Rescue robot

Abstract

The invention relates to a rescue robot. The rescue robot comprises a frame; the at least three mechanical feet are respectively arranged on the frame and are used for supporting and driving the frame to move; wherein the mechanical foot comprises a first driver, a second driver, a third driver and a fourth driver, and the first driver is arranged on the frame; the steering component is connected with the first driver, and the steering component is used for being driven by the first driver to horizontally move relative to the frame; the second driver is connected with the steering component; the supporting rod is provided with a first end and a second end, the first end is connected with the second driver, and the second end of the supporting rod can vertically rotate relative to the steering component under the driving of the second driver; the third driver is connected with the second end; and the first track component is connected with the second driver, the first track component can vertically rotate relative to the supporting rod under the driving of the third driver, and the first track component is used for driving the frame to move.

Description

Technical Field

[0001] The present invention relates to the technical field of post-disaster rescue, and particularly to a rescue robot. Background Art

[0002] China has a vast territory and diverse domestic ecological environments. The unique geographical conditions and climate environments lead to a high frequency of natural disasters and a variety of disaster types in China. In the past 20 years, major natural disasters have occurred many times across the country. These disasters have triggered various types of secondary disasters at the same time, seriously threatening the personal and property safety of local residents and having a great impact on social and economic development. Although China's post-disaster reconstruction work has achieved many remarkable results in the past few decades, post-disaster reconstruction work remains an important topic in China's governance.

[0003] Currently, the existing post-disaster rescue robots all adopt crawler drive for walking in the transmission part, but most of their crawler drive parts are fixed structures or have only one degree of freedom, making it difficult to walk freely in complex post-disaster ruins, resulting in the difficulty of effectively carrying out rescue work. Summary of the Invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a rescue robot, which solves the technical problem that in the existing technology, the current post-disaster rescue robots all adopt crawler drive for walking in the transmission part, but most of their crawler drive parts are fixed structures or have only one degree of freedom, making it difficult to walk freely in complex post-disaster ruins, resulting in the difficulty of effectively carrying out rescue work.

[0005] The embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a rescue robot, which includes:

[0007] A frame;

[0008] At least three mechanical feet, which are respectively arranged on the frame and used to support and drive the movement of the frame;

[0009] Wherein, the mechanical foot includes:

[0010] A first driver, which is arranged on the frame;

[0011] A steering component, which is connected to the first driver, and the steering component is used to horizontally move relative to the frame under the drive of the first driver;

[0012] A second driver, which is connected to the steering component;

[0013] A support rod has a first end and a second end. The first end is connected to the second driver, and the second end of the support rod can rotate vertically relative to the steering component under the drive of the second driver.

[0014] A third driver is connected to the second end.

[0015] A first crawler component is connected to the second driver. The first crawler component can rotate vertically relative to the support rod under the drive of the third driver, and the first crawler component is used to drive the frame to move.

[0016] In some embodiments of the present application, it further includes:

[0017] A slewing device is rotatably arranged on the frame relative to the frame.

[0018] A fourth driver connects the slewing device and the frame and is used to drive the slewing device to rotate relative to the frame.

[0019] In some embodiments of the present application, it further includes:

[0020] A first robotic arm is rotatably arranged on the slewing device relative to the slewing device.

[0021] A fifth driver connects the slewing device and the first robotic arm and is used to drive the first robotic arm to rotate relative to the slewing device.

[0022] An operation component is arranged at one end of the first robotic arm away from the slewing device and can rotate relative to the first robotic arm for performing rescue operations.

[0023] In some embodiments of the present application, the first robotic arm includes:

[0024] A first joint. The first end of the first joint is rotatably arranged on the slewing device relative to the slewing device and is connected to the fifth driver.

[0025] A second joint is rotatably connected to the first joint.

[0026] A first driving member is hinged to the first joint at one end and the second joint at the other end to drive the second joint to move relative to the first joint.

[0027] A third joint is rotatably connected to the second joint.

[0028] A second driving member is hinged to the second joint at one end and the third joint at the other end to drive the third joint to move relative to the second joint.

[0029] The third driving member, with one end hinged to the third joint and the other end rotatably connected to the working member, is configured to drive the working member to move relative to the third joint.

[0030] In some embodiments of the present application, the robotic arm further includes:

[0031] A connecting member, rotatably connected to the third joint and connected to the third driving member, the connecting member is detachably connected to the working member, and the connecting member is configured to drive the working member to move relative to the third joint under the drive of the driving member.

[0032] In some embodiments of the present application, it further includes:

[0033] The working member is at least one of a drill bit, a bucket, a mechanical claw, and a hydraulic tongs.

[0034] In some embodiments of the present application, it further includes:

[0035] A bracket, rotatably arranged on the slewing device relative to the slewing device;

[0036] A sixth driver, hinged to the slewing device and the bracket, for driving the bracket to rotate relative to the slewing device;

[0037] A first bucket, rotatably arranged laterally relative to the bracket on the bracket;

[0038] A second bucket, rotatably arranged laterally relative to the bracket on the bracket;

[0039] A fourth driving member, hinged to the first bucket and the support frame, for driving the first bucket to rotate laterally relative to the support frame;

[0040] A fifth driving member, hinged to the second bucket and the support frame, for driving the second bucket to rotate laterally relative to the support frame;

[0041] Wherein, the first bucket and the second bucket are arranged side by side, and when at least one of the fourth driving member and the fifth driving member is driving, the gap between the bucket parts of the first bucket and the second bucket increases or decreases.

[0042] In some embodiments of the present application, the bracket includes:

[0043] An arm, rotatably arranged on the slewing device relative to the slewing device, and the arm is configured to rotate relative to the slewing device under the drive of the sixth driver;

[0044] The support arm is rotatably connected to the support beam. The first bucket is rotatably arranged on the support arm relative to the support arm, and the second bucket is rotatably arranged on the support arm relative to the support arm;

[0045] The sixth driving member is hinged to the support beam and the support arm, and is used to drive the support arm to rotate relative to the support beam, so as to drive the first bucket and the second bucket to flip.

[0046] In some embodiments of the present application, it further includes:

[0047] The transport box is rotatably connected to the slewing device, so that one end of the transport box can rotate a specified angle relative to the slewing device to pour out the objects in the transport box;

[0048] The seventh driver is hinged to the transport box and the slewing device, and is used to drive the transport box to rotate relative to the slewing member.

