Water rescue robot with obstacle avoidance function

Abstract

The invention relates to the technical field of lifesaving appliances, in particular to a water rescue robot with an obstacle avoidance function, which comprises a robot body, and further comprises an obstacle detection module fixedly mounted on the front side of the robot body; the two floating bodies are symmetrically distributed on the left side and the right side of the robot body; and the obstacle avoidance adjusting mechanism is connected between the robot body and each floating body. By arranging the obstacle detection module, the two floating bodies and the obstacle avoidance adjusting mechanism, in a conventional operation state, the two floating bodies can be flexibly unfolded, a proper distance is kept between the two floating bodies and the robot body, the overall contour size is effectively expanded, and the navigation stability of the robot in a complex water area environment is remarkably improved. When the obstacle detection module recognizes surrounding submerged reefs, floating objects and other obstacles, the obstacle avoidance adjusting mechanism drives the two floating bodies to get close to the robot body or adjust the distance in a self-adaptive mode so as to avoid the obstacles, and it is ensured that rescue work is efficiently and safely propelled.

Description

Technical Field

[0001] The present invention relates to the technical field of life-saving appliances, and particularly to a water rescue robot with an obstacle avoidance function. Background Art

[0002] A water rescue robot is an intelligent device developed for water rescue scenarios and has a powerful emergency response ability. An operator can precisely control it through a portable remote controller or a remote control platform, enabling it to quickly reach the side of a drowning person and perform rescue tasks.

[0003] Currently, the overall size of most water rescue robots is relatively fixed and cannot be adjusted. When facing complex water surface environments such as water flow fluctuations, wind and waves, it is prone to situations such as shaking, tilting, or even capsizing, which affects the progress of rescue tasks. Moreover, in waters full of obstacles, it is likely to collide with obstacles, not only damaging the robot but also potentially delaying the rescue time and endangering the safety of the drowning person. For this reason, we have proposed a water rescue robot with an obstacle avoidance function to well solve the above drawbacks. Summary of the Invention

[0004] The purpose of the present invention is to provide a water rescue robot with an obstacle avoidance function to solve the problem in the prior art that the overall size of the water rescue robot is relatively fixed and cannot be adjusted as mentioned in the above background art.

[0005] The present invention is achieved through the following technical solutions: A water rescue robot with an obstacle avoidance function includes a robot body, and further includes:

[0006] An obstacle detection module, which is fixedly installed on the front side of the robot body;

[0007] Two floating bodies, which are symmetrically distributed on the left and right sides of the robot body;

[0008] An obstacle avoidance adjustment mechanism, which is connected between the robot body and each floating body; when the obstacle detection module detects an obstacle, it drives each floating body to approach or move away from the robot body through the obstacle avoidance adjustment mechanism to avoid the obstacle.

[0009] Optionally, the obstacle detection module includes a lidar fixedly installed on the front side of the robot body, and the lidar is communicatively connected to the main controller inside the robot body.

[0010] Optionally, the floating body includes two secondary floating cylinders distributed at intervals along the length direction of the robot body, and a main floating cylinder is distributed between the two secondary floating cylinders, and the obstacle avoidance adjustment mechanism is connected to the main floating cylinder.

[0011] Optionally, a deployment and retraction mechanism is connected between each auxiliary buoy and the main buoy; when the floating body approaches the robot body, the deployment and retraction mechanism synchronously drives the auxiliary buoy away from the main buoy; when the floating body moves away from the robot body, the deployment and retraction mechanism synchronously drives the auxiliary buoy closer to the main buoy.

[0012] Optionally, the deployment and retraction mechanism includes a connecting plate movably arranged inside the auxiliary buoy, and a plurality of connecting rods are fixedly connected between the connecting plate and the side wall of the main buoy, and each connecting rod movably passes through the side wall of the auxiliary buoy; a plurality of springs are connected between the side of the connecting plate away from the connecting rod and the inner wall of the auxiliary buoy; in the natural state, each spring is in a compressed state.

