A comprehensive test building for first-aid robots inside dilapidated buildings caused by earthquake disasters

Abstract

The present invention relates to the technical field of earthquake rescue, and particularly relates to a comprehensive test building for an internal first-aid robot for dangerous buildings caused by earthquake disasters, including: a ground building part, and the 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); the climbing and turning test mechanism (1) is used to test the climbing and turning performance of the first-aid robot; the low-light environment test mechanism (2) is used to test the first-aid operation performance of the first-aid robot in a low-light environment; the narrow space test 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. This comprehensive test building provides a complete environment for the research and development and testing of the first-aid robot, can comprehensively evaluate the performance of the robot in various complex situations, and provides strong support for the rescue work in earthquake-stricken areas.

Description

Technical Field

[0001] The present invention relates to the technical field of earthquake rescue, and particularly relates to a comprehensive test building for a first-aid robot inside a dangerous building caused by an earthquake disaster. Background Art

[0002] An earthquake is a strong crustal movement effect, and the types of building ruins caused by an earthquake are diverse. Frame structures, civil structures, brick-wood structures, brick-concrete structures, and steel structures affected by an earthquake will form unique earthquake ruins. At the same time, earthquake ruins are usually accompanied by secondary disasters, because strong earthquakes will cause damage to lifeline systems such as power supply, water supply and drainage, and gas supply, and may cause electric shock, flood, fire, gas leakage or even explosion, etc.

[0003] Therefore, the dangerous buildings caused by an earthquake may have constraints such as narrow spaces, extremely weak light, various road surface environments, and potential dangers such as aftershocks, toxic and harmful gases, and fire, etc., which are not suitable for rescue team members to directly enter or cannot enter the ruins quickly. A reliable first-aid robot helps to rescue trapped people as early as possible, improve the efficiency of earthquake rescue work, and effectively reduce the casualties of trapped people and rescue team members.

[0004] In order to improve the adaptability and working performance of the first-aid robot in the post-earthquake environment, it is necessary to test and evaluate it. 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 thus provide a comprehensive test building for a first-aid robot inside a dangerous building caused by an earthquake disaster.

[0006] To solve the above technical problems, the comprehensive test building for a first-aid robot inside a dangerous building caused by an earthquake disaster provided by the technical solution of the present invention includes: a ground building part, and the 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; wherein,

[0007] The climbing and turning test mechanism 1 is used to test the climbing and turning performance of the first-aid robot, and includes: a first platform 11, a second platform 12, an extended 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 pivotally connected to the third side 1203 of the second platform 12, and has a first position of the extension platform extending parallel to the outside from the second platform 12 and a second position of the extension platform overlapping with the second platform 12;

[0011] The first side 1201 and the second side 1202 of the second platform 12 are joined, and the angle between them 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 includes: a box body built by light-blocking materials, and an adjustable light source is arranged in the box body; the outer wall of the box body 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 surface simulation device placed in the narrow space, and the narrow space is communicated with the first platform 11 through a slope simulation device.

[0015] Preferably, the extension platform 13 is pivotally connected to the third side 1203 of the second platform 12 through a hinge, and the climbing and turning testing mechanism 1 further includes: a limiting member 16 connected to the extension platform 13, which is used to support the extension platform 13 so that the extension platform 13 is parallel to the second platform 12 when in the first position of the extension platform.

[0016] Preferably, the climbing and turning testing mechanism 1 further includes: a first guardrail 17, wherein the first guardrail 17 is arranged above the second platform 12 and has a first position of the first guardrail overlapping with the third side 1203 of the second platform 12 and a second position of the first guardrail 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 rotates around its first side and switches between the first position of the first guardrail and the second position of the first guardrail.

[0018] Preferably, a locking component is provided on the second side of the first guardrail 17 for locking the first guardrail 17 to the first position of the first guardrail; the climbing and turning testing mechanism 1 further 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 vibrating platform road surface simulation device, a slope simulation device, a wet and slippery road surface simulation device, and a road surface temperature simulation device.