[0049] In some embodiments of the present application, the vehicle frame has a first connecting portion, a second connecting portion, and a third connecting portion that can be detachably connected in sequence. At least two of the mechanical feet are connected to the first connecting portion, and at least two of the mechanical feet are connected to the third connecting portion;

[0050] The slewing device has a first detachable portion, a second detachable portion, and a third detachable portion that can be detachably connected in sequence. The first detachable portion is connected to the first connecting portion, the second detachable portion is rotatably connected to the second connecting portion, the fourth driver is connected to the second detachable portion and the second connecting portion to drive the second detachable portion to rotate relative to the second connecting portion, and the third detachable portion is connected to the third connecting portion;

[0051] The rescue robot further includes:

[0052] The second crawler component is arranged on the second connecting portion. The second crawler component has a suspended state and a landed state. When the first connecting portion, the second connecting portion, and the third connecting portion are connected, the vehicle frame is supported by the mechanical feet, and the second crawler component is in the suspended state;

[0053] At least two brackets are respectively arranged on the second connecting portion. When the first connecting portion, the second connecting portion, and the third connecting portion are disassembled, the brackets extend to support the vehicle frame so that the second crawler component is in the suspended state, and the brackets are retracted, and the second crawler component is in the landed state;

[0054] The crane hook is rotatably arranged on the second detachable portion;

[0055] The eighth driver, one end of which is connected to the second detachable part and the other end is connected to the crane hanger, is used to drive the crane hook to work.

[0056] In some embodiments of the present application, it further includes:

[0057] A power supply device, electrically connected to the first driver, the second driver, the third driver, the fourth driver, and the first crawler component;

[0058] A camera, electrically connected to the power supply device and arranged on the slewing component so as to be able to rise or fall relative to the slewing device, for collecting image information;

[0059] A controller, electrically connected to the power supply device and the camera, and arranged on the vehicle frame or the slewing component, for obtaining the image information collected by the camera, matching the template according to the image information to generate a first path, calling a library function, comparing the first path with a historical path, determining the historical path closest to the first path as a second path, and controlling the movement of the mechanical foot according to the second path.

[0060] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows:

[0061] In the technical solution of this embodiment, the rescue robot includes a vehicle frame and at least three mechanical feet. The three mechanical feet can support and drive the vehicle frame to move. Among them, the mechanical foot includes a first driver, a steering component, a second driver, a support rod, a third driver, and a first crawler component. By driving the steering component with the first driver, the steering component can be rotated relative to the vehicle frame to a required position. The second driver drives the support to rotate vertically so that the support rod can rotate relative to the steering component to drive the first crawler component to rotate relative to the steering component. The crawler can also be vertically steered by the drive of the third driver, so that the vehicle frame can have three degrees of freedom, can realize a variety of flexible working modes, can cross obstacles, climb stairs, clean the obstacles in front, etc. by lifting the mechanical feet and cooperating with the rotation of the crawler, and can walk freely in a complex post-disaster environment, enabling the rescue work to be effectively carried out. Thus, it solves the technical problem existing in the prior art that the current post-disaster rescue robots all use crawler drive for walking in the transmission part, but most of their crawler drive parts are fixed structures or only have one degree of freedom, making it difficult to walk freely in complex post-disaster ruins, resulting in the difficulty of effectively carrying out the rescue work. Description of the Drawings

[0062] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0063] Figure 1 is a schematic structural diagram of a rescue robot provided by the present invention.

[0064] Figure 2 is a schematic structural diagram of another perspective of a rescue robot provided by the present invention.

[0065] Figure 3 is a schematic structural diagram of another embodiment of a rescue robot provided by the present invention.

[0066] Figure 4 is a schematic diagram of a partial structure of the first split of another embodiment of a rescue robot provided by the present invention.

[0067] Figure 5 is a schematic structural diagram of the second split of another embodiment of a rescue robot provided by the present invention.

[0068] Figure 6 is a schematic structural diagram of the third split of another embodiment of a rescue robot provided by the present invention.

[0069] Wherein:

[0070] 100, frame; 110, first connection part; 120, second connection part; 130, third connection part; 200, mechanical foot; 210, first driver; 220, steering component; 230, second driver; 240, support rod; 250, third driver; 260, first crawler component; 300, slewing device; 310, first disassembly and connection part; 320, second disassembly and connection part; 330, third disassembly and connection part; 400, fourth driver; 500, first robotic arm; 510, first joint; 520, first driving member; 530, second joint; 540, third joint; 550, second driving member; 560, third driving member; 570, connecting member; 600, fifth driver; 700, working component; 800, bracket; 810, support arm; 820, support bracket; 830, sixth driving member; 900, sixth driver; 1000, first bucket; 1100, second bucket; 1200, fourth driving member; 1300, fifth driving member; 1400, transport box; 1500, seventh driver; 1600, power supply device; 1700, camera; 1800, second crawler component; 1900, bracket; 2000, crane hook; 2100, eighth driver. Detailed implementation manners

[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0072] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of the present application 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 thus should not be construed as a limitation to the embodiments of the present application. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0073] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a replaceable connection, or an integral connection, it may be a mechanical connection, or an electrical connection, it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0074] The following will further describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0075] As Figures 1-6 shown, in a first aspect, an embodiment of the present invention provides a rescue robot, and the rescue robot includes:

[0076] A frame 100; and

[0077] At least three mechanical feet 200, which are respectively arranged on the frame 100 and are used to support and drive the movement of the frame 100;

[0078] Wherein, the mechanical foot 200 includes:

[0079] A first driver 210, which is arranged on the frame 100;

[0080] A steering component 220, connected to the first driver 210, is configured to horizontally move relative to the vehicle frame 100 under the drive of the first driver 210;

[0081] A second driver 230, connected to the steering component 220;

[0082] A support rod 240, having a first end and a second end, the first end being connected to the second driver 230, and the second end of the support rod 240 being configured to vertically rotate relative to the steering component 220 under the drive of the second driver 230;

[0083] A third driver 250, connected to the second end; and

[0084] A first crawler component 260, connected to the second driver 230, the first crawler component 260 being configured to vertically rotate relative to the support rod 240 under the drive of the third driver 250, and the first crawler component 260 being used to drive the vehicle frame 100 to move.

[0085] In the technical solution of this embodiment, the rescue robot includes a vehicle frame 100 and at least three mechanical feet 200. The three mechanical feet 200 can support and drive the vehicle frame 100 to move. Among them, the mechanical foot 200 includes a first driver 210, a steering component 220, a second driver 230, a support rod 240, a third driver 250, and a first crawler component 260. By driving the steering component 220 with the first driver 210, the steering component 220 can be rotated to a desired position relative to the vehicle frame 100. The second driver 230 drives the bracket 800 to vertically rotate, so that the support rod 240 can rotate relative to the steering component 220 to drive the first crawler component 260 to rotate relative to the steering component 220. The crawler can also be vertically steered by driving with the third driver 250, so that the vehicle frame 100 can have three degrees of freedom, can realize a variety of flexible working modes, and can cross obstacles, climb stairs, clean obstacles in front, etc. by lifting the mechanical foot 200 and cooperating with the rotation of the crawler, and can walk freely in a complex post-disaster environment, enabling the rescue work to be effectively carried out. Thus, it solves the technical problem existing in the prior art that current post-disaster rescue robots all use crawler drive for walking, but most of their crawler drive parts are fixed structures or only have one degree of freedom, making it difficult to walk freely in complex post-disaster ruins, resulting in the difficulty of effectively carrying out rescue work.

