Water rescue robot with obstacle avoidance function

Abstract

The present application relates to life-saving appliance technical field, specifically be a kind of water rescue robot with obstacle avoidance function, including robot body, still include: obstacle detection module, the obstacle detection module fixed installation in the front side of robot body;Two float, two float symmetric distribution in the left and right sides of robot body;Obstacle avoidance adjusting mechanism, the obstacle avoidance adjusting mechanism is connected between robot body and each float.This application is by setting obstacle detection module, two float and obstacle avoidance adjusting mechanism, in conventional operating state, two float can be flexibly deployed, with robot body keep appropriate spacing, effectively expand overall profile size, significantly improve its in complex water environment navigation stability.When obstacle detection module identifies the surrounding reef, floating object and other obstacles, obstacle avoidance adjusting mechanism drives two float to robot body and approaches or self-adapting adjustment spacing, to avoid obstacles, ensure that rescue operation efficiently, safely advance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifesaving devices, in particular to a water rescue robot with obstacle avoidance function. BACKGROUND

[0002] The water rescue robot is an intelligent device developed for water rescue scenes, with strong emergency response capability. The operator can precisely control it through a portable remote controller or a remote control platform, so that it can quickly reach the side of the fallen person and perform rescue tasks.

[0003] At present, the overall size of most water rescue robots is relatively fixed and cannot be adjusted. In the face of complex water surface environments such as water flow fluctuations and waves, it is easy to sway, tilt or even roll, affecting the development of rescue tasks. Moreover, in water areas full of obstacles, it is easy to collide with obstacles, not only damaging the robot, but also delaying the rescue opportunity and endangering the safety of the fallen person. Therefore, we propose a water rescue robot with obstacle avoidance function to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a water rescue robot with obstacle avoidance function, which solves the problem of the overall size of the water rescue robot in the prior art being relatively fixed and unable to be adjusted.

[0005] The present application is realized by the following technical scheme: a water rescue robot with obstacle avoidance function, comprising a robot body, further comprising:

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

[0007] Two floats are symmetrically distributed on the left and right sides of the robot body.

[0008] An obstacle avoidance adjustment mechanism is connected between the robot body and each float. When the obstacle detection module detects an obstacle, the obstacle avoidance adjustment mechanism drives each float to approach or move away from the robot body to avoid the obstacle.

[0009] Optionally, the obstacle detection module comprises a laser radar fixedly installed on the front side of the robot body, and the laser radar is in communication connection with a master controller in the robot body.

[0010] Optionally, the float comprises two auxiliary floats spaced apart along the length direction of the robot body, and a main float is distributed between the two auxiliary floats, and the obstacle avoidance adjustment mechanism is connected with the main float.

[0011] Optionally, an unfolding and folding mechanism is connected between each sub-hull and the main hull; when the floating body approaches the robot body, the unfolding and folding mechanism synchronously drives the sub-hull to move away from the main hull; when the floating body moves away from the robot body, the unfolding and folding mechanism synchronously drives the sub-hull to move close to the main hull.

[0012] Optionally, the unfolding and folding mechanism comprises a connecting plate movably arranged in the sub-hull, a plurality of connecting rods are fixedly connected between the connecting plate and the side wall of the main hull, and each connecting rod movably penetrates the side wall of the sub-hull; a plurality of springs are connected between the side of the connecting plate away from the connecting rods and the inner wall of the sub-hull; in the natural state, each spring is in the compressed state.

[0013] Optionally, the unfolding and folding mechanism further comprises a pull rope fixed in the sub-hull, a through hole adapted to the pull rope is formed in one of the connecting rods; the pull rope sequentially movably penetrates the through hole and the main hull and is fixed to the robot body; in the natural state, the pull rope is in the straightened state.

[0014] Optionally, the main hull is rotatably connected with a guide wheel on the left and right sides of the pull rope, and the two guide wheels cooperate with each other to make the pull rope in the L shape.

[0015] Optionally, the obstacle avoidance adjusting mechanism comprises two limiting plates movably arranged in the robot body, an inner threaded cylinder is fixedly connected between each limiting plate and the floating body close thereto, and each inner threaded cylinder movably penetrates the side wall of the robot body.

[0016] A plurality of guide rods are fixedly connected between each limiting plate and the floating body close thereto, and each guide rod movably penetrates the side wall of the robot body.

[0017] Optionally, the obstacle avoidance adjusting mechanism further comprises two partition plates fixed in parallel and at intervals in the robot body, an outer threaded rod is rotatably connected to each partition plate, each outer threaded rod is screwedly matched with the inner threaded cylinder close thereto, and a driving member for synchronously rotating each outer threaded rod is installed between the two partition plates.

[0018] Optionally, the driving member comprises a double-shaft motor installed between the two partition plates, the double-shaft motor is in communication connection with a master controller in the robot body, and each outer threaded rod is connected with the output end of the double-shaft motor.