[0020] Preferably, the hydraulic road surface simulation device includes: a plurality of plates with the same or different shapes; the plurality of plates are jointly spliced into a road surface, and a hydraulic component for adjusting the height of each plate is connected below each plate; the rotating drum road surface simulation device includes: a plurality of drums arranged side by side, and each drum is connected with a driving motor; the vibrating platform road surface simulation device includes: a plurality of plates with the same or different shapes, the plurality of plates are jointly spliced into a road surface, and a vibrator for adjusting the vibration frequency of each plate is connected below each plate; the wet and slippery road surface simulation device includes: a container for storing liquid, a spraying device for spraying liquid, a plate, and a controller; wherein, the spraying device is respectively connected with 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 includes: a light sensor and a light controller; the light controller is connected with the light sensor and the light source.

[0022] Preferably, the comprehensive testing building further includes: an underground building part; the underground building part is located in the underground space and includes: at least two series-connected testing units 41, the testing units 41 are communicated through a passage 43, and a passability testing device 42 or / and an environment control device 49 is placed in each testing unit 41, and the passage 43 is selectively opened or closed through a door 44; a lifting device 47, serving as a connection passage 43 between the above-ground space and the underground space, and is used to carry the first aid 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 testing device 45, which is connected with the testing unit 41 and the extreme environment simulation unit 46.

[0023] Preferably, the types of the environment control device 49 include: a heater, a refrigerator, a smoke generator, and a humidifier; the types of the passability testing device 42 include: an obstacle simulation device, a narrow space simulation passage, a terrain simulation device, and a ground surface simulation device; in two adjacent testing units 41, there are different types of environment control devices 49 or / and different types of passability testing devices 42.

[0024] Preferably, the extreme environment simulation unit 46 includes: a room 48 for providing a test space; and a group of environment changing devices disposed in the room 48 for changing the environment of the test space; wherein, the group of environment changing devices includes at least any two of the following environment changing devices: a heater, a refrigerator, a smoke generator, and a humidifier; the room 48 is provided with a duct 410, one end of the duct 410 passes through the room 48 and communicates with the above-ground space, and the other end is connected to the environment changing device; the ventilation duct 410 or the drainage duct 410 of the environment changing device passes through the duct 410 and communicates with the above-ground space; the wires of the environment changing device pass through the duct 410 and are connected to a power supply device disposed in the above-ground space.

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

[0026] Figure 1 is a comprehensive test building for the first-aid robot inside the dangerous building caused by earthquake disasters;

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

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

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

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

[0031] Figure 6 is a top view of the underground building part;

[0032] Figure 7 is a schematic diagram of the extreme environment simulation unit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions provided by the present invention are further described below in conjunction with embodiments.

[0034] As Figure 1 shown, the comprehensive test building for the first-aid robot inside the dangerous building 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] AsFigure 2 and Figure 3 As shown in Figure 3 , 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 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 pivotally connected to the third side 1203 of the second platform 12, and has an extension platform first position extending parallel to the outside from the second platform 12 and an extension platform second position overlapping with the second platform 12; the first side 1201 and the second side 1202 of the second platform 12 are adjacent to each other, and the angle between them 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 situation where the angle between the first side 1201 and the second side 1202 is 90 degrees is shown, that is, when the first-aid robot turns from the first staircase 14 to the second staircase 15, it needs to turn 90 degrees. 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 when the first-aid robot turns from the first staircase 14 to the second staircase 15, it needs to turn 180 degrees.

[0037] The extension platform 13 can be pivotally 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 extension platform first position. Although Figure 2 the 180-degree limit hinge is not shown in the figure, it is an existing commodity, 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 pivotally connected to the third side 1203 of the second platform 12 through a hinge that does not limit the angle, and a limiting 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 extension platform first position.

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

[0040] For convenient storage, the limiting member 16 can be a telescopic support column; the telescopic support column is hinged to the extension platform 13; when the extension platform 13 is in the first position of the extension platform, it extends from the bottom of the extension platform 13 to the ground. When the extension platform 13 is in the second position, it can be flipped to overlap with the extension platform 13.

[0041] However, in other embodiments, the limiting member 16 can 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 further includes: a first guardrail 17. The first guardrail 17 is arranged above the second platform 12, and has a first position of the first guardrail overlapping with the third side 1203 of the second platform 12 and a second position of the first guardrail 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 switches between the first position of the first guardrail and the second position of the first guardrail with its first side as the rotation center. A locking assembly is arranged on the second side of the first guardrail 17 for locking the first guardrail 17 to the first position of the first guardrail. When the first-aid robot is performing a test, the first guardrail 17 is in the second position, that is, the open position. After the test is completed, the first guardrail 17 is in the first position, that is, 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, and the four second guardrails 18 are respectively fixed to both sides of the first staircase 14 and the second staircase 15. At other edges of the extension platform 13 except the first side 1201, the second side 1202, and the third side 1203, they are fixedly connected to the guardrail. These guardrails avoid the risk of the robot falling from its set position and also avoid the risk of the operator falling.