[0013] Optionally, the deployment and retraction mechanism further includes a drawstring fixed inside the auxiliary buoy, and a through hole adapted to the drawstring is formed in one of the connecting rods; the drawstring sequentially passes through the through hole and the main buoy and is fixed to the robot body; in the natural state, the drawstring is in a taut state.

[0014] Optionally, guide wheels are rotatably connected inside the main buoy on the left and right sides of the drawstring, and the two guide wheels cooperate with each other to make the drawstring in an L shape.

[0015] Optionally, the obstacle avoidance and adjustment mechanism includes two limit plates movably arranged inside the robot body, and internally threaded cylinders are fixedly connected between each limit plate and the adjacent floating body, and each internally threaded cylinder movably passes through the side wall of the robot body;

[0016] A plurality of guide rods are fixedly connected between each limit plate and the adjacent floating body, and each guide rod movably passes through the side wall of the robot body.

[0017] Optionally, the obstacle avoidance and adjustment mechanism further includes two partition plates fixedly arranged in parallel and at intervals inside the robot body, externally threaded rods are rotatably connected to each partition plate, each externally threaded rod is in screw fit with the adjacent internally threaded cylinder, and a driving member for driving each externally threaded rod to rotate synchronously is installed between the two partition plates.

[0018] Optionally, the driving member includes a double-shaft motor installed between the two partition plates, the double-shaft motor is communicatively connected to the main controller inside the robot body, and each externally threaded rod is respectively connected to the output end of the double-shaft motor.

[0019] Compared with the prior art, the present invention provides a water rescue robot with an obstacle avoidance function, having the following beneficial effects:

[0020] 1. The present invention is provided with an obstacle detection module, two floating bodies and an obstacle avoidance adjustment mechanism. In the normal operation state, the two floating bodies can be flexibly deployed, maintaining an appropriate distance from the robot body, effectively expanding the overall contour size, and significantly enhancing the navigation stability in complex water environments. When the obstacle detection module identifies obstacles such as surrounding reefs and floating objects, the obstacle avoidance adjustment mechanism drives the two floating bodies to move closer to the robot body or adaptively adjust the distance to deftly avoid obstacles, ensuring the efficient and safe progress of the rescue operation.

[0021] 2. The floating body of the present invention adopts a three-section structure, which is composed of two secondary floating cylinders and a main floating cylinder. During obstacle avoidance operation, when the floating body needs to close in on the robot body to avoid obstacles, the two secondary floating cylinders will automatically move away from the main floating cylinder, keeping the floating body in a moderately deployed state to maintain the necessary buoyancy and stability. When the floating body needs to move away from the robot body to enhance navigation stability, the secondary floating cylinders move closer to the main floating cylinder synchronously to achieve the compact folding of the floating body. This unique linkage mechanism ensures that the robot always maintains balance during obstacle avoidance, improving the obstacle avoidance flexibility and effectively guaranteeing the safety and reliability of the rescue operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall schematic diagram of the present invention;

[0023] Figure 2 is the overall schematic diagram of another perspective of the present invention;

[0024] Figure 3 is the state diagram of the two floating bodies of the present invention moving away from each other;

[0025] Figure 4 is the schematic diagram inside the secondary floating cylinder of the present invention;

[0026] Figure 5 is the schematic diagram inside the main floating cylinder of the present invention;

[0027] Figure 6 is the state diagram of the two floating bodies of the present invention moving closer to each other.

[0028] In the figure: 1, robot body; 2, obstacle detection module; 3, floating body; 301, secondary floating cylinder; 302, main floating cylinder; 4, obstacle avoidance adjustment mechanism; 401, limit plate; 402, internal thread cylinder; 403, guide rod; 404, partition board; 405, external thread rod; 406, driving part; 5, deployment and retraction mechanism; 501, connecting plate; 502, connecting rod; 503, spring; 504, pulling rope; 505, through hole; 506, guide wheel. DETAILED DESCRIPTION OF THE INVENTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0030] Please refer to Figures 1 to 6 , a water rescue robot with an obstacle avoidance function, including a robot body 1, which can travel on the water surface, reach the side of the drowning person, and perform rescue tasks.

