after an earthquake, including extreme environments and complex terrains. Different types of passability test devices and environmental control devices can be used to perform different types of tests on the robot according to needs, thereby improving rescue efficiency and success rate.

[0098] The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters provided in this embodiment is highly customizable, can provide safety assurance, improve robot performance, etc. Through strict sealing and environmental control, the test system can simulate various extreme environments and improve the efficiency and accuracy of the test process. In addition, the lifting device and observation window improve the convenience of the robot's entry and exit, while ensuring the safety of the test personnel.

[0099] In general, this comprehensive test building provides a complete environment for the research, development and testing of emergency robots, which can comprehensively evaluate the performance of robots in various complex situations and provide strong support for rescue work in earthquake-stricken areas.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A comprehensive test building for first aid robots inside dangerous buildings caused by earthquake disasters, including: The above-ground building part comprises: a climbing and turning test mechanism (1), a weak light environment test mechanism (2) and a narrow space test mechanism (3); wherein: The climbing and turning test mechanism (1) is used to test the climbing and turning performance of the emergency robot, and comprises: a first platform (11), a second platform (12), an extension platform (13), a first staircase (14) and a second staircase (15); wherein: The top end of the first staircase (14) is connected to the first platform (11), and the bottom end is connected to the first side (1201) of the second platform (12); The top end of the second staircase (15) is connected to the second side (1202) of the second platform (12), and the bottom end extends to the ground; The extension platform (13) is flippably connected to the third side (1203) of the second platform (12), and has a first extension platform position extending parallel to the second platform (12) toward the outside and a second extension platform position overlapping the second platform (12); The first side (1201) and the second side (1202) of the second platform (12) are connected, and the angle between the two is 90 to 180 degrees; The first side (1201) and the third side (1203) of the second platform (12) are arranged opposite to each other; The low-light environment testing mechanism (2) is used to test the first-aid operation performance of the first-aid robot in a low-light environment, and comprises: a box constructed of light-isolating material, wherein an adjustable light source is arranged in the box; the outer wall of the box is connected to the first platform (11) via a slope simulation device; The narrow space testing mechanism (3) is used to test the passing performance and / or the first aid operation performance of the first aid robot in a narrow space, and comprises: a narrow space and a road surface simulation device placed in the narrow space, and the narrow space is connected to the first platform (11) through a slope simulation device.

2. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 1, characterized in that: The extension platform (13) is flipably connected to the third side (1203) of the second platform (12) via a hinge, and the climbing and turning test mechanism (1) further comprises: a limit member (16) connected to the extension platform (13), used to support the extension platform (13) so that the extension platform (13) is parallel to the second platform (12) when the extension platform is in the first position of the extension platform.

3. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 1, characterized in that: The climbing and turning test mechanism (1) further comprises: a first guardrail (17), wherein: The first guardrail (17) is arranged above the second platform (12), and has a first guardrail first position overlapping with the third side (1203) of the second platform (12) and a first guardrail second position avoiding the second platform (12) and the extension platform (13); A limiting hole is provided at one end of the third side (1203) of the second platform (12); The bottom end of the first side of the first guardrail (17) extends into the limiting hole; The first guardrail (17) is rotated with its first side as the center and switches between a first guardrail first position and a first guardrail second position.

4. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 3, characterized in that: The second side of the first guardrail (17) is provided with a locking assembly for locking the first guardrail (17) to the first guardrail first position; The climbing and turning test mechanism (1) further comprises: four second guardrails (18), wherein the four second guardrails (18) are respectively fixed to both sides of the first staircase (14) and the second staircase (15).

5. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 1, characterized in that: The road simulation device comprises at least one or more of the following devices: Hydraulic road surface simulation device, rotating drum road surface simulation device, vibration platform road surface simulation device, slope simulation device, slippery road surface simulation device and road surface temperature simulation device.

6. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 5, characterized in that: The hydraulic road surface simulation device comprises: a plurality of plates of the same or different shapes; the plurality of plates are spliced ​​together to form a road surface, and a hydraulic assembly for adjusting the height of each plate is connected under each plate; The rotating roller road simulation device comprises: a plurality of rollers arranged side by side, each of which is connected to a driving motor; The vibration platform type road surface simulation device comprises: a plurality of plates of the same or different shapes, the plurality of plates are spliced ​​together to form a road surface, and a vibrator for adjusting the vibration frequency of the plate is connected under each plate; The slippery road simulation device comprises: a container for storing liquid, a spraying device for spraying the liquid, a plate and a controller; wherein the spraying device is respectively connected to the container and the spraying controller, and is used to spray the liquid onto the plate at a speed controlled by the spraying controller.

7. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 1, characterized in that: The low-light environment testing mechanism (2) further comprises: a light sensor and a light controller; the light controller is connected to the light sensor and the light source.

8. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 1, characterized in that: It also includes: underground building parts; The underground building part is located in the underground space and includes: At least two test units (41) connected in series, the test units (41) are connected via a channel (43), a passability test device (42) and / or an environmental control device (49) is placed in each test unit (41), and the channel (43) is selectively opened or closed by a door (44); A lifting device (47), serving as a connecting passage (43) between the above-ground space and the underground space, is used to carry the emergency robot to transfer between the above-ground space and the underground space; An extreme environment simulation unit (46) for simulating a comprehensive extreme environment; and The climbing test device (45) is connected to the test unit (41) and the extreme environment simulation unit (46).

9. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 8, characterized in that: The types of the environmental control device (49) include: a heater, a refrigerator, a smoke generator and a humidifier; The types of the passability test device (42) include: an obstacle simulation device, a narrow space simulation channel, a terrain simulation device and a surface simulation device; Two adjacent test units (41) are provided with different types of environmental control devices (49) and / or different types of passability test devices (42).

10. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 8, characterized in that: The extreme environment simulation unit (46) comprises: a room (48) for providing a testing space; and An environment changing device group is placed in the room (48) and is used to change the environment of the test space; wherein: The environmental change device group includes at least any two of the following environmental change devices: Heaters, coolers, smoke generators and humidifiers; The room (48) is provided with a pipe (410), one end of which passes through the room (48) and is connected to the ground space, and the other end is connected to the environment change device; the ventilation pipe (410) or drainage pipe (410) of the environment change device passes through the pipe (410) and is connected to the ground space; the electric wire of the environment change device passes through the pipe (410) and is connected to a power supply device arranged in the ground space.

Images