Deformable crawler-type all-terrain life detection rescue trolley and use method thereof

Abstract

The invention relates to the technical field of mechanical engineering, and discloses a deformable crawler-type all-terrain life detection rescue trolley which comprises a trolley body, a life rescue module and an intelligent recognition sensing module are arranged on the trolley body, the trolley body is driven by a self-adaptive walking module, and the self-adaptive walking module comprises two crawler-type moving mechanisms arranged on the two sides of the trolley body respectively. The crawler-type moving mechanism is in an inverted trapezoid shape. The invention further discloses a using method of the deformable crawler-type all-terrain life detection rescue trolley. According to the deformable crawler-type all-terrain life detection rescue trolley and the using method thereof, the deformable crawler-type all-terrain life detection rescue trolley can adapt to different terrain conditions of ruins, can more efficiently and intelligently cross obstacles or avoid grooves through different crawler postures, and can run in multiple complex environments such as the ruins to provide help for rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a deformable crawler-type all-terrain life detection and rescue vehicle and a use method thereof. Background Art

[0002] Earthquakes are a common and sudden natural disaster that can cause great damage to human society and the natural environment in a short period of time. When an earthquake occurs, ground vibrations can cause buildings to collapse, resulting in casualties; infrastructure such as roads, bridges, and water and electricity facilities are damaged, causing traffic paralysis and interruption of water, electricity, and gas supply. In the face of mountainous disaster areas after major earthquakes, first of all, the mountainous terrain is relatively complex, and the access roads are narrow. Large rescue equipment vehicles such as tanks and excavators are difficult to pass through the rugged and narrow terrain. At present, most of them rely on helicopters to drop rescue personnel or rescue personnel (such as firefighters, medical soldiers) to walk through the damaged transportation channels to rescue the victims of the earthquake; secondly, because most buildings collapsed in the earthquake, the trapped people were trapped in the small space formed after the collapse. The stability of the space is extremely poor. If the position of the trapped people in the space is not accurately located and analyzed, the trapped people may be missed during the search and rescue process or another collapse may occur during the rescue process, causing harm to the rescue personnel, search and rescue dogs and the trapped people.

[0003] As a highly flexible and maneuverable robot, tracked robot has excellent terrain adaptability, good mobility and obstacle climbing capabilities, and has been widely used in space exploration, disaster relief, reconnaissance and surveillance.

[0004] Tracked machines can be divided into fixed tracked robots and deformable tracked robots according to whether the track mechanism can be transformed. Fixed tracked robots have strong fixity, load capacity and stability, but they are not as adaptable to complex terrain as variable tracked robots and have difficulty crossing high obstacles. Deformable tracked robots are lightweight, highly flexible, and can accurately and flexibly adjust the shape of the tracks according to different terrains, making them more adaptable to complex and changeable post-disaster environments. While maintaining stability, they can turn and move more flexibly.

[0005] According to the different shapes of the tracks, the tracks can be divided into inverted trapezoids, inverted triangles, regular triangles and parallelograms. Among them, the inverted trapezoidal track has a larger contact area with the ground and is more stable, which can effectively resist tipping over or rolling over when driving on uneven ground.

[0006] After an earthquake, a large number of buildings collapsed, forming various types of ruins, such as high obstacles, pits, uphill and downhill roads, and narrow holes inside collapsed buildings. Existing crawler rescue equipment is large and heavy, and it is difficult to drive on the ruins, because it may cause secondary collapse of the ruins, which is not conducive to the search and rescue work. There are few studies on the use of robots to enter narrow holes in China. The general research focus is on the research of bionic robots. However, the mechanical structure of this type of robot is very complex and difficult to manufacture. Most schemes remain in the theoretical stage and are difficult to implement. At the same time, it is difficult to repair after damage, and the materials used are scarce and expensive. There is almost no research on the deformation crawler robot carrying life detection rescue equipment to enter narrow holes. At present, the main rescue methods are search and rescue dogs and rescue personnel holding life detection equipment to detect life information. The rescue efficiency is relatively low. At the same time, the requirements for search and rescue dogs and rescue personnel are high. In the complex environment after the disaster, it may also cause additional harm to the personnel and search and rescue dogs involved in the search and rescue.

[0007] During the post-earthquake rescue process, if we can quickly enter the area with a small device equipped with a life detection signaler, locate the area where life is, send a signal to the main control center, and conduct accurate and rapid search and rescue through the different locations where the signal is sent, the efficiency of the rescue can be greatly improved, while also improving the application of human resources and reducing the probability of casualties among trapped people, rescuers and search and rescue dogs.