[0086] In this embodiment, the vehicle frame 100 is the support skeleton of the rescue robot, which can play a role in supporting and fixing, and its shape and structure are adaptively designed according to other functional devices.

[0087] In this embodiment, there are at least three mechanical feet 200, enabling the rescue robot to be supported for rescue work. Specifically, there can be four mechanical feet 200, which are respectively arranged at the four corners of the vehicle frame 100, or two mechanical feet 200 are respectively arranged on the left and right horizontal sides to support and drive the vehicle frame 100 to move forward, backward, left and right.

[0088] The quadruped part of the mechanical foot 200 is equipped with a first driver 210, a second driver 230 and a third driver 250. The second driver 230 can drive the first track component 260 to rotate in the XOZ plane, and the second driver 230 can drive the mechanical foot 200 to rotate in the XOZ plane. The first driver 210 can drive the mechanical foot 200 to rotate around the z-axis, so as to enable the robot to have a variety of flexible walking modes.

[0089] Among them, the steering component 220 can be a rotating block hinged to the vehicle frame 100, or a connecting block installed at the front end of the first driver 210. The steering component 220 moves horizontally relative to the vehicle frame 100 under the action of the first driver 210, thereby driving the bracket 800 to drive the track part to sweep left and right horizontally.

[0090] The first driver 210 can be a servo or a motor, etc. For example, when the first driver 210 is a servo, the servo drives the steering component 220 to drive the bracket 800 and the track part to sweep left and right horizontally, which can realize the functions of cleaning obstacles such as gravel and dead branches in front and turning in narrow terrains.

[0091] A servo is a position (angle) servo driver, which is suitable for control systems that require continuously changing and maintainable angles. Currently, it has been relatively widely used in high-end remote control toys, such as model airplanes, including airplane models and submarine models; remote control robots. A servo is a common name, and actually it is a servo motor.

[0092] Its working principle is:

[0093] The control signal enters the signal modulation chip from the channel of the receiver to obtain a DC bias voltage. It has a reference circuit inside, which generates a reference signal with a period of 20ms and a width of 1.5ms. The obtained DC bias voltage is compared with the voltage of the potentiometer to obtain a voltage difference output. Finally, the positive and negative of the voltage difference are output to the motor drive chip to determine the forward and reverse rotation of the motor. When the motor speed is constant, the potentiometer is rotated by cascading reduction gears, so that the voltage difference is 0 and the motor stops rotating.

[0094] The control of the servo:

[0095] The control of a servo generally requires a time-base pulse of about 20 ms. The high-level part of this pulse is generally the angle control pulse part within the range of 0.5 ms to 2.5 ms. Taking a 180-degree angle servo as an example, the corresponding control relationship is as follows:

[0096] 0.5 ms--------------0 degrees;

[0097] 1.0 ms------------45 degrees;

[0098] 1.5 ms------------90 degrees;

[0099] 2.0 ms-----------135 degrees;

[0100] 2.5 ms-----------180 degrees;

[0101] For the rotation speed of the servo, we control it by introducing a position PID algorithm.

[0102] Among them, Velocity1 is used to represent the speed of the servo. This value is calculated based on the target value and the actual position of the servo, and then through an accumulation method, it is assigned to the relevant register and acts on the servo. The speed adjustment of the servo is transformed into the adjustment of the PID parameter size. In addition, deceleration can be achieved when approaching the target position to prevent damage to the servo gearbox due to inertia problems.

[0103] The second driver 230 and the third driver 250 are both motors, specifically brushless motors. For example, the second driver 230 is a second brushless motor, the main body of the second brushless motor is installed on the support rod 240, and the output shaft of the second brushless motor is connected to the steering component 220. The third driver 250 is a third brushless motor, the main body of the third brushless motor is installed on the support rod 240, and the output shaft of the third brushless motor is connected to the first track component 260.

[0104] This rescue robot uses a brushless motor as the power source. The brushless motor can meet the requirements of small size, large power, and fast response, and can meet the power requirements of the robot in complex terrains. The brushless motor consists of a motor main body and a driver, and is a typical mechatronic product. Since the brushless motor operates in an automatic control mode, it does not require an additional starting winding on the rotor like a synchronous motor under variable-frequency speed regulation during heavy-load starting, nor does it generate oscillations and loss of synchronization during load mutations, and can work stably in extreme environments.

[0105] The second driver 230 drives the two mechanical feet 200 to lift forward and place them on the obstacle, and then cooperates with the driving rotation of the track wheel part to generate traction force, enabling the robot to complete the function of crossing obstacles.

[0106] The third driver 250 drives the two mechanical feet 200 to be placed on the stair steps. The front foot crawler wheel drive generates traction to drive the whole body upward. At the same time, the metal rubber hinge type crawler of the crawler wheel has excellent grip and climbing ability, enabling the body to realize the function of climbing stairs.

[0107] The first crawler component 260 includes a driving wheel, a driven wheel, a crawler and a driving device. Among them, the crawler is arranged on the driving wheel and the driven wheel, and the driving device is connected to the driving wheel. The driving device can be a hydraulic walking motor, and the crawler can be a metal rubber hinge type crawler. That is, the hydraulic walking motor is connected to the driving wheel, so that the driving wheel rotates to drive the metal rubber hinge type crawler and the driven wheel to move, thus completing the basic walking function of the robot. Using the metal rubber hinge type crawler has a large traction force, obvious advantages in deep plowing and heavy load operations, strong passability and climbing ability, enabling the robot to realize walking functions on various complex terrains such as muddy ground.

[0108] The metal rubber hinge type crawler loaded by this robot has a large surface area, can distribute the load more evenly, can reduce tire slippage and the impact when passing through potholes on muddy ground, enabling the robot to realize the function of walking on muddy ground.

[0109] In the case where the rescue robot in this embodiment does not need to work temporarily or does not need to work, the mechanical feet 200 can be folded to save space.

[0110] In this embodiment, the frame 100 can be a link type double - joint crawler type chassis structure, which is more compact and stable. The purpose of crossing obstacles and climbing stairs can also be achieved by lifting the crawler that falls in front, but this reduces the obstacle - crossing and obstacle - avoiding ability and flexibility.

[0111] In some embodiments of the present application, it further includes:

[0112] A slewing device 300, rotatably arranged on the frame 100 relative to the frame 100;

[0113] A fourth driver 400, connecting the slewing device 300 and the frame 100, for driving the slewing device 300 to rotate relative to the frame 100.