[0045] Before the first-aid robot performs the climbing and turning test, 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 conducting the climbing and turning tests, the first-aid robot starts from the first platform 11, first passes through the first staircase 14 and then enters the second platform 12. After turning, it 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 during turning may exceed the second platform 12. At this time, the extended platform 13 increases the area where the first-aid robot can move, preventing it from falling, protecting the first-aid robot and also protecting the on-site operators.

[0047] As can be seen from the above description, the climbing and turning test mechanism 1 can simultaneously test the climbing performance and turning performance of the first-aid robot, and through the extended platform 13, prevent the first-aid robot from falling from the second platform 12.

[0048] The applicant found that after an earthquake occurs, the power supply in the disaster area often fails, resulting in a weakening of the ambient light or a complete lack of light sources. The building collapses and site chaos caused by the earthquake make the rescue work extremely difficult. The first-aid robot may need to perform search and rescue tasks in dark, dusty or narrow spaces. After an earthquake, the search and rescue work may also need to be carried out at night when the light is dim. Therefore, the first-aid 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 tasks under low-light conditions.

[0049] To meet the above earthquake rescue needs, this embodiment provides the low-light environment test mechanism 2 for testing the working performance of the first-aid robot in a low-light environment. The low-light environment test mechanism 2 may include: a box body built with light-blocking materials, and an adjustable light source is arranged inside the box body; the outer wall of the box body is connected to the first platform 11 through a slope simulation device. The low-light environment test 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, by receiving the optical signal collected by the light sensor through the light controller, the brightness of the light source can be set. If the collected optical signal does not match the set brightness of the light source, it can be adjusted through the optical fiber controller.

[0051] The applicant has found that in the building collapses caused by earthquakes, there may be narrow spaces, such as between collapsed floors, rubble piles, passageways, etc. The trapped people in these narrow spaces have a relatively high chance of survival. After an earthquake, obstacles such as rubble and debris may block the passageways, restricting the movement of search and rescue personnel. The road surface after the earthquake may also be affected by aftershocks, collapsed buildings, or ruptured pipelines, resulting in road vibrations, rough road surfaces, or slippery road surfaces. By conducting passing performance and / or operation ability performance tests of the first aid robot in narrow spaces, the mobility and operability of the first aid robot in restricted spaces can be evaluated. This helps to detect and solve potential problems in advance, thereby improving the rescue efficiency and success rate.

[0052] To meet the above test requirements, this embodiment provides the narrow space test mechanism 3 for testing the passing performance and / or operation ability of the first aid robot in narrow spaces. The narrow space test mechanism 3 may include: a narrow space and a road surface simulation device placed in the narrow space, and the narrow space is communicated with the first platform 11 through a slope simulation device.

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

[0054] Hydraulic road surface simulation device, rotating drum road surface simulation device, vibrating 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 includes: a number of plates with the same or different shapes; the plates are jointly spliced into a road surface, and a hydraulic component for adjusting the height of each plate is connected below each plate;

[0056] The rotating drum road surface simulation device includes: a number of drums arranged side by side, and each drum is connected with a driving motor;

[0057] The vibrating platform road surface simulation device includes: a number of plates with the same or different shapes, the plates are jointly spliced into a road surface, and a vibrator for adjusting the vibration frequency of each plate is connected below each plate;

[0058] The slippery road surface simulation device includes: a container for storing liquid, a spraying device for spraying liquid, a plate, and a controller; wherein, the spraying device is respectively connected with 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] As Figure 4 and Figure 6 shown, this embodiment further includes an underground building part, and the underground building part is located in an underground space and includes:

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

[0061] A lifting device 47, serving as a connection channel between the above-ground space and the underground space, is used to carry the first aid robot to switch between the above-ground space and the underground space;

[0062] An extreme environment simulation unit 46 is used to simulate a comprehensive extreme environment;

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

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

[0065] The passability test device 42 can 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 block-shaped, cylindrical, and staircase-shaped, etc., to evaluate the performance of the robot when crossing obstacles.

