Underground boat type unmanned rescue robot and control method thereof

Abstract

The invention provides an underground boat type unmanned rescue robot which comprises a robot body, a sensing assembly and a control device, the sensing assembly is connected with the control device, and the control device is located in the robot body and connected with a driving device of the robot body; the sensing assembly comprises a pressure sensor and a thermal imaging sensor, the pressure sensor is located at the outer bottom of the robot body, and the thermal imaging sensor is located on the outer side wall of the robot body; the pressure sensor is used for sensing the immersion depth of the robot body and sending the immersion depth to the control device, and the thermal imaging sensor is used for sensing the directions of people around the robot body and sending the directions of people around the robot body to the control device; the system is not limited by communication signals, and can automatically respond and search and rescue underground personnel at the first time after an underground water disaster accident occurs, so that the water disaster emergency rescue capability is improved, and the survival probability of underground trapped personnel is increased.

Description

Technical Field

[0001] The present application relates to the field of underground rescue technology, and in particular to an underground boat-type unmanned rescue robot and a control method thereof. Background Art

[0002] In the existing mine disaster rescue technology, most of them use crawler, wheeled or foot rescue robots. For the underground water-filled environment after the flood, the mobility of the above three robots is very low, and they cannot fully play the rescue role in the underground water-filled environment; on the other hand, the rescue robots mostly rely on the operation of ground personnel. After the flood accident occurs, the data transmission between the rescue robot and the ground personnel will be interrupted, and the real-time information obtained by the ground personnel is limited. It is impossible to carry out rescue according to the actual situation underground, which affects the rescue efficiency. In view of this, there is an urgent need for an underground unmanned rescue robot to realize the automatic response and search and rescue in the first time after the flood accident occurs, improve the emergency rescue capability of flood disasters, and increase the survival rate of trapped people. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose an underground boat-type unmanned rescue robot and a control method thereof.

[0004] Based on the above purpose, the present application provides an underground boat-type unmanned rescue robot, comprising a robot body, a sensing component and a control device, wherein the sensing component is connected to the control device, and the control device is located in the robot body and connected to the driving device of the robot body;

[0005] The sensing component includes a pressure sensor and a thermal imaging sensor, wherein the pressure sensor is located at the outer bottom of the robot body, and the thermal imaging sensor is located at the outer side wall of the robot body;

[0006] The pressure sensor is used to sense the draft depth of the robot body and send it to the control device, and the thermal imaging sensor is used to sense the position of personnel around the robot body and send it to the control device;

[0007] The control device controls the robot body to start based on the draft of the robot body, and controls the robot body to move toward the position of the person based on the position of the person sent by the thermal imaging sensor after the robot body starts.

[0008] Furthermore, the unmanned rescue robot also includes a lighting structure and an acoustic and light warning structure, and the lighting structure and the acoustic and light warning structure are both located at the head of the robot body and connected to the control device.

[0009] Furthermore, the unmanned rescue robot also includes a positioning device and a communication device connected to the control device, and the positioning device and the communication device are both located in the robot body.

[0010] Furthermore, a human-machine interaction terminal connected to the control device is provided on the robot body, and a material warehouse is provided in the robot body, and the material warehouse is arranged close to the human-machine interaction terminal.

[0011] Furthermore, the positioning device has a display screen, and the display screen is located on the robot body.

[0012] Furthermore, the driving device is located at the tail of the robot body, and the driving device includes a paddle, a rudder and an engine.

[0013] Furthermore, the unmanned rescue robot also includes a generator and an explosion-proof battery, the generator is connected to the explosion-proof battery, and the explosion-proof battery is connected to the sensing component and the control device.

[0014] Based on the same inventive concept, the present application also provides a method for controlling the underground boat-type unmanned rescue robot as described above, comprising:

[0015] In response to determining that the water pressure value sent by the pressure sensor received by the control device is greater than or equal to the first preset value, the control device controls the thermal imaging sensor and the driving device of the robot body to start;

[0016] In response to determining that the control device receives the thermal imaging information sent by the thermal imaging sensor, the robot body is controlled to move based on the thermal imaging information, and the thermal imaging information includes position information.

[0017] Furthermore, the method further comprises:

[0018] In response to determining that the water pressure value sent by the pressure sensor and received by the control device is greater than or equal to the second preset value, the control device controls the lighting structure and the sound and light warning structure to start.

