Rescue equipment for narrow space detection

Abstract

The invention belongs to the technical field of rescue robots, and particularly discloses rescue equipment for narrow space detection, the rescue equipment is provided with a sectional snake-shaped structure, the sectional snake-shaped structure is provided with a fixing assembly, a detection module, a hydraulic clamp set and a controller, and the fixing assembly comprises two first telescopic pieces and two sets of crawler belts; the hydraulic clamp set comprises a hydraulic clamp blade and a driving part, the detection module is used for obtaining image information of the surrounding environment of the sectional type snakelike structure, the controller is used for receiving the image information, obtaining surrounding environment information and obstacle information after processing the image information, and controlling the telescopic end of the first telescopic part to extend when an obstacle needs to be removed. The telescopic end drives the crawler belt to move so that the crawler belt can be clamped around, and after the posture of the sectional snake-shaped structure is fixed, the driving piece is controlled to drive the hydraulic clamp blades to crush obstacles. According to the invention, obstacles can be effectively removed, and the rescue time is effectively shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of rescue robots, and in particular relates to a rescue device used for narrow space detection. Background Art

[0002] At present, when natural disasters such as earthquakes and landslides occur, traditional rescue equipment and personnel find it difficult to enter these dangerous areas to carry out rescue work. The snake-like robot, with its slender body and flexible movement ability, can go deep into the narrow crevices of the ruins to search for trapped people, and can provide useful assistance in carrying out rescue work.

[0003] In the process of carrying out rescue work, various obstacles are often encountered. When encountering obstacles, traditional snake-like robots will "cross the obstacles" by imitating various movement gaits of biological snakes, such as winding movement, lateral fluctuation, linear movement, accordion-like movement, etc., and adjusting their posture according to the type of obstacle. However, for some obstacles that cannot be crossed, traditional snake-like robots are difficult to carry out rescue work effectively. Summary of the invention

[0004] In view of the above-mentioned problems, an object of the present invention is to provide a rescue device for narrow space detection, which can effectively remove obstacles.

[0005] The technical solution of the present invention is: a rescue device for narrow space detection, having a segmented serpentine structure, characterized in that the segmented serpentine structure is provided with: A fixing assembly, used to fix the segmented serpentine structure in a narrow space, comprising: two first telescopic members, respectively arranged on two sides of opposite side walls of the segmented serpentine structure in a one-to-one correspondence; two sets of crawlers, respectively arranged on the telescopic ends of the two first telescopic members in a one-to-one correspondence; A detection module, located at the end of the segmented serpentine structure, is used to obtain image information of the surrounding environment of the segmented serpentine structure; The hydraulic clamp group is located at the end of the segmented serpentine structure and is used to shear and remove obstacles. It includes: two hydraulic clamp blades, which are relatively distributed in a scissor shape and are both rotatably arranged at the end of the segmented serpentine structure. The hydraulic clamp blades are used to shear and remove obstacles; a driving member is connected to the hydraulic clamp blades and is used to drive the hydraulic clamp blades; The controller is respectively connected to the first telescopic member, the crawler, the detection module, and the driving member, and is used to receive image information, and after processing the image information, obtain the surrounding environment information and obstacle information. When it is necessary to clear the obstacle, the telescopic end of the first telescopic member is controlled to extend, and the telescopic end drives the crawler to move so that the crawler is stuck around. After fixing the posture of the segmented serpentine structure, the driving member is controlled to drive the hydraulic clamp blade to break the obstacle.

[0006] Furthermore, the hydraulic pliers assembly also includes a lighting module, which is connected to the controller and is located at the end of the segmented serpentine structure for lighting.

[0007] Furthermore, the segmented serpentine structure comprises: The segment shell has at least three segments, which are distributed in sequence; there are two detection modules and two hydraulic clamp groups, which are respectively arranged on the segment shells at the head and tail ends of the segmented serpentine structure, and the two hydraulic clamp groups are respectively arranged on the segment shells at the head and tail ends of the segmented serpentine structure; there is at least one fixing component, which is arranged on the segment shell, and the fixing component and the detection module are arranged on different segment shells; A connecting piece, used to connect two adjacent segment shells; At least one moving wheel set is arranged on the segment shell. The moving wheel set and the fixed component are arranged on different segment shells. The moving wheel set is connected to the controller.

[0008] Furthermore, the connecting piece is a self-unloading structure, and a positioner is provided on each segment shell. The segment shell is used for positioning after being self-unloaded through the connecting piece.