[0031] This embodiment further includes: an obstacle detection module 2, two floating bodies 3, and an obstacle avoidance adjustment mechanism 4, which are used to solve the problem that the overall size of the existing water rescue robot is relatively fixed and cannot be adjusted.

[0032] Among them, the obstacle detection module 2 is fixedly installed on the front side of the robot body 1. When the robot body 1 sails on the water surface, this module can accurately detect whether there are obstacles ahead. In this embodiment, the obstacle detection module 2 includes a lidar fixedly installed on the front side of the robot body 1, and the lidar is communicatively connected to the main controller in the robot body 1. With the characteristics of rapid scanning and accurate ranging of the lidar, three-dimensional environmental data of the front water area can be generated in milliseconds, providing key information support for the intelligent obstacle avoidance and path planning of the robot.

[0033] In addition, the two floating bodies 3 are symmetrically distributed on the left and right sides of the robot body 1, and can approach or move away from the body according to actual needs. The obstacle avoidance adjustment mechanism 4 is connected between the robot body 1 and each floating body 3; when the obstacle detection module 2 detects an obstacle, the obstacle avoidance adjustment mechanism 4 drives each floating body 3 to approach or move away from the robot body 1 to avoid the obstacle, or moderately expand to enhance stability and avoid collision, so as to ensure that the robot can perform rescue tasks safely and efficiently in a complex water environment.

[0034] With the above structure, when the robot body 1 moves forward towards the drowning person, the lidar installed on the front side of the robot body 1 continuously emits laser beams to scan the front water area, and transmits the detected obstacle data to the main controller in real time. When the main controller receives the obstacle information, it issues an instruction to the obstacle avoidance adjustment mechanism 4 to drive the left and right floating bodies 3 to act; if it is necessary to avoid the obstacle, the floating body 3 approaches the robot body 1 to reduce the overall size and flexibly bypass the obstacle; after completing the obstacle avoidance, or in the normal navigation state without obstacles, the floating body 3 can move away from the robot body 1 to expand the size and enhance the stability of the robot on the water surface to ensure the smooth progress of the rescue task.

[0035] The following introduces the floating body 3:

[0036] The floating body 3 includes two auxiliary floating barrels 301 spaced along the length direction of the robot body 1. A main floating barrel 302 is distributed between the two auxiliary floating barrels 301. The obstacle avoidance adjustment mechanism 4 is connected to the main floating barrel 302. The floating body 3 adopts a three-section structure and can be deployed and retracted to maintain necessary buoyancy and stability.

[0037] In order to enable the three-section structure of the floating body 3 to be deployed and retracted, a deployment and retraction mechanism 5 is connected between each auxiliary floating barrel 302 and the main floating barrel 301. When the floating body 3 approaches the robot body 1, the deployment and retraction mechanism 5 synchronously drives the auxiliary floating barrel 301 away from the main floating barrel 302, so that the floating body 3 maintains a proper deployed state and maintains necessary buoyancy and stability. When the floating body 3 is far away from the robot body 1, the deployment and retraction mechanism 5 synchronously drives the auxiliary floating barrel 301 to approach the main floating barrel 302, realizing the compact retraction of the floating body 3, which not only improves the obstacle avoidance flexibility but also effectively guarantees the safety and reliability of the rescue operation.

[0038] In this embodiment, the deployment and retraction mechanism 5 includes a connecting plate 501 movably arranged in the auxiliary floating barrel 301. A plurality of connecting rods 502 are fixedly connected between the connecting plate 501 and the side wall of the main floating barrel 302, and each connecting rod 502 movably passes through the side wall of the auxiliary floating barrel 301. A plurality of springs 503 are connected between the side of the connecting plate 501 far from the connecting rod 502 and the inner wall of the auxiliary floating barrel 301. In the natural state, each spring 503 is in a compressed state, continuously providing an outward expansion elastic force for the auxiliary floating barrel 301.