[0019] Furthermore, the method further comprises:

[0020] In response to determining that the water pressure value sent by the pressure sensor and received by the control device is greater than or equal to the second preset value, the control device controls the positioning device and the communication device to start.

[0021] From the above, it can be seen that the present application provides an underground boat-type unmanned rescue robot, which sets a pressure sensor on the outer bottom of the robot body to sense the draft depth of the robot body when a water disaster occurs underground. The control device starts the driving device and thermal imaging sensor of the robot body based on the draft depth sensed by the pressure sensor. The thermal imaging sensor is located on the outer wall of the robot body to sense the position of personnel around the robot body. The control device controls the driving device of the robot body to move to the position of the personnel based on the thermal imaging information sensed by the thermal imaging sensor, so that the personnel can log on to the robot body and achieve the purpose of automatically rescuing the personnel underground. The present application is not limited by communication signals, and can automatically respond and search and rescue the personnel underground in the first time after the underground water disaster occurs, thereby improving the emergency rescue capability of water disasters and increasing the survival rate of trapped personnel underground. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the underground boat-type unmanned rescue robot according to an embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the side view structure of the underground boat-type unmanned rescue robot according to an embodiment of the present application;

[0025] Figure 3 This is a schematic diagram of the top view of the structure of the underground boat-type unmanned rescue robot according to an embodiment of the present application;

[0026] Figure 4 This is a flow chart of a method for controlling an underground boat-type unmanned rescue robot according to an embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the structure of a device for controlling an underground boat-type unmanned rescue robot according to an embodiment of the present application;

[0028] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0029] In the figure: 10, robot body; 11, driving device; 20, sensing component; 21, pressure sensor; 22, thermal imaging sensor; 30, control device (not shown in the figure); 40, lighting structure; 50, sound and light warning structure; 60, positioning device; 61, display screen; 70, communication device (not shown in the figure); 80, human-computer interaction terminal; DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] During the construction and production of mines, surface water and groundwater flow into the mines through various channels. When the water inflow in the mine exceeds the normal drainage capacity, it causes a mine water disaster. As one of the "five major disasters" in coal mines, water disasters have become the second largest "killer" after gas accidents in threatening coal mine production safety and the lives of employees. After a water disaster occurs, communications between the mine and the ground are interrupted or delayed, resulting in ground rescue personnel being unable to understand the underground environment in the first place, such as the location of the water outlet, the amount of water, the location of the trapped personnel, etc., and also making it impossible for ground rescue personnel to enter the accident site in the first place. In this case, the trapped personnel underground lack survival resources and find it difficult to escape by themselves, reducing the chance of survival. At the scene of such a water disaster, the unmanned rescue robot is undoubtedly an ideal self-rescue device for trapped personnel.

[0033] As described in the background technology, most of the existing mine disaster rescue technologies use tracked, wheeled or legged rescue robots. The maneuverability of the above three types of robots is very low in the water-filled environment underground after a flood occurs. On the other hand, rescue robots mostly rely on ground personnel for operation. After a flood accident occurs, the data transmission between the rescue robot and the ground personnel will be interrupted, and the real-time information obtained by the ground personnel is limited. They cannot carry out rescue according to the actual situation underground, which affects the rescue efficiency.

[0034] Based on this, the present application proposes an underground boat-type unmanned rescue robot and its control method to solve the problem that the rescue robot relies on ground personnel for operation. It can independently confirm the occurrence of water disasters and perform rescue work, search and rescue trapped people underground, improve water disaster emergency rescue capabilities, and increase the survival rate of trapped people underground.

[0035] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] An underground boat-type unmanned rescue robot, such as Figure 1 , Figure 2 and Figure 3 As shown, it includes a robot body 10, a sensing component 20 and a control device 30, wherein the sensing component 20 is connected to the control device 30, and the control device 30 is located inside the robot body 10 and connected to the driving device 11 of the robot body 10;

[0037] The sensing component 20 includes a pressure sensor 21 and a thermal imaging sensor 22, wherein the pressure sensor 21 is located at the outer bottom of the robot body 10, and the thermal imaging sensor 22 is located at the outer side wall of the robot body 10;

[0038] The pressure sensor 21 is used to sense the draft depth of the robot body 10 and send it to the control device 30, and the thermal imaging sensor 22 is used to sense the position of personnel around the robot body 10 and send it to the control device 30;

[0039] The control device 30 controls the robot body 10 to start based on the draft of the robot body 10 , and controls the robot body 10 to move toward the position of the person based on the position of the person sent by the thermal imaging sensor 22 after the robot body 10 starts.