[0009] Furthermore, the connecting piece comprises: Two brackets, both of which are cross structures, are distributed in parallel; A universal shaft, with both ends connected to two brackets, and the connection point is located at the center of the bracket; Four second telescopic members are arranged between the two brackets and are located at the four ends of the cross structure in a one-to-one correspondence; Two magnets are respectively arranged on two brackets; an electromagnet which is magnetically attracted to the magnet is arranged on the segment shell, and the electromagnet is connected to the controller. When the electromagnet is powered off, the segment shell is self-unloaded from the connecting piece.

[0010] Furthermore, the sports wheel set comprises: A Mecanum wheel is arranged on the end side wall of the segment shell; The motor is arranged in the segment shell and connected to the Mecanum wheel through a transmission member, and is used for driving the Mecanum wheel to rotate. The motor is connected to a controller.

[0011] Furthermore, each segment shell is provided with an angle sensor, which is connected to the controller and is used to monitor the angle of the segment shell in real time so as to monitor the bending angle between two adjacent segment shells.

[0012] Furthermore, a pressure sensor is provided on the segment shell, and the pressure sensor is connected to the controller for monitoring the contact pressure applied to the segment shell.

[0013] The working method of the present invention is as follows: when in use, the image information of the surrounding environment of the segmented serpentine structure is obtained by the detection module and transmitted to the controller, and the controller is used to identify obstacles, target objects, terrain features and other information in the environment, providing important basis for navigation, obstacle avoidance and target tracking of rescue equipment. When encountering an obstacle, the first telescopic member is controlled to extend until the crawler is clamped around to fix the posture of the segmented serpentine structure, and the driving member is controlled to drive the hydraulic clamp blade to crush the obstacle.

[0014] Compared with the prior art, the present invention has the following beneficial effects: When the present invention is in use, it can effectively clear surrounding obstacles through the hydraulic clamp group, and before clearing the obstacles, the segmented serpentine structure can be fixed in the surrounding environment through the fixing assembly, which can provide a support point for the clearing process and effectively ensure the stability in complex terrain when clearing obstacles. It can not only effectively clear the obstacles, but also effectively shorten the rescue time.

[0015] Furthermore, since the present invention adopts a modular assembly connection mode, it is more adaptable to complex rescue terrains and has better mobility, so that the robot can quickly replace corresponding modules according to different rescue needs, thereby improving the versatility and flexibility of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the head and tail of the segmented serpentine structure of the present invention; Figure 3 It is a schematic diagram of the structure of the fixing assembly of the present invention; Figure 4 It is a structural schematic diagram of the connecting piece of the present invention; Figure 5 It is a schematic structural diagram of the sports wheel set of the present invention.

[0017] Among them, 1-segment shell, 2-connecting part, 21-bracket, 22-universal shaft, 23-second telescopic part, 24-magnet, 3-moving wheel group, 31-Mecanum wheel, 32-motor, 4-fixed component, 41-first telescopic part, 42-track, 5-detection module, 6-hydraulic clamp group, 61-hydraulic clamp blade, 62-driving part, 63-lighting module. DETAILED DESCRIPTION

[0019] Combine the following Figures 1 to 5, the specific implementation methods of the present invention are described in detail. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0020] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0021] It should be noted that the circuit connections involved in the present invention all adopt conventional circuit connection methods and do not involve any innovation.

[0022] Example like Figure 1 The rescue equipment shown is used for narrow space detection and has a segmented serpentine structure. The segmented serpentine structure is provided with a fixing component 4, a detection module 5, a hydraulic clamp group 6 and a controller.

[0023] like Figure 3 As shown, the fixing assembly 4 is used to fix the segmented serpentine structure in a narrow space, and includes two first telescopic members 41 and two sets of tracks 42. The two first telescopic members 41 are respectively and one-to-one arranged on both sides of the opposite side walls of the segmented serpentine structure; the two sets of tracks 42 are respectively and one-to-one arranged at the telescopic ends of the two first telescopic members 41.

[0024] The detection module 5 is located at the end of the segmented serpentine structure and is used to obtain image information of the surrounding environment of the segmented serpentine structure.

[0025] like Figure 1 , Figure 2 As shown, the hydraulic pliers group 6 is located at the end of the segmented serpentine structure and is used for shearing and removing obstacles. The hydraulic pliers group 6 includes a hydraulic pliers blade 61 and a driving member 62. There are two hydraulic pliers blades 61. The two hydraulic pliers blades 61 are relatively distributed in a scissors shape and are rotatably arranged at the end of the segmented serpentine structure. The hydraulic pliers blade 61 is used for shearing and removing obstacles; the driving member 62 is connected to the hydraulic pliers blade 61 and is used to drive the hydraulic pliers blade 61.