[0008] In summary, the existing technology mainly has the following technical problems:

[0009] 1. The existing crawler search and rescue equipment is large in size and does not have the function of penetrating narrow passages in ruins, and the range of life detection is not wide enough;

[0010] 2. The existing rescue methods mainly rely on emergency rescue personnel and search and rescue dogs. Faced with the complex post-disaster environment, the rescue efficiency is low, the positioning is not timely and accurate, and it is easy to miss the golden rescue period for trapped people and threaten the lives of rescuers;

[0011] 3. Existing snake-shaped or spider-shaped bionic small self-propelled robots have complex structures, are inconvenient to manufacture and maintain, and are difficult to control, making them difficult to be widely used.

[0012] Therefore, the present invention aims to provide a deformable crawler-type all-terrain life detection and rescue vehicle. Summary of the invention

[0013] The purpose of the present invention is to address the deficiencies of the above-mentioned technology and to provide a deformable tracked all-terrain life detection and rescue vehicle and a method of using the same, which can adapt to the different terrain conditions of the ruins, and through different track postures, it can more efficiently and intelligently cross obstacles or avoid grooves, and travel in multiple complex environments such as ruins to provide assistance for rescue.

[0014] To achieve the above-mentioned purpose, the deformable tracked all-terrain life detection and rescue vehicle involved in the present invention includes a vehicle body, on which is provided a life rescue module and an intelligent identification and perception module. The vehicle body is driven by an adaptive walking module, and the adaptive walking module includes two tracked moving mechanisms respectively arranged on both sides of the vehicle body, and the tracked moving mechanism is an inverted trapezoid.

[0015] Preferably, the crawler-type mobile mechanism comprises a crawler and a front wheel, a rear wheel, a front traction wheel, a rear traction wheel and four bracket wheels arranged inside the crawler and matching with the crawler, the front traction wheel, the rear traction wheel and the four bracket wheels are located at the lower part of the crawler, and the front traction wheel and the rear traction wheel are respectively located at the two ends of the four bracket wheels, the front wheel and the rear wheel are respectively located at the upper part of the crawler, and the front wheel is connected to a driving motor for driving it to rotate;

[0016] The four support wheels are rotatably mounted on a transverse support, the front wheel and the front traction wheel are rotatably mounted on two ends of a first front drive rod respectively, and a front motor driving the first front drive rod to rotate around the front traction wheel is provided at the position where the first front drive rod is mounted on the front traction wheel, the front wheel is also hinged to a front end of a second front drive rod in a zigzag shape, the middle part of the second front drive rod is hinged to the vehicle body, the rear end of the second front drive rod is hinged to a first guide rod, and the other end of the first guide rod is hinged to the frontmost support wheel;

[0017] The rear wheel and the rear traction wheel are rotatably mounted on the two ends of the first rear drive rod respectively, and the position where the first rear drive rod is mounted with the rear traction wheel is provided with a rear motor that drives the first rear drive rod to rotate around the rear traction wheel, the rear wheel is also hinged to the rear end of a second rear drive rod in a broken line shape, the middle part of the second rear drive rod is hinged to the vehicle body, the front end of the second rear drive rod is hinged to a second guide rod, and the other end of the second guide rod is hinged to the rearmost bracket wheel.

[0018] Preferably, a tensioning wheel is provided for tensioning the crawler track, and the tensioning wheel is located above the inside of the crawler track to support the crawler track.

[0019] Preferably, the life-saving module includes an infrared imager, an ultrasonic detector, a transmitter and a storage bin for daily necessities.

[0020] Preferably, the intelligent recognition and perception module includes an environment detection module and an analysis and calculation module.