[0040] Specifically, the sensing component 20 and the control device 30 are both located on the robot body 10 to form the unmanned rescue robot. The robot body 10 includes a driving device 11, which is a power device of the robot body 10 to drive the robot body 10 to move, thereby realizing the movement of the unmanned rescue robot.

[0041] The control device 30 is the "brain" of the unmanned rescue robot and is connected to the sensing component 20 and the driving device 11 of the robot body 10 to receive information sent by the sensing component 20 and control the start and stop of the driving device 11 of the robot body 10.

[0042] The sensing assembly 20 includes the pressure sensor 21 and the thermal imaging sensor 22. The pressure sensor 21 is located at the outer bottom of the robot body 10, that is, at the side of the robot body 10 close to the ground, to sense the water pressure on the outer bottom of the robot body 10, and determine the draft of the robot body 10 based on the obtained water pressure, that is, the water level at the location of the robot body 10, which is a direct factor in determining whether water damage occurs in the well where the robot body 10 is located. The thermal imaging sensor 22 is used to sense the thermal imaging information around the robot body 10 to determine whether there are trapped people around the robot body 10.

[0043] The pressure sensor 21 and the thermal imaging sensor 22 are both connected to the control device 30, and the information sensed by them is sent to the control device 30. The control device 30 controls the operating state of the driving device 11 of the robot body 10 based on the received information to control the operating direction and route of the robot body 10.

[0044] Exemplarily, the pressure sensor 21 senses that the draft of the robot body 10 is 50 centimeters. After the control device 30 receives the draft sent by the pressure sensor 21, it controls the driving device 11 and the thermal imaging sensor 22 of the robot body to start. The thermal imaging sensor 22 is used to sense the thermal imaging information around the robot body 10, that is, to search for trapped persons. The driving device 11 is used to drive the robot body 10 to move underground, so that the thermal imaging sensor 22 searches for trapped persons at different positions underground.

[0045] It should be noted that when the control device 30 starts the driving device 11, it controls the driving device 11 to move according to the pre-stored underground mining engineering drawing. During the movement, after receiving the thermal imaging information sent by the thermal imaging sensor 22, the driving device 11 is controlled to move in the direction of the thermal imaging information in sequence, and then continues to move according to the pre-stored underground mining engineering drawing, thereby achieving the technical effect of all-round search and rescue of trapped persons.

[0046] In addition, the thermal imaging sensors 22 are provided in a ring shape on the outer wall of the robot body 10 in multiple arrangements, so that the thermal imaging sensors 22 can sense the thermal imaging information of personnel located around the robot body 10 in all directions, which is beneficial to ensuring the search and rescue effect. At the same time, it is also beneficial for the control device 30 to judge the position of the trapped person corresponding to the thermal imaging information according to the preset position of the thermal imaging sensor 22 that sends the thermal imaging information on the robot body 10, which simplifies the position judgment of the control device 30 and is beneficial to improving the rescue efficiency.

[0047] In this embodiment, a pressure sensor 21 is provided at the outer bottom of the robot body 10 to sense the draft of the robot body 10 when water damage occurs underground. The control device 30 starts the driving device 11 and the thermal imaging sensor 22 of the robot body 10 based on the draft sensed by the pressure sensor 21. The thermal imaging sensor 22 is located on the outer wall of the robot body 10 to sense the position of personnel around the robot body 10. The control device 30 controls the driving device 11 of the robot body 10 to move to the position of the personnel based on the thermal imaging information sensed by the thermal imaging sensor 22, so that the personnel can log on to the robot body 10, thereby achieving the purpose of automatically rescuing the personnel underground. This application is not limited by communication signals, and can automatically respond and search and rescue personnel underground in the first time after a water damage accident occurs underground, thereby improving the emergency rescue capability of water damage and increasing the survival rate of trapped personnel underground.

[0048] In some embodiments, the unmanned rescue robot further includes a lighting structure 40 and an acoustic and light warning structure 50 . The lighting structure 40 and the acoustic and light warning structure 50 are both located at the head of the robot body 10 and connected to the control device 30 .