[0114] In this embodiment, the slewing device 300 includes a housing, an inner ring gear (or ring gear) and a slewing bearing. The inner ring gear is installed on the frame 100, and the inner ring gear can be arranged on the frame 100 by means of bolts, embedding or clamping, etc. The slewing bearing can be a bearing. The inner ring of the bearing is sleeved on the inner ring gear, and the outer ring is connected to the housing, so that the housing can rotate relative to the frame 100;

[0115] The fourth driver 400 includes a motor, a speed reducer, and an outer ring gear. Both the motor and the speed reducer are mounted on the housing. The inner ring gear and the outer ring gear mesh with each other. The output shaft of the motor is connected to the speed reducer, and the output shaft of the speed reducer is connected to the outer ring gear. When the motor drives the speed reducer to drive the outer ring gear to rotate, the housing can be driven to rotate relative to the frame 100. The motor can be a stepper motor.

[0116] The disaster relief robot is driven by a motor, and the torque is increased through a speed reducer to make the connected outer ring gear and the inner ring gear cooperate to rotate and drive the housing to rotate. Among them, the inner ring gear is provided with a tooth ring, which is fixedly matched with the frame 100 while cooperating with the outer ring gear. The inner ring gear and the outer ring gear mesh with each other and cooperate to realize the all-round working function.

[0117] In some embodiments of the present application, it further includes:

[0118] A first robotic arm 500 rotatably arranged on the slewing device 300 relative to the slewing device 300;

[0119] A fifth driver 600 connecting the slewing device 300 and the first robotic arm 500 for driving the first robotic arm 500 to rotate relative to the slewing device 300;

[0120] An operating component 700 detachably arranged at one end of the first robotic arm 500 away from the slewing device 300 and rotatable relative to the first robotic arm 500 for performing rescue operations.

[0121] In this embodiment, the fifth driver 600 can drive the first robotic arm 500 to rotate relative to the slewing device 300. The first robotic arm 500 is rotatably mounted on the slewing device 300. Specifically, the fifth driver 600 includes a motor, a turbine, and a worm. The motor is connected to the worm. The turbine is rotatably arranged on the slewing device 300. The turbine can be mounted on the slewing device 300 through bearings or clearance fits, etc. The turbine is connected to the first robotic arm 500, so that the turbine and the first robotic arm 500 rotate synchronously. The turbine and the worm cooperate with each other. When the motor drives the worm to rotate, the turbine is driven to rotate to drive the first robotic arm 500 to rotate relative to the slewing device 300. When the first robotic arm 500 rotates, the operating component 700 thereon is driven to rotate to the required working position for work.

[0122] Among them, the operating component 700 is at least one of a drill bit, a digging bucket, a mechanical claw, and a hydraulic clamp.

[0123] The robotic arm is connected to the jaws on both sides of the robotic arm through hydraulic rods on both sides. When the hydraulic rods extend, they drive the jaws on both sides to clamp the robotic arm. When the hydraulic rods contract, they drive the jaws on both sides to open the robotic arm. In this way, the opening and closing of the robotic arm are realized, so that the robotic arm can remove the ruins and clear the roadblocks to achieve the function of disaster area cleaning. The robotic arm can be a three-finger gripper jaw with a larger angle of opening and closing. A servo motor and a gear transmission device or a brushless motor can be added to the robotic arm to control the rotation of the robotic arm, which can also achieve the purpose of clamping and opening and clearing roadblocks.

[0124] The robotic arm of this post-disaster obstacle clearing robot can adopt a four-degree-of-freedom design. In the electromechanical control system of the robot, the control effect of the servo motor is an important factor affecting the performance. The servo motor can be used as a basic output actuator in microelectromechanical systems and model airplanes. Its simple control and output make it very easy for the single-chip microcomputer system to interface with it. Therefore, the robotic arm has four degrees of freedom from the control of the end claw gripper to the control of the root joint, and three joints are controlled by servo motors.

[0125] The maximum weight of the heavy object grabbed by the common grasping method of the claw gripper gear is 2 Kg. To cope with heavier loads, a servo motor with a torque of 60 kg-cm (5.886 N*M) is selected. For the sake of unified control and convenience, the same model of servo motor is also selected for the other three degrees of freedom.

[0126] The drill bit can be an electric drill bit. The drill bit quickly inhales and exhales air through a valve, that is, the air pressure difference generated by "one suction and one exhalation" adjusts the volume of the inner cavity, so that the iron block moves up and down quickly and repeatedly to drive the drill bit to vibrate up and down, realizing the drilling function of the electric drill bit. In the ruins environment, it can break stones and large obstacles to achieve the function of disaster area cleaning.

[0127] The hydraulic pliers are driven by a servo motor to rotate horizontally and by a brushless motor to rotate circumferentially to work flexibly in all directions. The hydraulic rods on both sides are respectively connected to the two shear pliers. When the hydraulic rods extend, they drive the pliers to tighten. When the hydraulic rods contract, they drive the front pliers to open, realizing the shearing function of the hydraulic pliers. It can be used to shear tough objects such as stone slabs and steel bars to achieve the function of disaster area cleaning.

[0128] The bucket is composed of a bucket body, a cutting edge, teeth, etc. It can be used to dig ditches, holes, demolish buildings, and transport stones by dumping materials to achieve the function of disaster area cleaning.

[0129] The working component 700 is detachably mounted on the first robotic arm 500, which is convenient for replacing drill bits, buckets, robotic arms, hydraulic pliers, etc. to work.

[0130] The first robotic arm 500, the fifth driver 600, and the working component 700 can be in multiple groups. The working components 700 in each group can be different and are respectively installed on the slewing device 300, which is convenient for using different working components 700 to clean in different disaster relief environments.

[0131] The disaster relief robot mainly realizes the function of cleaning up the disaster area by means of two first robotic arms 500 lapping corresponding working components. The all-terrain post-disaster obstacle clearing and reconstruction robot is currently equipped with four tools: a mechanical claw, an electric drill bit, a hydraulic clamp, and a bucket. These four tools can be freely replaced through the buckle device at the tool end of the robotic arm to flexibly adapt to various scenarios.

[0132] In some embodiments of the present application, the first robotic arm 500 includes:

[0133] A first joint 510, the first end of the first joint 510 is rotatably arranged on the slewing device 300 relative to the slewing device 300 and is connected to the fifth driver 600;

[0134] A second joint 530, which is rotatably connected to the first joint 510;

[0135] A first driving member 520, one end of which is hinged to the first joint 510 and the other end is hinged to the second joint 530 to drive the second joint 530 to move relative to the first joint 510;

[0136] A third joint 540, which is rotatably connected to the second joint 530 and is detachably connected to the working component 700;

[0137] A second driving member 550, one end of which is hinged to the second joint 530 and the other end is hinged to the third joint 540 to drive the third joint 540 to move relative to the second joint 530;

[0138] A third driving member 560, one end of which is hinged to the third joint 540 and the other end is rotatably connected to the working component 700 to drive the working component 700 to move relative to the third joint 540.

[0139] In this embodiment, the fifth driver 600 drives the first joint 510, the second joint 530, the third joint 540, and the working component 700 to rotate relative to the slewing device 300 to the required working position.

[0140] The first driving member 520, the second driving member 550, and the third driving member 560 can all be cylinders, oil cylinders, or electric cylinders.