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

[0068] The terrain simulation device can simulate the rough road caused by an earthquake;

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

[0070] Each test unit 41 is equipped with different types of passability test devices 42 or / and environment control devices 49; when adjacent test units 41 are connected, the different environment control devices 49 in the test units can comprehensively simulate the environment; the different passability test devices 42 in the test units can conduct a comprehensive passability test on the first aid robot.

[0071] This underground building part has the following characteristics:

[0072] Comprehensive test: The system provides a comprehensive test environment, which can simulate various post-earthquake emergency situations in the underground space, including extreme environments and complex terrains.

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

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

[0075] Improve the performance of the robot: Through the simulation of extreme environments and climbing test devices, the performance and stability of the first aid robot in various complex situations can be evaluated and improved.

[0076] Improve efficiency and accuracy: The design of the system makes the test process more efficient and accurate, and the performance data of the first aid robot can be quickly obtained, thus guiding the subsequent improvement and optimization work.

[0077] As Figure 5 shown, for the convenience of the first aid robot to enter and exit, the lifting device 47 can be a lifting platform. When testing the robot, the robot can enter the underground space from the above-ground space through this lifting platform.

[0078] The underground building part is provided with an observation window at the top. 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 above-ground space.

[0079] The test unit 41 can be strictly sealed. Sealing strips are set on the door 44 and heat preservation layers are set on the wall to ensure that higher extreme high temperatures and lower extreme low temperatures can be simulated during environmental simulation.

[0080] However, for the sake of economy, the test unit can also not be sealed and ordinary walls can be used. Higher extreme high temperatures and lower extreme low temperatures can be achieved through the separately set extreme environment simulation unit 46. This extreme environment simulation unit 46 can be connected to the test unit 41 through the climbing test device 45.

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

[0082] To improve the heat preservation of the room 48, the wall can be provided with a heat preservation layer.

[0083] This room 48 is provided with a passage communicating with the above-ground space and a door matching this passage. To improve the sealing of the room 48, the door or / and the passage are provided with sealing strips, and these sealing strips increase the sealing between 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] To test the working performance of the first aid robot in an extreme environment simulation, this embodiment further includes a liftable operation platform 411 placed in the room 48. The extreme environment simulation unit 46 can combine various extreme environments and can conduct basic function index test experiments on the first aid robot under comprehensive extreme climate conditions such as extremely cold, high temperature, high humidity, and low visibility.

[0095] The comprehensive test building for the first aid robot inside dilapidated buildings caused by earthquake disasters provided in this embodiment includes a ground building part and an underground building part, aiming to test the working performance of the first aid robot in various extreme environments and complex terrains.

[0096] The ground building part includes a climbing and turning test mechanism, a low-light environment test mechanism, and a narrow space test mechanism. The climbing and turning test mechanism tests the climbing and turning abilities of the robot through stairs and extended platforms at different angles. The low-light environment test mechanism simulates an environment lacking light sources to ensure that the robot can perform tasks under low-light conditions. The narrow space test mechanism simulates the narrow passages and complex terrains caused by earthquakes to evaluate the mobility and operability of the robot in restricted spaces.

[0097] The underground building part includes a series of test units, a lifting device, an extreme environment simulation unit, and a climbing test device. The underground building part provides a comprehensive test environment, simulating the emergency situation after an earthquake, including extreme environments and complex terrains. Different types of passability test devices and environmental control devices can conduct different types of tests on the robot according to requirements, thereby improving the rescue efficiency and success rate.

[0098] The comprehensive test building for the first aid robot inside dilapidated buildings caused by earthquake disasters provided in this embodiment has strong customization, can provide safety guarantees, improve the performance of the robot, 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] Generally speaking, this comprehensive test building provides a complete environment for the research and development and testing of the first aid robot, can comprehensively evaluate the performance of the robot in various complex situations, and provides strong support for the 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 restrictive. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand 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 they should all be covered within the scope of the claims of the present invention.

Claims

1. A comprehensive test building for first aid robots in 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, wherein the narrow space is connected to the first platform (11) via a slope simulation device; The road simulation device at least comprises a combination 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; 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.

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 of rotation 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 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.

6. 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).

7. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 6, 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).

8. The comprehensive test building for first aid robots in dangerous buildings caused by earthquake disasters according to claim 6, 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, 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 or drainage pipe of the environment change device passes through the pipe and is connected to the ground space; the wire of the environment change device passes through the pipe and is connected to the power supply device arranged in the ground space.

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