[0049] Specifically, when the control device 30 controls the driving device 11 of the robot body 10 to start, the lighting structure 40 is started. The lighting structure 40 is used to assist the trapped persons to board the robot body 10, and during the movement of the unmanned rescue robot, the lighting structure 40 can also improve the recognizability of the unmanned rescue robot, so that the trapped persons located underground can recognize the bright light of the lighting structure 40 and follow the bright light to move toward the unmanned rescue robot, which is conducive to improving the rescue efficiency and increasing the survival rate of the trapped persons.

[0050] When the control device 30 determines that a water hazard has occurred based on the draft depth signal sent by the pressure sensor 21, the sound and light warning structure 50 is activated to remind the underground workers and the surface workers of the occurrence of the water hazard. The sound and light warning structure 50 is started at the same time as or even earlier than the driving device 11 of the robot body 10. The sound and light emitted by the sound and light warning structure 50 are not only used to remind the occurrence of water hazard, but also to improve the recognizability of the unmanned rescue robot, so that the trapped personnel in the well can identify the sound and light warning structure 50, and then identify the unmanned rescue robot, move towards the unmanned rescue robot, and realize the two-way convergence of the unmanned rescue robot and the trapped personnel, which is conducive to improving the rescue efficiency and increasing the survival rate of the trapped personnel.

[0051] In this embodiment, the lighting structure 40 and the sound and light warning structure 50 are used to assist the unmanned rescue robot in rescuing trapped persons underground, which can improve the rescue efficiency and increase the survival rate of the trapped persons.

[0052] In some embodiments, the unmanned rescue robot further includes a positioning device 60 and a communication device 70 connected to the control device 30 , and the positioning device 60 and the communication device 70 are both located inside the robot body 10 .

[0053] Specifically, the positioning device 60 is connected to the communication device 70. When the control device 30 receives the pressure signal sent by the pressure sensor 21, the communication device 70 and the positioning device 60 are controlled to start. The communication device 70 sends the positioning position of the positioning device 60 and the pressure signal of the pressure sensor 21 to other unmanned rescue robots in the well, thereby realizing the linkage between the position and water hazard information. While clarifying the location of the accumulated water, multiple unmanned rescue robots can rescue trapped persons in different locations, which is conducive to improving the rescue efficiency.

[0054] In addition, the communication device 70 also sends the pressure signal of the pressure sensor 21 to a receiving device on the well (ie, the ground) so that the personnel on the well can know the situation underground and actively carry out rescue and other measures.

[0055] It should be noted that when water damage occurs underground, the transmission of communication will be affected. Therefore, the communication device 70 continuously sends information to the receiving device above the well to increase the probability of successful information transmission.

[0056] In this embodiment, the positioning device 60 and the communication device 70 can realize the position linkage between the multiple unmanned rescue robots underground, so as to link the water level conditions at the locations of the multiple unmanned rescue robots, and the communication device 70 also sends to the surface to realize the advance communication of the water level conditions underground, which is beneficial for the surface to prepare emergency measures in advance, and further helps to reduce the impact of water disasters.

[0057] In some embodiments, a human-machine interaction terminal 80 connected to the control device 30 is provided on the robot body 10 , and a material warehouse is provided inside the robot body 10 , and the material warehouse is arranged close to the human-machine interaction terminal 80 .

[0058] Specifically, the human-machine interaction end 80 is connected to the control device 30. When a trapped person is located on the robot body 10, the specific operation of the driving device 11 of the robot body 10 can be controlled by operating the human-machine interaction end 80 to improve the operation flexibility of the robot body 10, thereby helping to improve the rescue efficiency.

[0059] The robot body 10 is provided with a simple riding cabin, and the human-computer interaction terminal 80 is located in front of the simple riding cabin, so that a person sitting in the simple riding cabin can operate the human-computer interaction terminal 80 to control the unmanned rescue robot. The material warehouse is located in the robot body 10, below the simple riding cabin. A person sitting in the simple riding cabin can open the material warehouse to take out materials to replenish physical strength and wait for rescue, which is beneficial to increase the rescue probability of trapped persons.

[0060] In some embodiments, the positioning device 60 has a display screen 61 , and the display screen 61 is located on the robot body 10 .

[0061] Specifically, the display screen 61 is arranged near the human-computer interaction terminal 80 and is located in front of the simple riding cabin. The positioning of the positioning device 60 can be displayed on the display screen 61, so that people sitting in the simple riding cabin can check the position of the positioning device 60 and control the driving direction of the unmanned rescue robot according to the position to rescue the trapped people.