[0039] The deployment and retraction mechanism 5 further includes a pull rope 504 fixed in the auxiliary floating barrel 301. A through hole 505 adapted to the pull rope 504 is formed in one of the connecting rods 502. The pull rope 504 sequentially passes through the through hole 505 and the main floating barrel 302 and is fixed to the robot body 1. In the natural state, the pull rope 504 is in a taut state, inhibiting the release of the elastic force of the spring 503. In addition, a guide wheel 506 is rotatably connected in the main floating barrel 302 on the left and right sides of the pull rope 504. The two guide wheels 506 cooperate with each other to make the pull rope 504 in an L shape, so that when the floating body 3 is far away from or approaches the robot body 1, the pull rope 504 can be relaxed or taut.

[0040] With the above structure, when the floating body 3 is driven by the obstacle avoidance adjustment mechanism 4 to close towards the robot body 1, the pull rope 504 becomes slack due to redundant length, releasing the binding force on the auxiliary floating cylinder 301. At this time, the spring 503 in the pre-compressed state quickly releases its elastic potential energy, driving the auxiliary floating cylinder 301 to slide outward along the track of the connecting rod 502 with a strong thrust, so that it maintains an appropriate distance from the main floating cylinder 302 and maintains the basic buoyancy support of the floating body. On the contrary, when the floating body 3 needs to move away from the body to enhance the navigation stability, as the floating body 3 moves outward, the pull rope 504 is gradually tightened, and the tension generated by it is transmitted to the auxiliary floating cylinder 301 through the L-shaped turning of the guide pulley 506, overcoming the resistance of the spring 503 to pull the auxiliary floating cylinder 301 towards the main floating cylinder 302, thereby effectively reducing the collision risk during obstacle avoidance while ensuring stability.

[0041] The following is an introduction to the obstacle avoidance adjustment mechanism 4:

[0042] The obstacle avoidance adjustment mechanism 4 includes two limit plates 401 movably arranged inside the robot body 1. An internal thread cylinder 402 is fixedly connected between each limit plate 401 and the adjacent floating body 3, and each internal thread cylinder 402 movably passes through the side wall of the robot body 1. A number of guide rods 403 are fixedly connected between each limit plate 401 and the adjacent floating body 3, and each guide rod 403 movably passes through the side wall of the robot body 1. Through the coordinated action of the limit plate 401, the internal thread cylinder 402 and the guide rod 403, a stable linear motion constraint system is constructed to ensure that the floating body 3 can only perform retraction and expansion actions along the direction perpendicular to the side wall of the body.

[0043] It is worth mentioning that an opening for the pull rope 504 to pass through is provided in the guide rod 403, so that the pull rope 504 can pass through the guide rod 403 and be connected to the robot body 1, avoiding the exposure of the pull rope 504 in the water body and ensuring the reliability of the retraction and expansion mechanism 5.

[0044] In this embodiment, the obstacle avoidance adjustment mechanism 4 further includes two partition plates 404 that are parallel and fixedly spaced inside the robot body 1. An external threaded rod 405 is rotatably connected to each partition plate 404. Each external threaded rod 405 is in screw fit with the adjacent internal threaded cylinder 402. A driving member 406 for driving the synchronous rotation of each external threaded rod 405 is installed between the two partition plates 404. When the driving member 406 drives the two external threaded rods 405 to rotate synchronously, the cooperation between the external threaded rod 405 and the internal threaded cylinder 402 can be used to drive the two floating bodies 3 to approach or move away from each other. It should be noted that the driving member 406 includes a double-shaft motor installed between the two partition plates 404. The double-shaft motor is communicatively connected to the main controller inside the robot body 1. Each external threaded rod 405 is respectively connected to the output end of the double-shaft motor. When the main controller issues an obstacle avoidance instruction, the double-shaft motor synchronously drives the two external threaded rods 405 to rotate in the same direction. Through the cooperation between the external threaded rod 405 and the internal threaded cylinder 402, the synchronous approaching or moving away actions of the floating bodies 3 on both sides are realized, providing the robot with efficient and flexible obstacle avoidance capabilities in complex water environments.