[0021] A method for using the deformable crawler-type all-terrain life detection and rescue vehicle, when in obstacle crossing mode, includes the following stages:

[0022] In the first stage, the height of the currently protruding obstacle is first determined by the intelligent recognition and perception module, and a command is sent to drive the front motor to drive the first front drive rod to rotate counterclockwise by an angle, so that the front wheel is lifted, and the front traction wheel moves obliquely upward along the crawler track, thereby increasing the angle between the front end of the crawler track and the flat ground. At the same time, the front wheel drives the second front drive rod to rotate counterclockwise by an angle, and then, under the action of the first guide rod, the front end of the vehicle body is lifted. At this time, the drive motor drives the front wheel to increase the speed, providing a larger torque to help the front end of the rescue vehicle climb onto the front end of the obstacle;

[0023] In the second stage, after the front wheel successfully climbs onto the platform, when the intelligent recognition sensing module senses that the distance between the rear wheel and the current obstacle is less than the set minimum distance, a command is sent to cause the rear motor to drive the first rear drive rod to rotate counterclockwise by an angle, driving the rear wheel to slowly swing downward. At this time, the rotation angle is smaller than the counterclockwise rotation angle of the front wheel. At the same time, the rear wheel drives the second rear drive rod to rotate counterclockwise by an angle as well, and then, under the action of the second guide rod, the rear end of the vehicle body is pressed downward, so that the vehicle body climbs onto the obstacle.

[0024] In the third stage, the rescue vehicle maintains the output power and drives smoothly on the obstacle, repeating the first and second stages, so that the rescue vehicle can drive quickly on the uneven obstacles;

[0025] In the fourth stage, when the rescue vehicle reaches a relatively flat place, the first front drive rod is driven to drive the front wheels to swing down clockwise to return to the original angle, and then the first rear drive rod is driven to drive the rear wheels to rotate clockwise back to the original angle, completing the entire obstacle crossing process.

[0026] Preferably, when in the narrow hole crossing mode: the intelligent recognition and sensing module detects the external ruins entrance and exit conditions, and identifies the corresponding passable holes larger than its minimum height suitable for the rescue vehicle to pass through, that is, when the tracked moving mechanism changes from an inverted trapezoidal shape to a straight line, the rescue vehicle drives the first front drive rod and the first rear drive rod to rotate clockwise and counterclockwise respectively, so that the front wheels and the rear wheels both rotate toward the ground, so that the tracked moving mechanism changes from an inverted trapezoidal shape to a straight line, so that the rescue vehicle can enter the narrow passage.

[0027] Preferably, when in the uphill and downhill mode: the intelligent identification and sensing module senses that the rescue vehicle is on an uphill and downhill situation on a flat road at this time, the first front drive rod and the first rear drive rod do not adjust the track, and the tracked moving mechanism maintains the original inverted trapezoidal structure and moves forward uphill. During the uphill process, the drive motor outputs a larger driving torque to complete the uphill process. During the downhill process, the reducer is adjusted to control the downward speed to keep the rescue vehicle traveling at a steady speed.

[0028] Preferably, when crossing a groove: the intelligent identification and sensing module senses the presence of a groove ahead, and when it is determined that the groove ahead is less than the maximum length that can be crossed, the rescue vehicle maintains its original shape and continues to move forward. If the center of gravity tilts forward and the vehicle becomes unbalanced and gets stuck in the groove, the first front drive rod is driven to drive the front wheels to rotate counterclockwise upward, and at the same time, the drive motor drives the front wheels to increase the speed, so that the rescue vehicle drives out of the groove, regains balance, and continues to move forward. If it is determined that the groove ahead is greater than the maximum distance that the rescue vehicle can cross, the groove is avoided and the vehicle turns to find a new road.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] 1. Compared with the existing crawler deformation trolley with single deformation as the main feature, the present invention designs a main wheel that can change its position through a drive rod connected to it and a traction wheel that can fit the curve of the ground. The motor drives the drive rod to output a corresponding torque, driving the main wheel connected to it to achieve the effect of lifting or moving down. Therefore, the original inverted trapezoidal crawler can be transformed into a different shape, such as a straight line, or different crawler postures can be used to achieve more efficient and intelligent crossing of obstacles or avoiding grooves, and driving under multiple complex environments such as ruins to provide assistance for rescue;

[0031] 2. Compared with bionic robots such as snake-shaped and spider-shaped robots, the present invention is easy to manufacture and maintain, has a lower cost, and can more stably control the movement through the rotation adjustment and position adjustment of the relevant connecting rods;

[0032] 3. The present invention comprehensively considers the adjustment process of the track shape during the design process, and proposes four driving modes, namely, obstacle crossing mode, hole entering mode, uphill and downhill mode, and trough crossing mode. A comprehensive analysis is made of the coordinated adjustment of the front and rear drive rods with other rods during the rotation adjustment process driven by the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the crawler type moving mechanism in the deformable crawler type all-terrain life detection and rescue vehicle of the present invention.