[0026] The controller is respectively connected to the first telescopic member 41, the crawler 42, the detection module 5, and the driving member 62, and is used to receive image information, and after processing the image information, obtain the surrounding environment information and obstacle information. When it is necessary to clear the obstacle, the telescopic end of the first telescopic member 41 is controlled to extend, and the telescopic end drives the crawler 42 to move so that the crawler 42 is stuck around. After fixing the posture of the segmented serpentine structure, the driving member 62 is controlled to drive the hydraulic clamp blade 61 to break the obstacle.

[0027] Among them, the detection module 5 includes a visual sensor and a CMOS human body detection camera. The detection module 5 will obtain two-dimensional image information of the environment around the rescue equipment and transmit it to the controller. The controller is used to identify obstacles, target objects, terrain features and other information in the environment, which provides an important basis for the navigation, obstacle avoidance and target tracking of the rescue equipment. It can also obtain three-dimensional depth information of the environment, further improve the rescue equipment's perception of the environment and spatial positioning accuracy, so that it can better adapt to complex three-dimensional space environments.

[0028] Preferably, Figure 2 As shown, the hydraulic clamp assembly 6 also includes a lighting module 63, which is connected to the controller and is located at the end of the segmented serpentine structure for lighting. In this embodiment, the lighting module 63 is a commercially available searchlight.

[0029] Preferably, the segmented serpentine structure includes a segment shell 1, a connector 2 and a moving wheel group 3. The segment shell 1 has at least three sections, which are distributed in sequence. There are two detection modules 5 and two hydraulic clamp groups 6, and the two detection modules 5 are respectively arranged on the segment shell 1 at the head end and the tail end of the segmented serpentine structure, and the two hydraulic clamp groups 6 are respectively arranged on the segment shell 1 at the head end and the tail end of the segmented serpentine structure. There is at least one fixed component 4, which is arranged on the segment shell 1, and the fixed component 4 and the detection module 5 are arranged on different segment shells 1. The connector 2 is used to connect two adjacent segment shells 1. There is at least one moving wheel group 3, which is arranged on the segment shell 1, and the moving wheel group 3 and the fixed component 4 are arranged on different segment shells 1, and the moving wheel group 3 is connected to the controller. Wherein, a positioner is provided on each segment shell 1.

[0030] It should be noted that: Figure 1 As shown, the segment shell 1 of this embodiment has 7 sections, among which there are 3 groups of fixing components 4, which are arranged one by one on the 3 segment shells 1 of the segmented serpentine structure except the head end and the tail end, and there are 4 groups of moving wheel groups 3, which are arranged one by one on the segment shell 1 of the segmented serpentine structure except the installation fixing components 4.

[0031] It should be noted that the controller proposed in this embodiment adopts an ultra-miniaturized PLC of model Simens S7-200, which is suitable for single-machine control or small system control. When in use, the main command device controls the start, speed regulation, braking and reverse of the motor by changing the wiring of the main circuit or control circuit and changing the resistance value in the circuit in a predetermined order. It is composed of a program counter, an instruction register, an instruction decoder, a timing generator and an operation controller. It is a "decision-making body" for issuing commands, that is, it completes the coordination and command of the operation of the entire computer system. This embodiment also includes a battery pack, which adopts a lithium-ion battery pack. The output electric energy is distributed through the power distribution module distributed in each segment shell 1, providing a stable DC power supply for the electrical equipment in each joint module. The power distribution module has over-current, over-voltage and short-circuit protection functions. When an electrical fault occurs in a joint module, the power supply of the module can be quickly cut off to avoid the spread of the fault and affect the entire rescue equipment.

[0032] Considering the requirements of rescue equipment for energy density, endurance, and volume and weight, a high-energy-density lithium-ion battery pack is selected as the power source. The capacity of the battery pack is reasonably designed according to the expected working time and power consumption of the rescue equipment, and is distributed and installed in each segment shell 1 of the rescue equipment to ensure the overall weight balance without affecting the movement flexibility of the rescue equipment. At the same time, the power distribution module is equipped as a complete battery management system to accurately monitor and manage the battery charging and discharging process, prevent overcharging, over-discharging, overheating, etc., extend the battery life and ensure system safety.