[0141] The first joint 510 and the second joint 530 are hinged to each other so that the second joint 530 can rotate relative to the first joint 510 under the action of the telescopic rod of the first driving member 520.

[0142] The second joint 530 and the third joint 540 are hinged to each other so that the third joint 540 can rotate relative to the second joint 530 under the action of the telescopic rod of the second driving member 550.

[0143] Among them, the working component 700 is detachably mounted on the third joint 540. The required working component 700 can be disassembled and assembled on the third joint 540, facilitating the use of the corresponding working component 700 according to the required scenario, such as a mechanical claw, a hydraulic pliers, etc.

[0144] When the telescopic rod of the third driving member 560 expands and contracts, it drives the working component 700 to rotate relative to the third joint 540, so that the working component 700 can be adjusted to an appropriate angle for work.

[0145] In some embodiments of the present application, the robotic arm further includes:

[0146] A connecting member 570, rotatably connected to the third joint 540 and connecting the third driving member 560. The connecting member 570 is detachably connected to the working component 700, and the connecting member 570 is used to drive the working component 700 to move relative to the third joint 540 under the drive of the driving member.

[0147] In this embodiment, the connecting member 570 can be a clamping member or a connecting plate, which allows the working component 700 to be disassembled and assembled with the working component 700 by means of clamping, embedding or bolts. The connecting member 570 and the third joint 540 are hinged to each other, so that the connecting member 570 can rotate relative to the third joint 540 to drive the working component 700 to rotate to the required working angle for work.

[0148] One end of the third driving member 560 is hinged to the third joint 540, and the other end is hinged to the connecting member 570. The third driving member 560 drives the connecting member 570 and the working component 700 to rotate relative to the third joint 540 through the expansion and contraction of the telescopic rod.

[0149] In some embodiments of the present application, it further includes:

[0150] A bracket 800, rotatably arranged on the slewing device 300 relative to the slewing device 300;

[0151] A sixth driver 900, hinging the slewing device 300 and the bracket 800, for driving the bracket 800 to rotate relative to the slewing device 300;

[0152] A first bucket 1000, horizontally rotatably arranged on the bracket 800 relative to the bracket 800;

[0153] A second bucket 1100, horizontally rotatably arranged on the bracket 800 relative to the bracket 800;

[0154] The fourth driving member 1200 is hinged to the first bucket 1000 and the support frame, and is used to drive the first bucket 1000 to rotate laterally relative to the support frame;

[0155] The fifth driving member 1300 is hinged to the second bucket 1100 and the support frame, and is used to drive the second bucket 1100 to rotate laterally relative to the support frame;

[0156] Wherein, the first bucket 1000 and the second bucket 1100 are arranged side by side, and when at least one of the fourth driving member 1200 and the fifth driving member 1300 is driving, the gap between the bucket parts of the first bucket 1000 and the second bucket 1100 increases or decreases.

[0157] In this embodiment, one end of the bracket 800 is hinged to the slewing device 300, so that the other end of the bracket 800 can rotate relative to the slewing device 300.

[0158] The sixth driver 900 is hinged to the slewing device 300 and the bracket 800, so that the sixth driver 900 can drive the bracket 800 to rotate relative to the slewing device 300.

[0159] The sixth driver 900, the fourth driving member 1200 and the fifth driving member 1300 are all hydraulic cylinders, air cylinders or oil cylinders.

[0160] When the first bucket 1000 and the second bucket 1100 are in the normal working state, they retain the functions of an ordinary earthmoving bucket. That is, in the normal working state, the first bucket 1000 and the second bucket 1100 are arranged side by side to form a large bucket. The sixth driver 900 is hinged to the slewing device 300 and the bracket 800, and the telescopic rod of the sixth driver 900 is extended and retracted to drive the bracket 800 and the large bucket formed by the first bucket 1000 and the second bucket 1100 to work.

[0161] By retracting the fourth driving member 1200 and the fifth driving member 1300 in place, the first bucket 1000 and the second bucket 1100 return to the normal working state, that is, the first bucket 1000 and the second bucket 1100 are arranged side by side to form a large bucket. At this time, the items to be shoveled can be shoveled.

[0162] When at least one of the telescopic rods of the fourth driving member 1200 and the fifth driving member 1300 is extended, the corresponding buckets of the first bucket 1000 and the second bucket 1100 can be driven to rotate laterally so that the gap between the bucket parts of the first bucket 1000 and the second bucket 1100 is increased. When the sixth driver 900 is contracted, the bracket 800 and the first bucket 1000 and the second bucket 1100 are lifted to allow the objects shoveled by the buckets to fall into the collection position through the gap between the bucket parts of the first bucket 1000 and the second bucket 1100.

[0163] Through this embodiment, the obstacles ahead can be transported to the transport box 1400 or other areas through the first bucket 1000 and the second bucket 1100, so as to achieve the functions of clearing waste rock and opening roads, so as to realize the functions of clearing disaster areas and restoring infrastructure.

[0164] Among them, the opening and closing angle between the first bucket 1000 and the second bucket 1100 does not reach 180 degrees. A layer of slippery material can be added inside the first bucket 1000 and the second bucket 1100, or the slippery material can be used to make the bucket, and the inside of the bucket can be designed to be inclined toward the middle on both sides (the slippery material has similar other properties to the structural steel A63). In this way, when encountering wet soil and other debris that are not easy to fall, the falling rate can be increased and the residual debris can be reduced.

[0165] In some embodiments of the present application, the bracket 800 includes:

[0166] A support arm 810 is rotatably disposed on the rotating device 300 relative to the rotating device 300, and the support arm 810 is used to rotate relative to the rotating device 300 under the drive of the sixth driver 900;

[0167] The supporting arm 820 is rotatably connected to the supporting arm 810, the first bucket 1000 can be flipped relative to the supporting arm 820 and arranged on the supporting arm 820, and the second bucket 1100 can be flipped relative to the supporting arm 820 and arranged on the supporting arm 820;

[0168] The sixth driving member 830 is hingedly connected to the support arm 810 and the supporting arm 820 , and is used for driving the supporting arm 820 to rotate relative to the support arm 810 , so as to drive the first bucket 1000 and the second bucket 1100 to flip.

[0169] In this embodiment, one end of the support arm 810 is hinged to the slewing device 300, and the end of the telescopic rod of the support arm 810 and the sixth driver 900 are hinged, so that when the sixth driver 900 extends, the other end of the support arm 810 can drive the support arm 820, the first bucket 1000 and the second bucket 1100 to be lifted upward, and when retracted, the other end of the support arm 810 can drive the support arm 820, the first bucket 1000 and the second bucket 1100 to be lowered.

[0170] The support arm 820 and the support arm 810 are rotatably connected, and the first bucket 1000 and the second bucket 1100 are both hinged to the support arm 820, so that the first bucket 1000 can be flipped relative to the support arm 820 and the second bucket 1100 can be flipped relative to the support arm 820.