[0034] The components in the figure are numbered as follows:

[0035] Track 1, front wheel 2, rear wheel 3, front traction wheel 4, rear traction wheel 5, bracket wheel 6, bracket 7, first front drive rod 8, second front drive rod 9, first guide rod 10, first rear drive rod 11, second rear drive rod 12, second guide rod 13, tension wheel 14. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] A deformable crawler-type all-terrain life detection and rescue vehicle comprises a vehicle body, on which a life rescue module and an intelligent identification and perception module are arranged. The vehicle body is driven by an adaptive walking module, and the adaptive walking module comprises two crawler-type moving mechanisms respectively arranged on both sides of the vehicle body, and the crawler-type moving mechanisms are in an inverted trapezoidal shape.

[0038] Specifically, Figure 1 As shown, the crawler-type mobile mechanism includes a crawler 1 and a front wheel 2, a rear wheel 3, a front traction wheel 4, a rear traction wheel 5 and four bracket wheels 6 arranged inside the crawler 1 and matching with the crawler 1. The front traction wheel 4, the rear traction wheel 5 and the four bracket wheels 6 are located at the lower part of the crawler 1, and the front traction wheel 4 and the rear traction wheel 5 are respectively located at the two ends of the four bracket wheels 6, the front wheel 2 and the rear wheel 3 are respectively located at the upper part of the crawler 1, and the front wheel 2 is connected to a driving motor for driving it to rotate;

[0039] Four support wheels 6 are rotatably mounted on the transverse support 7, the front wheel 2 and the front traction wheel 4 are rotatably mounted on the two ends of the first front drive rod 8 respectively, and the position where the first front drive rod 8 is mounted with the front traction wheel 4 is provided with a front motor driving the first front drive rod 8 to rotate around the front traction wheel 4, the front wheel 2 is also hinged to the front end of a second front drive rod 9 in a broken line shape, the middle part of the second front drive rod 9 is hinged to the vehicle body, the rear end of the second front drive rod 9 is hinged to the first guide rod 10, and the other end of the first guide rod 10 is hinged to the frontmost support wheel 6;

[0040] The rear wheel 3 and the rear traction wheel 5 are rotatably mounted on the two ends of the first rear drive rod 11 respectively, and a rear motor for driving the first rear drive rod 11 to rotate around the rear traction wheel 5 is provided at the position where the first rear drive rod 11 is mounted with the rear traction wheel 5. The rear wheel 3 is also hinged to the rear end of a second rear drive rod 12 in a broken line shape, the middle part of the second rear drive rod 12 is hinged to the vehicle body, the front end of the second rear drive rod 12 is hinged to a second guide rod 13, and the other end of the second guide rod 13 is hinged to the rearmost bracket wheel 6.

[0041] In addition, a tensioning wheel 14 is provided for tensioning the crawler track 1 . The tensioning wheel 14 is located above the crawler track 1 to support the crawler track 1 .

[0042] In this embodiment, the life rescue module includes an infrared imager, an ultrasonic detector, a transmitter and a storage bin for living materials. When the rescue vehicle enters the ruins or moves on the surface of the ruins, it can detect life characteristics through the corresponding detector, and draw a corresponding feature point map and send it to the main command department to improve the efficiency of accurate search and rescue. Specifically, the rescue vehicle can detect relevant life conditions on the road while moving forward, so as to achieve a relatively good life detection function. At the same time, the storage bin for living materials can store and transport a certain amount of water and food, and there are corresponding text instructions outside. Just click the small button on the rescue vehicle, the hatch will open automatically, and the water and food necessary for life can be taken out from the cabin. In addition to helping the trapped people with their physical functions, it also provides corresponding spiritual support. Through the monitoring of vital signs by the infrared imager and the ultrasonic detector, the rescue vehicle can make a corresponding feature point map, and the transmitter on the vehicle body will transmit the specific point map of life distribution to the relevant main command department, which can help it to carry out fixed-point rescue more accurately and efficiently, and increase the number of rescued people.