[0062] In some embodiments, the driving device 11 is located at the tail of the robot body 10, and the driving device 11 includes a paddle, a rudder, and an engine.

[0063] Specifically, the driving device 11 is located at the tail of the robot body 10 and provides power for the robot body 10. The engine and the rudder are both connected to the control device 30. The engine is connected to the paddle to start the paddle. The rudder is used to control the moving direction of the robot body 10. The paddle controls the movement of the robot body 10. The control device 30 controls the moving direction of the robot body 10 by controlling the rudder and controls the movement of the robot body 10 by controlling the engine.

[0064] In some embodiments, the unmanned rescue robot further includes a generator and an explosion-proof battery, wherein the generator is connected to the explosion-proof battery, and the explosion-proof battery is connected to the sensing component 20 and the control device 30 .

[0065] Specifically, the generator is connected to the engine to convert the kinetic energy of the engine into electrical energy, and the explosion-proof battery is used to provide power support for electrical components such as the sensing component 20 and the control device 30 on the unmanned rescue robot. The provision of the generator and the explosion-proof battery can increase the standby time of the unmanned rescue robot, thereby helping to increase the chance of rescue of trapped people underground.

[0066] Based on the same inventive concept, the present application also provides a method for controlling the underground boat-type unmanned rescue robot as described above, such as Figure 4As shown, including:

[0067] Step S100, in response to determining that the water pressure value sent by the pressure sensor 21 received by the control device 30 is greater than or equal to the first preset value, the control device 30 controls the thermal imaging sensor 22 and the driving device 11 of the robot body 10 to start;

[0068] Specifically, the pressure sensor 21 is always in an activated state, and can sense the water pressure at its location, and send the sensed water pressure value to the control device 30. The first preset value is a water pressure value representing a water disaster. When the water pressure value received by the control device 30 is greater than or equal to the first preset value, the control device 30 determines that a water disaster has occurred underground, and starts the thermal imaging sensor 22 and the driving device 11 of the robot body 10, so that the unmanned rescue robot can run and conduct search and rescue underground.

[0069] Step S200, in response to determining that the control device 30 receives the thermal imaging information sent by the thermal imaging sensor 22, the robot body 10 is controlled to move based on the thermal imaging information, and the thermal imaging information includes position information.

[0070] Specifically, the thermal imaging sensors 22 are evenly arranged in a ring shape on the outer side wall of the robot body 10, and the control device 30 analyzes the thermal imaging information sent by the thermal imaging sensor 22. When it is determined that the thermal imaging information includes thermal imaging information of a person, based on the position of the thermal imaging sensor 22 that generates the thermal imaging information on the robot body 10, the drive device 11 of the robot body 10 is controlled to make the robot body 10 move toward the position of the thermal imaging sensor 22 to get close to the trapped person and realize the search and rescue of the trapped person.

[0071] In this embodiment, the water pressure conditions of the underground location of the unmanned rescue robot are monitored by the pressure sensor 21 to realize the monitoring of underground water hazards, and on this basis, the operation of the driving device 11 and the thermal imaging sensor 22 are controlled by the control device 30, so that the thermal imaging sensor 22 searches for trapped persons underground, and the driving device 11 approaches the trapped persons based on the information of the thermal imaging sensor 22, so that the unmanned rescue robot can automatically rescue the trapped persons underground, thereby increasing the probability of survival of the trapped persons when water hazards occur, and improving the practicality and promotion and applicability of the unmanned rescue robot.

[0072] In some embodiments, the method further comprises:

[0073] Step S300 , in response to determining that the water pressure value sent by the pressure sensor 21 received by the control device 30 is greater than or equal to the second preset value, the control device 30 controls the lighting structure 40 and the sound and light warning structure 50 to start.

[0074] Specifically, the second preset value is less than the first preset value, and is a warning signal sent by the pressure sensor 21 to the control device 30. When the water pressure value reaches the second preset value, the control device 30 starts the lighting structure 40 and the sound and light warning structure 50 to convey warning information to the underground workers, so that the underground workers can quickly know that water damage is about to occur, so that the underground workers can issue a warning, and the workers who are about to enter the underground will stop entering, which can avoid the increase of casualties caused by water damage.