[0045] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0046] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water rescue robot with obstacle avoidance function, comprising a robot body (1), characterized in that: Further included are: An obstacle detection module (2), which is fixedly installed on the front side of the robot body (1); Two floating bodies (3), which are symmetrically distributed on the left and right sides of the robot body (1); An obstacle avoidance adjustment mechanism (4), which is connected between the robot body (1) and each floating body (3); when the obstacle detection module (2) detects an obstacle, the obstacle avoidance adjustment mechanism (4) drives each floating body (3) to approach or move away from the robot body (1) to avoid the obstacle.

2. The water rescue robot with an obstacle avoidance function according to claim 1, characterized in that: The obstacle detection module (2) includes a lidar fixedly installed on the front side of the robot body (1), and the lidar is communicatively connected to the main controller in the robot body (1).

3. The water rescue robot with obstacle avoidance function according to claim 1, wherein: The floating body (3) includes two secondary floating cylinders (301) spaced along the length direction of the robot body (1), and a main floating cylinder (302) is distributed between the two secondary floating cylinders (301), and the obstacle avoidance adjustment mechanism (4) is connected to the main floating cylinder (302).

4. The water rescue robot with obstacle avoidance function according to claim 3, characterized in that: A deployment and retraction mechanism (5) is connected between each secondary floating cylinder (302) and the main floating cylinder (301); when the floating body (3) approaches the robot body (1), the deployment and retraction mechanism (5) synchronously drives the secondary floating cylinder (301) away from the main floating cylinder (302); when the floating body (3) moves away from the robot body (1), the deployment and retraction mechanism (5) synchronously drives the secondary floating cylinder (301) to approach the main floating cylinder (302).

5. The water rescue robot with an obstacle avoidance function according to claim 4, characterized in that: The deployment and retraction mechanism (5) includes a connecting plate (501) movably arranged in the secondary floating cylinder (301), and a plurality of connecting rods (502) are fixedly connected between the connecting plate (501) and the side wall of the main floating cylinder (302), and each connecting rod (502) movably passes through the side wall of the secondary floating cylinder (301); a plurality of springs (503) are connected between the side of the connecting plate (501) far from the connecting rod (502) and the inner wall of the secondary floating cylinder (301); in the natural state, each spring (503) is in a compressed state.

6. The water rescue robot with obstacle avoidance function according to claim 5, characterized in that: The deployment and retraction mechanism (5) further includes a pull rope (504) fixed in the secondary floating cylinder (301), and a through hole (505) adapted to the pull rope (504) is formed in one of the connecting rods (502); the pull rope (504) sequentially passes through the through hole (505) and the main floating cylinder (302) and is fixed to the robot body (1); in the natural state, the pull rope (504) is in a taut state.

7. The water rescue robot with obstacle avoidance function according to claim 6, characterized in that: A guide wheel (506) is rotatably connected in the main floating cylinder (302) on the left and right sides of the pull rope (504), and the two guide wheels (506) cooperate with each other to make the pull rope (504) in an L shape.

8. The water rescue robot with obstacle avoidance function according to claim 1, characterized in that: The obstacle avoidance adjustment mechanism (4) includes two limit plates (401) movably arranged in the robot body (1), and an internally threaded cylinder (402) is fixedly connected between each limit plate (401) and the adjacent floating body (3), and each internally threaded cylinder (402) movably passes through the side wall of the robot body (1); A plurality of guide rods (403) are fixedly connected between each limit plate (401) and the adjacent floating body (3), and each guide rod (403) movably passes through the side wall of the robot body (1).

9. The water rescue robot with an obstacle avoidance function according to claim 8, characterized in that: The obstacle avoidance adjustment mechanism (4) further includes two partition plates (404) that are parallel and fixedly spaced inside the robot body (1). An external threaded rod (405) is rotatably connected to each partition plate (404). Each external threaded rod (405) is in screw fit with the adjacent internal threaded cylinder (402). A driving member (406) for driving the synchronous rotation of each external threaded rod (405) is installed between the two partition plates (404).

10. The water rescue robot with an obstacle avoidance function according to claim 9, characterized in that: The driving member (406) includes a double-shaft motor installed between the two partition plates (404). The double-shaft motor is communicatively connected to the main controller inside the robot body (1). Each external threaded rod (405) is respectively connected to the output end of the double-shaft motor.

Images