[0043] In this embodiment, the intelligent recognition and perception module includes an environment detection module and an analysis and calculation module, which is the core driving module of the rescue vehicle. Among them, the environment detection module is the leading part of the entire intelligent recognition and perception module, adopts relevant visual sensing technology, uses an external camera as a sensor, and the built-in algorithm captures the characteristic points in the image taken by the camera, tracks the position in the adjacent image, compares the point movement, and calculates the relevant movement distance, so as to realize the positioning and driving of the entire rescue vehicle in the autonomously built map; the analysis and calculation module is a central module, which analyzes the corresponding image characteristics and corresponding data of the sensor transmitted from the environment detection module, analyzes the inclination degree contour of the boundary line between the obstacle and the ground and the upper edge contour of the obstacle protruding to different degrees, and calculates the different angles at which the front and rear drive rods need to control the wheels to lift. The system will issue instructions to control the motor so that the entire rescue vehicle can complete the obstacle crossing function; in this module, the SLAM navigation technology is used to realize the perception of the rescue vehicle's own position and the external terrain environment, so as to feedback to various parts of the rescue vehicle, so that the rescue vehicle can quickly drive in various ruins environments after the response.

[0044] The method for using the deformable crawler-type all-terrain life detection and rescue vehicle of this embodiment, when in the obstacle crossing mode, includes the following stages:

[0045] In the first stage, the intelligent recognition and perception module first determines the height of the currently protruding obstacle, and sends a command to drive the front motor to drive the first front drive rod 8 to rotate counterclockwise by an angle, so that the front wheel 2 is lifted, and the front traction wheel 4 moves obliquely upward along the crawler 1, thereby increasing the angle between the front end of the crawler 1 and the flat ground. At the same time, the front wheel 2 drives the second front drive rod 9 to rotate counterclockwise by an angle, and then under the action of the first guide rod 10, the front end of the vehicle body is lifted. At this time, the driving motor drives the front wheel 2 to increase the speed, providing a larger torque to help the front end of the rescue vehicle climb onto the front end of the obstacle;

[0046] In the second stage, after the front wheel 2 successfully climbs onto the platform, when the intelligent recognition sensing module senses that the distance between the rear wheel 3 and the current obstacle is less than the set minimum distance, a command is sent to cause the rear motor to drive the first rear drive rod 11 to rotate counterclockwise by an angle, driving the rear wheel 3 to slowly swing downward. At this time, the rotation angle is smaller than the counterclockwise rotation angle of the front wheel 2. At the same time, the rear wheel 3 drives the second rear drive rod 12 to rotate counterclockwise by an angle as well, and then under the action of the second guide rod 12, the rear end of the vehicle body is pressed downward, so that the vehicle body climbs onto the obstacle.

[0047] In the third stage, the rescue vehicle maintains the output power and drives smoothly on the obstacle, repeating the first and second stages, so that the rescue vehicle can drive quickly on the uneven obstacles;

[0048] In the fourth stage, when the rescue vehicle reaches a relatively flat place, the first front driving rod 8 is driven to drive the front wheel 2 to swing down clockwise to return to the original angle, and then the first rear driving rod 11 is driven to drive the rear wheel 3 to rotate clockwise back to the original angle, completing the entire obstacle crossing process.

[0049] When in the narrow hole crossing mode: the intelligent recognition and perception module detects the external ruins entrance and exit conditions, and identifies the corresponding passable holes that are larger than the minimum height and suitable for the rescue vehicle to pass through. That is, when the crawler-type moving mechanism changes from an inverted trapezoidal shape to a straight line, the rescue vehicle drives the first front drive rod 8 and the first rear drive rod 11 to rotate clockwise and counterclockwise respectively, so that the front wheels 2 and the rear wheels 3 both rotate toward the ground, so that the crawler-type moving mechanism changes from an inverted trapezoidal shape to a straight line, so that the rescue vehicle can enter the narrow passage.

[0050] When in uphill and downhill mode: the intelligent recognition and sensing module senses that the rescue vehicle is on an uphill and downhill situation on a flat road at this time. The first front drive rod 8 and the first rear drive rod 11 do not adjust the track 1, and the crawler-type moving mechanism maintains the original inverted trapezoidal structure and moves forward uphill. During the uphill process, the drive motor outputs a large driving torque to complete the uphill process. During the downhill process, the reducer is adjusted to control the downward speed to keep the rescue vehicle traveling at a steady speed.

[0051] When crossing a ditch: the intelligent recognition and sensing module senses the presence of a ditch ahead. When it is determined that the distance of the ditch ahead is less than the maximum length that can be crossed, the rescue vehicle maintains its original shape and continues to move forward. If the center of gravity tilts forward at this time and the vehicle becomes unbalanced and gets stuck in the ditch, the first front drive rod 8 is driven to drive the front wheel 2 to rotate counterclockwise upward. At the same time, the drive motor drives the front wheel 2 to increase the speed, so that the rescue vehicle can drive out of the ditch, regain balance, and continue to move forward. If it is determined that the distance of the ditch ahead is greater than the maximum distance that the rescue vehicle can cross, the ditch is avoided and the vehicle turns to find a new road.