[0171] The sixth driving member 830 is a hydraulic cylinder, a pneumatic cylinder or an oil cylinder, etc. The angle between the support arm 810 and the support arm 820 is adjusted by the telescopic movement of the telescopic rod, so that the flipping angles of the first bucket 1000 and the second bucket 1100 can be controlled, so as to adjust the angles of the first bucket 1000 and the second bucket 1100 relative to the ground, which is convenient for better operation. The pointed baffle is used to protect the intermediate rotating shaft and can be used to clean sundries and garbage on the ground, load various materials for transportation, crush stones, etc.

[0172] In some embodiments of the present application, it further includes:

[0173] A transport box 1400, which is rotatably connected to the slewing device 300, so that one end of the transport box 1400 can be flipped relative to the slewing device 300 by a specified angle to pour out the objects in the transport box 1400;

[0174] A seventh driver 1500, which is hinged to the transport box 1400 and the slewing device 300, and is used to drive the transport box 1400 to flip relative to the slewing member.

[0175] In this embodiment, the transport box 1400 can be used as a storage box. The items on the ground can be shoveled by the first bucket 1000 and the second bucket 1100. Then, when the sixth driver 900 extends, the first bucket 1000, the second bucket 1100 and the objects shoveled by the two buckets are lifted together. Then, when the fourth driving member 1200 and the fifth driving member 1300 extend, the gap between the bucket parts of the first bucket 1000 and the second bucket 1100 is increased, and the items fall into the transport box 1400 from the gap, such as cleaning sundries and garbage on the ground, and loading the transport box 1400 for transporting various materials. The transport box 1400 can also be used as a transport box for carrying materials.

[0176] The seventh driver 1500 is a hydraulic cylinder, a pneumatic cylinder, an oil cylinder, etc. The seventh driver 1500 is hinged to the transport box 1400 and the slewing device 300. By extending the telescopic rod of the seventh driver 1500, one end of the transport box 1400 can be lifted, enabling the transport box 1400 to unload goods. When the telescopic rod of the seventh driver 1500 retracts, the transport box 1400 returns to a stable state, facilitating the storage of goods.

[0177] The transport box 1400 is in the shape of a cuboid. The first bucket 1000 and the second bucket 1100 are at a relatively large distance from the transport box 1400. The transport box 1400 is designed such that the uppermost small section of its two side edges is angled outward, which can reduce the loss of debris and improve efficiency.

[0178] In some embodiments of the present application, the vehicle frame 100 has a first connecting portion 110, a second connecting portion 120, and a third connecting portion 130 that can be detachably connected in sequence. At least two of the mechanical feet 200 are connected to the first connecting portion 110, and at least two of the mechanical feet 200 are connected to the third connecting portion 130;

[0179] The slewing device 300 has a first detachable portion 310, a second detachable portion 320, and a third detachable portion 330 that can be detachably connected in sequence. The first detachable portion 310 is connected to the first connecting portion 110. The second detachable portion 320 is rotatably connected to the second connecting portion 120. The fourth driver is connected to the second detachable portion 320 and the second connecting portion 120 to drive the second detachable portion 320 to be rotatable relative to the second connecting portion 120. The third detachable portion 330 is connected to the third connecting portion 130;

[0180] The rescue robot further includes:

[0181] A second crawler component 1800 is disposed on the second connecting portion 120. The second crawler component 1800 has a suspended state and a landed state. When the first connecting portion 110, the second connecting portion 120, and the third connecting portion 130 are connected, the vehicle frame 100 is supported by the mechanical feet 200, and the second crawler component 1800 is in the suspended state;

[0182] At least two brackets 1900 are respectively disposed on the second connecting portion 120. When the first connecting portion 110, the second connecting portion 120, and the third connecting portion 130 are disassembled, the brackets 1900 extend to support the vehicle frame 100 so that the second crawler component 1800 is in the suspended state. When the brackets 1900 are retracted, the second crawler component 1800 is in the landed state;

[0183] The crane hook 2000 is rotatably arranged on the second detachable part 320;

[0184] The eighth driver 2100 has one end connected to the second detachable part 320 and the other end connected to the crane hook buckle, and is used to drive the crane hook 2000 to work.

[0185] In this embodiment, two adjacent ones of the first connecting part 110, the second connecting part 120 and the third connecting part 130 can be connected together by bolts or pins, etc., and can also be disassembled by removing pins or bolts, etc. Two adjacent ones of the first detachable part 310, the second detachable part 320 and the third detachable part 330 can be connected together by bolts or pins, etc.

[0186] After disassembly, the first connecting part 110, the first detachable part 310 and the two mechanical feet 200 become an independently working component, and can work by assembling the first robotic arm 500 and the working component. For example, a machine that can work independently such as a hydraulic pliers or an electric drill can be formed.

[0187] After removing the third connecting part 130 and the third connecting part 130, the third connecting part 130, the third detachable part 330 and the two mechanical feet 200 form another independently working component. Among them, the transport box 1400 and the seventh driver 1500 are both installed on the third detachable part 330, and the first bucket 1000 and the second bucket 1100 are also installed on the third detachable part 330, thereby forming an independently working machine that can perform transportation.

[0188] The eighth driver 2100 can be a cylinder, an electric cylinder or an oil cylinder, etc. By installing the base on the second detachable part 320, and installing the end of the telescopic rod on the crane hook 2000, the crane can be driven to perform hanging work by the eighth driver 2100.

[0189] The bracket 1900 extends or retracts through a cylinder, an electric cylinder or an oil cylinder, etc., so as to adjust the second crawler component 1800 to land and walk or be suspended.

[0190] The second detachable part 320, the second connecting part 120, the bracket 1900, the second crawler component 1800 and the eighth driver 2100 constitute a working machine for independent hanging. Among them, the structures of the second crawler component 1800 and the first crawler component can be the same, and reference can be made to the first crawler component. When the second crawler component 1800 is in the landed state, it can move. In this embodiment, the bracket 1900 is preferably four, and can lift the second detachable part 320, the second connecting part 120, the second crawler component 1800 and the eighth driver 2100, so that the second crawler component 1800 is suspended, and the stability for hoisting can be improved.

[0191] The rescue robot of this embodiment can be disassembled into three independent working machines. The three independent working machines can move through their respective crawler components, and can also perform corresponding operations according to their respective lapped working units, such as cleaning operations, lifting operations, and cleaning operations.

[0192] In some embodiments of the present application, it further includes:

[0193] A power supply device 1600, electrically connected to the first driver 210, the second driver 230, the third driver 250, the fourth driver 400, and the first crawler component 260;

[0194] A camera 1700, electrically connected to the power supply device 1600, and is disposed on the slewing member so as to be able to be raised or lowered relative to the slewing device 300, and is used for collecting image information;

[0195] A controller, electrically connected to the power supply device 1600 and the camera 1700, and is disposed on the vehicle frame 100 or the slewing member, and is used for obtaining the image information collected by the camera 1700, matching the template according to the image information to generate a first path, calling a library function, comparing the first path with a historical path, determining the historical path closest to the first path as a second path, and controlling the movement of the mechanical foot 200 according to the second path.