[0033] Preferably, the connecting member 2 is a self-unloading structure, and a positioner is provided on each segment shell 1. The segment shell 1 is used in the positioning mode after being self-unloaded through the connecting member 2.

[0034] Preferably, Figure 4 As shown, the connecting member 2 includes two brackets 21, a universal shaft 22, four second telescopic members 23 and two magnets 24. Both brackets 21 are cross structures, and the two brackets 21 are arranged in parallel; the two ends of the universal shaft 22 are respectively connected to the two brackets 21, and the connection is located at the center of the bracket 21; the four second telescopic members 23 are all arranged between the two brackets 21, and are located at the four ends of the cross structure in a one-to-one correspondence; the two magnets 24 are respectively arranged on the two brackets 21; the segment shell 1 is provided with an electromagnet that is magnetically attracted to the magnet 24, and when the electromagnet is powered off, the segment shell 1 is self-unloaded from the connecting member 2.

[0035] Preferably, Figure 5As shown, the motion wheel set 3 includes a Mecanum wheel 31 and a motor 32. The Mecanum wheel 31 is arranged on the end side wall of the segment shell 1. The Mecanum wheel 31 is composed of a plurality of cylindrical roller motion modules. The rollers of the Mecanum wheel 31 are distributed obliquely so that the force on the segment shell 1 is dispersed and can be controlled to rotate by the motor 32. The motor 32 is arranged in the segment shell 1 and is connected to the Mecanum wheel 31 through a transmission member to drive the Mecanum wheel 31 to rotate. The transmission member adopts a planetary gear reducer, and the high-speed rotation of the motor 32 is converted into the high-torque low-speed rotation required by the Mecanum wheel 31 through a precise planetary gear reducer to realize the operation of the mechanism. The motor 32 adopts a high-performance DC brushless motor, which has the advantages of high efficiency, low noise, long life and good speed regulation performance.

[0036] In order to achieve precise motion control, preferably, each segment shell 1 is provided with an angle sensor, which is used to monitor the angle of the segment shell 1 in real time to monitor the bending angle between two adjacent segment shells 1 .

[0037] Moreover, the twisting of each segment shell 1 can realize the large-scale and efficient clearing work of the hydraulic clamp group 6. The hydraulic clamp group 6 is distributed on the end segment shell 1 of the segmented serpentine structure, and it can clear the obstacles in the local range on both sides through the front and back bidirectional design. However, with the twisting between the segment shells 1, the hydraulic clamp group 6 can be moved to a wider range, thereby realizing the large-scale obstacle clearing work.

[0038] Preferably, a pressure sensor is also provided on the segment shell 1, and the pressure sensor is used to monitor the contact pressure of the segment shell 1. When encountering obstacles or performing specific tasks, the movement strategy can be adjusted according to the pressure feedback to avoid damage to itself and the environment.

[0039] It should be noted that: Figure 1 As shown, this embodiment has 7 segment shells 1, of which 4 segment shells 1 are provided with moving wheel sets 3, 3 segment shells 1 are provided with fixing components 4, and detection modules 5 and hydraulic clamps 6 are provided on the first and last segment shells 1 of the segmented serpentine structure. It can also be selectively matched according to actual needs, but the fixing components 4 and the moving wheel sets 3 cannot be assembled on the same segment shell 1, which is mainly due to the installation space limitation inside the segment shell 1.

[0040] The working principle of the above embodiment is: When in use, the two-dimensional image information of the environment around the rescue equipment is transmitted to the controller through the detection module 5. The controller is used to receive the image information, and after processing the image information, obtain the surrounding environment information and obstacle information, providing important basis for the navigation, obstacle avoidance and target tracking of the rescue equipment.

[0041] When it is necessary to clear an obstacle, the first telescopic member 41 is controlled to extend until the crawler 42 is clamped around to fix the segmented serpentine structure, and then the driving member 62 is controlled to drive the hydraulic clamp blade 61 to break the obstacle.

[0042] Since each segment shell 1 is provided with a locator, it can also be used as a rescue positioning device. When positioning is required, the electromagnet on the segment shell 1 is powered off, so that the segment shell 1 is self-unloaded from the connecting piece 2 and stays at the positioning point to achieve positioning of the self-unloading point.

[0043] The specific models of the above electronic components are not specially specified, and ordinary products available on the market can be selected as long as they can meet the use requirements of the present invention.