[0052] Compared with the original track-deformable trolley with single deformation as the main feature, the present invention is a deformable crawler-type all-terrain life detection and rescue trolley and a use method thereof. The present invention is designed with a main wheel that can change its position through a drive rod and a traction wheel that can fit the ground curve. The motor drives the drive rod to output a corresponding torque, driving the main wheel connected thereto to achieve the effect of lifting or moving down. Therefore, the original inverted trapezoidal crawler can be transformed into a different shape, such as a straight line, or different crawler postures can be used to achieve more efficient and intelligent crossing of obstacles or avoiding grooves, and driving under the multiple complex environments such as ruins to provide assistance for rescue. At the same time, compared with bionic robots such as snake-shaped and spider-shaped robots, the present invention is easy to manufacture and maintain, has a lower cost, and has more stable control over movement through the rotation adjustment and position adjustment of related connecting rods. The present invention fully considers the adjustment process of the crawler shape in the design process, and proposes four driving modes, namely, obstacle crossing mode, hole entering mode, uphill and downhill mode, and groove crossing mode. The coordinated adjustment of the front and rear driving rods with other rods during the rotation adjustment process driven by the motor is comprehensively analyzed.

[0053] It should be noted that the description of the above technical solutions is exemplary, and this specification can be embodied in different forms and should not be interpreted as being limited to the technical solutions set forth herein. On the contrary, providing these descriptions will make the disclosure of the present invention thorough and complete, and will fully convey the scope disclosed in this specification to those skilled in the art. In addition, the technical solutions of the present invention are limited only by the scope of the claims.

[0054] For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, and the above structures should be regarded as belonging to the protection scope of the present invention.

Claims

1. A deformable crawler-type all-terrain life detection and rescue vehicle, comprising a vehicle body, characterized in that: The vehicle body is provided with a life-saving module and an intelligent identification and perception module. The vehicle body is driven by an adaptive walking module. The adaptive walking module comprises two crawler-type moving mechanisms respectively arranged on both sides of the vehicle body. The crawler-type moving mechanisms are in an inverted trapezoidal shape.

2. The deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 1, characterized in that: The crawler-type mobile mechanism comprises a crawler (1) and a front wheel (2), a rear wheel (3), a front traction wheel (4), a rear traction wheel (5) and four support wheels (6) arranged inside the crawler (1) and matching with the crawler (1); the front traction wheel (4), the rear traction wheel (5) and the four support wheels (6) are located at the lower part of the crawler (1), and the front traction wheel (4) and the rear traction wheel (5) are respectively located at the two ends of the four support wheels (6); the front wheel (2) and the rear wheel (3) are respectively located at the upper part of the crawler (1); and the front wheel (2) is connected to a driving motor for driving it to rotate; The four support wheels (6) are rotatably mounted on a transverse support (7); the front wheel (2) and the front traction wheel (4) are rotatably mounted on the two ends of a first front drive rod (8) respectively; and a front motor for driving the first front drive rod (8) to rotate around the front traction wheel (4) is provided at the position where the first front drive rod (8) is mounted on the front traction wheel (4); the front wheel (2) is also hinged to the front end of a second front drive rod (9) in a broken line shape; the middle part of the second front drive rod (9) is hinged to the vehicle body; the rear end of the second front drive rod (9) is hinged to a first guide rod (10); the other end of the first guide rod (10) is hinged to the frontmost support wheel (6); The rear wheel (3) and the rear traction wheel (5) are rotatably mounted on the two ends of the first rear drive rod (11), respectively, and a rear motor for driving the first rear drive rod (11) to rotate around the rear traction wheel (5) is provided at the position where the first rear drive rod (11) is mounted on the rear traction wheel (5). The rear wheel (3) is also hinged to the rear end of a second rear drive rod (12) in a broken line shape, the middle part of the second rear drive rod (12) is hinged to the vehicle body, the front end of the second rear drive rod (12) is hinged to a second guide rod (13), and the other end of the second guide rod (13) is hinged to the rearmost bracket wheel (6).