[0196] In this embodiment, the power supply device 1600 is a power source, which can be a rechargeable power source, and can supply power to the first driver 210, the second driver 230, the third driver 250, the fourth driver 400, and the first crawler component 260, so that the first driver 210, the second driver 230, the third driver 250, the fourth driver 400, and the first crawler component 260 can work.

[0197] The camera 1700 is a pan-tilt camera 1700. The pan-tilt camera 1700 is driven by two micro stepping motors in the horizontal and vertical directions, while reducing the size of the pan-tilt camera, ensuring its precision and a 360° rotation angle. The micro stepping motor is mainly composed of a base body, a mover, and a linear guide rail. The base body also acts as a stator, and has magnetic poles, stator teeth, coils, and a control circuit on its surface; the mover is located above the stator, and has mover teeth on its lower surface; the role of the guide rail is equivalent to a linear bearing 12GA, keeping the mover in place. There is a housing for sealing above the guide rail and the mover, and the mover is separated from surrounding components by an air gap.

[0198] The controller uses technologies such as machine vision and neural networks to obtain image information through the camera 1700, match the template by calling library functions in OPENCV according to the image information to generate a first path, compare the first path with the historical paths, determine the historical path closest to the first path as the second path, and control the movement of the robotic foot 200 according to the second path. The most suitable walking route is found using the paths experienced in the past.

[0199] The computer uses algorithms to detect images in digital media, such as obstacles in reality. Images in digital media are composed of pixels. Pixels in any image have colors and coordinates. The coordinate and color information of pixels are represented by numbers. The numbers are defined according to the RGB format. Since this information in the image identity is represented by numbers, the computer can understand it. Therefore, communication is carried out with the main control chip through the serial port, and the main control chip drives the brushless motor on the track and the servo on the robotic foot 200 to perform related operations to achieve obstacle avoidance and all-terrain walking functions, and drives the hydraulic robotic arm to perform obstacle clearing functions when necessary.

[0200] The controller is also configured to obtain the initial power information and the initial position of the robot; when the robot walks until the power becomes the preset power, send a return reminder to the user; calculate the walking direction and path of the robot when returning according to the current position and the initial position; guide the robot to return to the charging station to replenish the power according to the direction and path when returning, automatically disconnect the power supply after the system detects that the robot's power is full, and perform the next round of work.

[0201] Each machine uses its own GPS positioning system to share its own positioning information with other robots through the 5G transmission module to ensure that the working locations of multiple robots do not overlap, guarantee the work efficiency of post-disaster obstacle clearing, sense, collect, and upload information to the central node, and at the same time ensure that the rescue tasks are dispersed into different small tasks, and the central node analyzes and adapts the tasks.

[0202] The mechanical feet 200 of the disaster relief robot in this embodiment have three degrees of freedom, can achieve a variety of flexible working modes, enable all-terrain walking, and can be folded to a certain extent in the resting state to save space. In terms of working performance, the design of the robotic arm is equipped with multiple replaceable working end grippers, and with the assistance of the slewing structure, it can work in all directions. At the same time, it is equipped with an opening and closing bucket and a carrying box, and has stable and powerful functions of transporting materials and clearing the ruins. In terms of machine scheduling and interaction, the central node intelligently assigns tasks to each robot, and the working status of the robot can also be fed back to the central node in real time. Each robot works independently in its own area, ensuring the comprehensiveness of disaster area rescue and not missing any area rescue. In terms of the needs and risks of rescue personnel, rescue personnel only need to issue instructions at the central node to batch command the robots, greatly reducing the use of manpower. The robots can independently enter the disaster area to carry out rescue, eliminating the need for rescue personnel to reach the location of the wounded and reducing the rescue risk.

[0203] The post-disaster rescue robot uses 2.4G wireless communication to communicate with the control center and other devices. The 2.4G communication module is a commonly used wireless communication device that operates in the 2.4GHz frequency band. This communication module can be used in various application scenarios such as disaster relief robots, providing reliable data transmission and communication connections. The 2.4GHz frequency band has a relatively large bandwidth, which can support a relatively high data transmission rate. This enables the robot to send and receive a large amount of data in real time to maintain information exchange with other devices. The 2.4G communication module has a relatively long communication distance range and can communicate within a range of dozens of meters or even hundreds of meters. This enables the disaster relief robot to communicate reliably with devices such as the control center, other robots, or drones over a long distance, and can also establish communication relationships with multiple devices or nodes. This enables the disaster relief robot to work collaboratively with multiple team members or other robots, improving the efficiency and coverage of rescue. The low-power design of the 2.4G communication module can effectively save energy during the communication process. This enables the disaster relief robot to extend the battery life and provide longer working persistence.

[0204] This post-disaster rescue robot is equipped with a GPS positioning system to locate the real-time position of the robot. The ATK1218-BD module is selected. This module is a GPS+Beidou dual-mode positioning module with a size of only 25mm*27mm. The positioning accuracy can reach 2.5mCEP. It has a built-in backup battery, can store ephemeris data, and can be re-powered within half an hour after power failure and can be re-positioned within a few seconds. The core uses the S1216F8-BD module of SkyTraq Company, which has 167 channels, a tracking sensitivity as high as -165dBm, and a measurement output frequency of up to 20Hz at most. The ATK-S1216F8-BD GSP / Beidou module has the following characteristics:

[0205] 1. The module adopts the S1216F8-BD module, which is small in size and excellent in performance.

[0206] 2. Various parameters can be set and saved in the internal FLASH.

[0207] 3. The module is equipped with an IPX interface and can be connected to various active antennas, with strong adaptability.

[0208] 4. It comes with a rechargeable backup battery, which can retain ephemeris data during power failure.

[0209] Equipped with this GPS module, the position, orientation and speed information of the robot can be accurately located. The GPS Beidou module communicates with the STM32 through I2C / USRAT, enabling it to cooperate with artificial intelligence and 5G modules for path planning, so that the robot can reach the rescue location accurately and improve the rescue efficiency.

[0210] The main functions of the disaster relief robot include search, detection and rescue. Due to the extremely complex environment, environmental detection and personnel search tasks are the main functions of the current search and rescue robots. The robot is equipped with many sensors for detecting terrain and identifying obstacles.

[0211] The robot is equipped with cameras 1700 to obtain visual information of the terrain. These cameras 1700 can take photos or record videos. The robot can analyze these visual data through image processing algorithms to identify terrain features and obstacles. Using the opencv computer vision library in combination with multiple cameras 1700, it is possible to judge and identify common obstacles and pedestrians.

[0212] Use the slam technology to scan and construct the disaster area terrain. SLAM (simultaneous localization and mapping), that is, instant positioning and map construction, or concurrent mapping and positioning. SLAM (simultaneous localization and mapping) is a commonly used technology for autonomous positioning and map construction of robots in unknown environments. In the disaster area terrain modeling, SLAM can play a key role.