[0044] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A rescue device for narrow space detection, having a segmented serpentine structure, characterized in that: The segmented serpentine structure is provided with: A fixing assembly (4) is used to fix the segmented serpentine structure in a narrow space, comprising: two first telescopic members (41), which are respectively arranged on two sides of opposite side walls of the segmented serpentine structure in a one-to-one correspondence; and two sets of crawlers (42), which are respectively arranged on the telescopic ends of the two first telescopic members (41) in a one-to-one correspondence; A detection module (5), located at the end of the segmented serpentine structure, and used to obtain image information of the surrounding environment of the segmented serpentine structure; The hydraulic clamp assembly (6) is located at the end of the segmented serpentine structure and is used to shear and remove obstacles. The hydraulic clamp assembly (6) comprises: two hydraulic clamp blades (61), which are relatively distributed in a scissor-like manner and are both rotatably arranged at the end of the segmented serpentine structure. The hydraulic clamp blades (61) are used to shear and remove obstacles; and a driving member (62) connected to the hydraulic clamp blades (61) and used to drive the hydraulic clamp blades (61); The controller is respectively connected to the first telescopic member (41), the crawler (42), the detection module (5), and the driving member (62), and is used to receive image information, and after processing the image information, obtain surrounding environment information and obstacle information. When it is necessary to clear an obstacle, the telescopic end of the first telescopic member (41) is controlled to extend, and the telescopic end drives the crawler (42) to move so that the crawler (42) is clamped around, and after fixing the posture of the segmented serpentine structure, the driving member (62) is controlled to drive the hydraulic clamp blade (61) to break the obstacle.

2. A rescue device for narrow space detection as claimed in claim 1, characterized in that: The hydraulic clamp assembly (6) further comprises a lighting module (63), which is connected to the controller and is located at the end of the segmented serpentine structure for lighting.

3. The rescue device for narrow space detection according to claim 1, characterized in that: The segmented serpentine structure comprises: The segment shell (1) has at least three segments, which are arranged in sequence; the detection modules (5) and the hydraulic clamp groups (6) each have two groups, the two detection modules (5) are respectively arranged on the segment shell (1) at the head end and the tail end of the segmented serpentine structure, and the two hydraulic clamp groups (6) are respectively arranged on the segment shell (1) at the head end and the tail end of the segmented serpentine structure; there is at least one fixing component (4) which is arranged on the segment shell (1), and the fixing component (4) and the detection module (5) are arranged on different segment shells (1); A connecting piece (2) used to connect two adjacent segment shells (1); At least one moving wheel set (3) is arranged on the segment shell (1), the moving wheel set (3) and the fixed component (4) are arranged on different segment shells (1), and the moving wheel set (3) is connected to the controller.

4. A rescue device for narrow space detection as claimed in claim 3, characterized in that: The connecting piece (2) is a self-unloading structure, and each segment shell (1) is provided with a positioner, and the segment shell (1) is used for positioning after being self-unloaded through the connecting piece (2).

5. The rescue device for narrow space detection according to claim 3, characterized in that: The connecting member (2) comprises: The two brackets (21) are both cross structures, and the two brackets (21) are arranged in parallel; A universal shaft (22), with two ends respectively connected to two brackets (21), and a connection point located at the center of the bracket (21); Four second telescopic members (23) are each arranged between the two brackets (21) and are located at four ends of the cross structure in a one-to-one correspondence; Two magnets (24) are respectively arranged on two brackets (21); an electromagnet that is magnetically attracted to the magnet (24) is arranged on the segment shell (1), and the electromagnet is connected to a controller. When the electromagnet is powered off, the segment shell (1) is self-unloaded from the connecting piece (2).

6. The rescue device for narrow space detection according to claim 3, characterized in that: The sports wheel set (3) comprises: A Mecanum wheel (31) is arranged on the end side wall of the segment shell (1); The motor (32) is arranged in the segment shell (1) and is connected to the Mecanum wheel (31) via a transmission member, and is used to drive the Mecanum wheel (31) to rotate. The motor (32) is connected to a controller.

7. The rescue device for narrow space detection according to claim 3, characterized in that: The segment shells (1) are each provided with an angle sensor, which is connected to a controller and is used to monitor the angle of the segment shell (1) in real time so as to monitor the bending angle between two adjacent segment shells (1).

8. The rescue device for narrow space detection according to claim 3, characterized in that: A pressure sensor is also provided on the segment shell (1), and the pressure sensor is connected to the controller and is used to monitor the contact pressure applied to the segment shell (1).

Images