[0075] In some embodiments, the method further comprises:

[0076] In step S400 , in response to determining that the water pressure value sent by the pressure sensor 21 received by the control device 30 is greater than or equal to the second preset value, the control device 30 controls the positioning device 60 and the communication device 70 to start.

[0077] Specifically, when the control device 30 receives information that the water pressure value reaches the second preset value, it starts the positioning device 60 and the communication device 70. On the one hand, the communication device 70 communicates with the device on the well to send water disaster information and the water pressure value so that the personnel on the well can prepare corresponding emergency measures. On the other hand, the communication device 70 establishes communication with the communication devices 70 on other unmanned rescue robots in the well to share the positioning information of the positioning device 60 and the water pressure value, so that the unmanned rescue robots at different positions can obtain the water pressure value of each unmanned rescue robot, thereby improving the linkage and timeliness of the unmanned rescue robots.

[0078] The following is a detailed description of the operation of the unmanned rescue robot in actual application:

[0079] A plurality of the unmanned rescue robots are placed underground in a mine. The unmanned rescue robots are placed on standby at a corner of the mine (or other position that does not affect the normal operation of the mine), and are placed on a placement rack. The height of the placement rack is a fixed value. When the water accumulation height at the position where the unmanned rescue robot is located is lower than the fixed value, the pressure sensor 21 cannot sense the water accumulation information, and the control device 30 of the unmanned rescue robot has no response and continues to be in a standby state, thereby avoiding the situation where the unmanned rescue robot is running due to normal water accumulation in the mine, which is beneficial to improving the practicality of the unmanned rescue robot. When the water accumulation height in the mine reaches the fixed value, the water pressure value sensed by the pressure sensor 21 is sent to the control device 30. Device 30, the fixed value is the second preset value, that is, the control device 30 turns on the positioning device 60, the communication device 70, the lighting structure 40 and the sound and light warning structure 50 when the water pressure value just appears, so as to realize water disaster warning and communication positioning at the beginning of the water disaster, avoid the situation where communication is interrupted due to water disaster and the ground cannot be communicated, greatly improve the probability of successful communication when water disaster occurs, so that the personnel on the well can know the water disaster situation in time and take emergency measures, so that the personnel underground can quickly know the water disaster situation and escape quickly or find the unmanned rescue robot through the lighting structure 40 and the sound and light warning structure 50, so as to quickly board the unmanned rescue robot, thereby improving the survival rate of the trapped personnel underground.

[0080] When the water pressure value sensed by the pressure sensor 21 reaches the first preset value, the control device 30 controls the driving device 11 of the robot body 10 and the thermal imaging sensor 22 to start, that is, the unmanned rescue robot starts to search and rescue the trapped persons underground. The thermal imaging sensor 22 is used to sense the position of the trapped persons, and the driving device 11 is used to drive the unmanned rescue robot to move and move towards the position of the trapped persons sensed by the thermal imaging sensor 22, so that the trapped persons can board the unmanned rescue robot to avoid being soaked in water, and at the same time, they can also replenish their physical strength through the supplies in the supply warehouse, thereby increasing the survival rate of the trapped persons.

[0081] Exemplarily, during the normal production stage of a mine, a plurality of placement racks for the unmanned rescue robots are evenly arranged in the tunnels of the mining face, and the unmanned rescue robots are placed in the placement racks in advance, and the pressure sensor 21 at the bottom of the unmanned rescue robots placed in the placement racks is about 10 cm away from the tunnel ground.

[0082] The location of the unmanned rescue robot and the underground mining tunnel plan are input into the control device 30 of the unmanned rescue robot, and the underground mining tunnel plan is updated in real time once a week.

[0083] When a water disaster occurs and water accumulates in the tunnel and reaches the pressure sensor 21, that is, when the water pressure value sent by the pressure sensor 21 and received by the control device 30 of the unmanned rescue robot is the second preset value, the control device 30 controls the communication device 70 and the positioning device 60 to start communicating with other unmanned rescue robots in the tunnel, determines the location of the water accumulation and transmits it to the ground; the sound and light warning device and the lighting structure 40 are started to warn the underground personnel of the existing water disaster.

[0084] When the control device 30 determines that the draft depth of the unmanned rescue robot reaches 50 cm through the water pressure value sent by the pressure sensor 21 (that is, when the water pressure value reaches the first preset value), the thermal imaging sensor 22 and the driving device 11 located around the unmanned rescue robot are started, and the control device 30 determines the position of the trapped person through the thermal imaging sensor 22.