[0213] The basic principle of SLAM is to obtain data of the surrounding environment through sensors (such as laser scanners, cameras 1700, inertial measurement units, etc.) mounted on the robot, and then use this data for simultaneous positioning and map construction.

[0214] In disaster area terrain modeling, the robot uses a laser scanner to obtain the geometric structure of the terrain. The laser scanner obtains point cloud data in the environment by emitting laser beams and measuring the reflection time of the laser beams with obstacles. These point cloud data can represent the ground, buildings, water bodies, and other terrain features. Using the SLAM algorithm, the robot can extract terrain features from these point cloud data and construct a map model. The map model can include the height information of the ground, the geometric structure of buildings, and possible obstacles. Such a map model can assist rescue personnel in understanding the terrain of the disaster area, planning rescue routes, and providing auxiliary decision-making.

[0215] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0216] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rescue robot, characterized in that: The rescue robot comprises: Frame; and At least three mechanical feet, respectively arranged on the frame, for supporting and driving the frame to move; Wherein, the mechanical foot comprises: A first driver, disposed on the frame; A steering component connected to the first driver, wherein the steering component is configured to be horizontally movable relative to the frame under the driving of the first driver; a second driver connected to the steering component; A support rod having a first end and a second end, wherein the first end is connected to the second driver, and the second end of the support rod can be vertically rotated relative to the steering component under the driving of the second driver; A third driver connected to the second end; and The first crawler track component is connected to the second driver. The first crawler track component can be vertically rotated relative to the support rod under the drive of the third driver. The first crawler track component is used to drive the frame to move.

2. The rescue robot according to claim 1, characterized in that: Also includes: A slewing device is rotatably arranged on the frame relative to the frame; A fourth driver is connected to the rotating device and the frame, and is used for driving the rotating device to rotate relative to the frame.

3. The rescue robot according to claim 2, characterized in that: Also includes: A first mechanical arm is rotatably arranged on the rotating device relative to the rotating device; a fifth driver, connected to the rotating device and the first mechanical arm, and used for driving the first mechanical arm to rotate relative to the rotating device; The operating component is detachably arranged at one end of the first mechanical arm away from the rotating device and can rotate relative to the first mechanical arm for performing rescue operations.

4. The rescue robot according to claim 3, characterized in that: The first mechanical arm comprises: a first joint, wherein a first end of the first joint is rotatably disposed on the rotating device relative to the rotating device and is connected to the fifth driver; a second joint, rotatably connected to the first joint; a first driving member, one end of which is hinged to the first joint, and the other end of which is hinged to the second joint, so as to drive the second joint to move relative to the first joint; a third joint, rotatably connected to the second joint and detachably connected to the working component; A second driving member, one end of which is hinged to the second joint, and the other end of which is hinged to the third joint, so as to drive the third joint to move relative to the second joint; The third driving member has one end hinged to the third joint and the other end rotatably connected to the operating component to drive the operating component to move relative to the third joint.

5. The rescue robot according to claim 4, characterized in that: The robotic arm also includes: The connecting member is rotatably connected to the third joint and connected to the third driving member. The connecting member is detachably connected to the working component. The connecting member is used to drive the working component to move relative to the third joint under the drive of the driving member.

6. The rescue robot according to claim 5, characterized in that: Also includes: A bracket, rotatably arranged on the rotating device relative to the rotating device; A sixth driver, hingedly connected to the rotating device and the bracket, and used for driving the bracket to rotate relative to the rotating device; A first bucket is disposed on the bracket and can be laterally rotated relative to the bracket; A second bucket is disposed on the support so as to be rotatable laterally relative to the support; a fourth driving member, hingedly connecting the first bucket and the support frame, and used for driving the first bucket to rotate laterally relative to the support frame; a fifth driving member, hingedly connecting the second bucket and the support frame, and used for driving the second bucket to rotate laterally relative to the support frame; The first bucket and the second bucket are arranged side by side, and when at least one of the fourth driving member and the fifth driving member is driven, the gap between the bucket part of the first bucket and the bucket part of the second bucket increases or decreases.

7. The rescue robot according to claim 6, characterized in that: The support comprises: a support arm, rotatably disposed on the rotating device relative to the rotating device, the support arm being used to rotate relative to the rotating device under the drive of the sixth driver; A support arm is rotatably connected to the support arm, the first bucket is disposed on the support arm so as to be flipped relative to the support arm, and the second bucket is disposed on the support arm so as to be flipped relative to the support arm; The sixth driving member is hingedly connected to the support arm and the supporting arm, and is used for driving the supporting arm to rotate relative to the support arm, so as to drive the first bucket and the second bucket to flip.

8. The rescue robot according to claim 7, characterized in that: Also includes: A transport box, rotatably connected to the rotating device, so that one end of the transport box can be turned over at a specified angle relative to the rotating device to pour out the objects in the transport box; The seventh driver is hingedly connected to the transport box and the rotating device, and is used to drive the transport box to flip relative to the rotating component.

9. The rescue robot according to claim 8, characterized in that: The frame has a first connection part, a second connection part and a third connection part which can be detached in sequence, at least two of the mechanical legs are connected to the first connection part, and at least two of the mechanical legs are connected to the third connection part; The rotary device comprises a first detachable part, a second detachable part and a third detachable part which can be detached in sequence, the first detachable part is connected to the first connecting part, the second detachable part is rotatably connected to the second connecting part, the fourth driver is connected to the second detachable part and the second connecting part to drive the second detachable part to rotate relative to the second connecting part, and the third detachable part is connected to the third connecting part; The rescue robot also includes: a second crawler component, arranged on the second connection portion, the second crawler component having a suspended state and a grounded state, and when the first connection portion, the second connection portion and the third connection portion are connected, the frame is supported by the mechanical foot, and the second crawler component is in the suspended state; at least two brackets are respectively arranged on the second connecting part, and when the first connecting part, the second connecting part and the third connecting part are detached, the brackets extend to support the frame so that the second crawler component is in the suspended state, and when the brackets are retracted, the second crawler component is in the grounded state; A crane hook is rotatably disposed on the second detachable portion; An eighth driver has one end connected to the second detachable portion and the other end connected to the crane hook, and is used to drive the crane hook to work.

10. The rescue robot according to claim 2, characterized in that: Also includes: a power supply device electrically connecting the first drive, the second drive, the third drive, the fourth drive and the first crawler component; A camera, electrically connected to the power supply device and arranged on the rotating component so as to be raised or lowered relative to the rotating device, for collecting image information; A controller is electrically connected to the power supply device and the camera and is disposed on the vehicle frame or the rotating component, and is used to obtain the image information collected by the camera, match the template according to the image information to generate a first path, call a library function, compare the first path with a historical path, determine the historical path closest to the first path as the second path, and control the movement of the mechanical foot according to the second path.

Images