3. The deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 2, characterized in that: A tensioning wheel (14) is also provided for tensioning the crawler (1); the tensioning wheel (14) is located above the crawler (1) and supports the crawler (1).

4. The deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 1, characterized in that: The life-saving module includes an infrared imager, an ultrasonic detector, a transmitter and a storage bin for daily necessities.

5. The deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 1, characterized in that: The intelligent recognition and perception module includes an environment detection module and an analysis and calculation module.

6. A method for using the deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 2, characterized in that: When in obstacle crossing mode: it includes the following stages: In the first stage, the height of the currently protruding obstacle is first determined by the intelligent recognition and perception module, and a command is sent to drive the front motor to drive the first front drive rod (8) to rotate counterclockwise by an angle, so that the front wheel (2) is lifted up, and the front traction wheel (4) moves obliquely upward along the crawler (1), thereby increasing the angle between the front end of the crawler (1) and the flat ground. At the same time, the front wheel (2) drives the second front drive rod (9) to rotate counterclockwise by an angle, and then, under the action of the first guide rod (10), the front end of the vehicle body is lifted. At this time, the drive motor drives the front wheel (2) to increase the speed, providing a larger torque to help the front end of the rescue vehicle climb onto the front end of the obstacle. In the second stage, after the front wheel (2) successfully climbs onto the platform, when the intelligent recognition sensing module senses that the distance between the rear wheel (3) and the current obstacle is less than the set minimum distance, a command is sent to cause the rear motor to drive the first rear drive rod (11) to rotate counterclockwise by an angle, thereby driving the rear wheel (3) to slowly swing downward. At this time, the rotation angle is smaller than the counterclockwise rotation angle of the front wheel (2). At the same time, the rear wheel (3) drives the second rear drive rod (12) to rotate counterclockwise by an angle as well, thereby pressing the rear end of the vehicle body downward under the action of the second guide rod (12), thereby causing the vehicle body to climb onto the obstacle. In the third stage, the rescue vehicle maintains the output power and drives smoothly on the obstacle, repeating the first and second stages, so that the rescue vehicle can drive quickly on the uneven obstacles; In the fourth stage, when the rescue vehicle reaches a relatively flat place, the first front driving rod (8) is driven to drive the front wheel (2) to swing down clockwise to return to the original angle, and then the first rear driving rod (11) is driven to drive the rear wheel (3) to swing back clockwise to the original angle, completing the entire obstacle crossing process.

7. The method for using the deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 6, characterized in that: When in the narrow hole crossing mode: the intelligent recognition and perception module detects the external ruins entrance and exit conditions, and identifies the corresponding passable hole larger than its minimum height suitable for the rescue vehicle to pass through, that is, when the crawler-type moving mechanism changes from an inverted trapezoidal shape to a straight line, the rescue vehicle drives the first front drive rod (8) and the first rear drive rod (11) to rotate clockwise and counterclockwise respectively, so that the front wheels (2) and the rear wheels (3) both rotate toward the ground, so that the crawler-type moving mechanism changes from an inverted trapezoidal shape to a straight line, so that the rescue vehicle can enter the narrow passage.

8. The method for using the deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 6, characterized in that: When in uphill and downhill mode: the intelligent identification and sensing module senses that the rescue vehicle is on a flat road surface at this time. The first front drive rod (8) and the first rear drive rod (11) do not adjust the crawler (1), and the crawler-type moving mechanism maintains the original inverted trapezoidal structure and moves forward uphill. During the uphill process, the drive motor outputs a large drive torque to complete the uphill process. During the downhill process, the reducer is adjusted to control the downward speed and keep the rescue vehicle moving at a steady speed.

9. The method for using the deformable crawler-type all-terrain life detection and rescue vehicle as claimed in claim 6, characterized in that: When crossing a ditch: the intelligent recognition and sensing module senses the presence of a ditch ahead. When it is determined that the distance of the ditch ahead is less than the maximum length that can be crossed, the rescue vehicle maintains its original shape and continues to move forward. If the center of gravity tilts forward and the vehicle loses balance and gets stuck in the ditch, the first front drive rod (8) is driven to drive the front wheel (2) to rotate counterclockwise upward. At the same time, the drive motor drives the front wheel (2) to increase the rotation speed, so that the rescue vehicle can drive out of the ditch, regain balance, and continue to move forward. If it is determined that the distance of the ditch ahead is greater than the maximum distance that the rescue vehicle can cross, the ditch is avoided and the vehicle turns to find a new road.

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