[0085] The control device 30 starts the driving device 11 and moves to the position of the trapped person according to the pre-entered underground mining tunnel plan. After the trapped person logs into the unmanned rescue robot, he can change the automatic mode of the unmanned rescue robot to the manual takeover mode through the human-computer interaction interface. And communicate with the trapped persons in other unmanned rescue robots through the communication device 70. The trapped person can also open the material warehouse and use the materials in it for replenishment.

[0086] Before the water pressure value sensed by the pressure sensor 21 reaches 50 cm (ie, the first preset value), if a trapped person boards the unmanned rescue robot, the manual takeover procedure can be entered in advance to allow the trapped person to carry out self-rescue.

[0087] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0088] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0089] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a control device.

[0090] refer to Figure 5 , the control device comprises:

[0091] The starting module 100 controls the thermal imaging sensor and the driving device of the robot body to start in response to determining that the water pressure value sent by the pressure sensor received by the control device is greater than or equal to the first preset value;

[0092] The moving module 200 controls the movement of the robot body based on the thermal imaging information in response to determining that the control device receives the thermal imaging information sent by the thermal imaging sensor, wherein the thermal imaging information includes position information.

[0093] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0094] The device of the above embodiment is used to implement the corresponding control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0095] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method described in any of the above embodiments is implemented.

[0096] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0097] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0098] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0099] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0100] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0101] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0102] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0103] The electronic device of the above embodiment is used to implement the corresponding control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0104] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method described in any of the above embodiments.

[0105] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0106] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0107] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0108] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0109] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0110] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0111] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0112] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0113] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0114] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0115] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. An underground boat-type unmanned rescue robot, characterized in that: It includes a robot body, a sensing component and a control device, wherein the sensing component is connected to the control device, and the control device is located in the robot body and connected to the driving device of the robot body; The sensing component includes a pressure sensor and a thermal imaging sensor, wherein the pressure sensor is located at the outer bottom of the robot body, and the thermal imaging sensor is located at the outer side wall of the robot body; The pressure sensor is used to sense the draft depth of the robot body and send it to the control device, and the thermal imaging sensor is used to sense the position of personnel around the robot body and send it to the control device; The control device controls the robot body to start based on the draft of the robot body, and controls the robot body to move toward the position of the person based on the position of the person sent by the thermal imaging sensor after the robot body starts.

2. The underground boat-type unmanned rescue robot according to claim 1, characterized in that: It also includes a lighting structure and a sound and light warning structure, both of which are located at the head of the robot body and connected to the control device.

3. The underground boat-type unmanned rescue robot according to claim 1, characterized in that: It also includes a positioning device and a communication device connected to the control device, and the positioning device and the communication device are both located in the robot body.

4. The underground boat-type unmanned rescue robot according to claim 1, characterized in that: The robot body is provided with a human-machine interaction terminal connected with the control device, and the robot body is provided with a material warehouse, which is arranged close to the human-machine interaction terminal.

5. The underground boat-type unmanned rescue robot according to claim 3, characterized in that: The positioning device has a display screen, and the display screen is located on the robot body.

6. The underground boat-type unmanned rescue robot according to claim 1, characterized in that: The driving device is located at the tail of the robot body, and comprises a paddle, a rudder and an engine.

7. The underground boat-type unmanned rescue robot according to claim 1, characterized in that: It also includes a generator and an explosion-proof battery, wherein the generator is connected to the explosion-proof battery, and the explosion-proof battery is connected to the induction component and the control device.

8. A method for controlling the underground boat-type unmanned rescue robot according to any one of claims 1 to 7, characterized in that: include: In response to determining that the water pressure value sent by the pressure sensor received by the control device is greater than or equal to the first preset value, the control device controls the thermal imaging sensor and the driving device of the robot body to start; In response to determining that the control device receives the thermal imaging information sent by the thermal imaging sensor, the robot body is controlled to move based on the thermal imaging information, and the thermal imaging information includes position information.

9. The control method according to claim 8, characterized in that: Also includes: In response to determining that the water pressure value sent by the pressure sensor and received by the control device is greater than or equal to the second preset value, the control device controls the lighting structure and the sound and light warning structure to start.

10. The control method according to claim 8, characterized in that: Also includes: In response to determining that the water pressure value sent by the pressure sensor and received by the control device is greater than or equal to the second preset value, the control device controls the positioning device and the communication device to start.

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