[0019] Compared with the prior art, the water rescue robot with the obstacle avoidance function has the following beneficial effects:

[0020] 1. The present application sets up an obstacle detection module, two floating bodies and an obstacle avoidance adjusting mechanism. In the normal operation state, the two floating bodies can be flexibly deployed to maintain a proper distance from the robot body, effectively expand the overall profile size and significantly improve the stability of the robot in complex water environment. When the obstacle detection module identifies obstacles such as reefs and floating objects, the obstacle avoidance adjusting mechanism drives the two floating bodies to move closer to the robot body or adaptively adjusts the distance to skillfully avoid obstacles and ensure efficient and safe rescue operation.

[0021] 2. The floating body of the present application adopts a three-section structure composed of two auxiliary floating cylinders and a main floating cylinder. When the floating body needs to be retracted to avoid obstacles, the two auxiliary floating cylinders will automatically move away from the main floating cylinder, keeping the floating body in a moderately expanded state and maintaining the necessary buoyancy and stability. When the floating body needs to move away from the robot body to enhance the navigation stability, the auxiliary floating cylinders will move towards the main floating cylinder simultaneously to achieve the compact retraction of the floating body. This unique linkage mechanism ensures that the robot remains balanced during obstacle avoidance, improving the flexibility of obstacle avoidance and effectively ensuring the safety and reliability of rescue operation. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0025] Figure 4 is the schematic diagram of the auxiliary floating cylinder;

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

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

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

[0029] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

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

[0031] The embodiment also comprises an obstacle detection module 2, two floating bodies 3, and an obstacle avoidance adjusting mechanism 4, which are used to solve the problem that the overall size of the water rescue robot in the prior art is relatively fixed and cannot be adjusted.

[0032] The obstacle detection module 2 is fixedly installed on the front side of the robot body 1, and when the robot body 1 navigates on the water surface, the module can accurately detect whether there is an obstacle in front. In the embodiment, the obstacle detection module 2 comprises a laser radar fixedly installed on the front side of the robot body 1, and the laser radar is in communication connection with a master controller in the robot body 1. By virtue of the characteristics of rapid scanning and accurate ranging of the laser radar, three-dimensional environmental data of the front water area can be generated in milliseconds, thereby providing key information support for 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 be close to or away from the body according to actual needs. The obstacle avoidance adjusting mechanism 4 is connected between the robot body 1 and each floating body 3. When the obstacle detection module 2 detects an obstacle, each floating body 3 is driven by the obstacle avoidance adjusting mechanism 4 to move close to or away from the robot body 1, so as to avoid the obstacle or moderately expand to enhance stability and avoid collision, thereby ensuring that the robot safely and efficiently performs a rescue task in a complex water environment.

[0034] With the above structure, when the robot body 1 advances towards the fallen person, the laser radar 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 master controller in real time. After the master controller receives the obstacle information, the obstacle avoidance adjusting mechanism 4 is instructed to drive the left and right floating bodies 3 to move. If the obstacle needs to be avoided, the floating bodies 3 move close to the robot body 1 to reduce the overall size and flexibly bypass the obstacle. After the obstacle is avoided, or in the normal navigation state without obstacles, the floating bodies 3 can move away from the robot body 1 to expand the size and enhance the stability of the robot on the water surface, thereby ensuring the smooth performance of the rescue task.

[0035] The floating body 3 will be described below.

[0036] The floating body 3 comprises two auxiliary pontoons 301 distributed along the length direction of the robot body 1, a main pontoon 302 is distributed between the two auxiliary pontoons 301, and the obstacle avoidance adjusting mechanism 4 is connected with the main pontoon 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 pontoon 301 and the main pontoon 302. When the floating body 3 approaches the robot body 1, the deployment and retraction mechanism 5 synchronously drives the auxiliary pontoons 301 away from the main pontoon 302, so that the floating body 3 is kept in a moderately deployed state and maintains necessary buoyancy and stability. When the floating body 3 is away from the robot body 1, the deployment and retraction mechanism 5 synchronously drives the auxiliary pontoons 301 to approach the main pontoon 302, so that the floating body 3 is compactly retracted, which improves the obstacle avoidance flexibility and effectively guarantees the safety and reliability of the rescue operation.

[0038] In the embodiment, the deployment and retraction mechanism 5 comprises a connecting plate 501 movably arranged in the auxiliary pontoon 301, a plurality of connecting rods 502 are fixedly connected between the connecting plate 501 and the side wall of the main pontoon 302, and each connecting rod 502 movably penetrates the side wall of the auxiliary pontoon 301. A plurality of springs 503 are connected between the side of the connecting plate 501 away from the connecting rods 502 and the inner wall of the auxiliary pontoon 301. In the natural state, each spring 503 is in the compressed state and continuously provides the auxiliary pontoon 301 with the outward expansion elastic force.

[0039] The deployment and retraction mechanism 5 further comprises a pull rope 504 fixedly arranged in the auxiliary pontoon 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 movably penetrates the through hole 505 and the main pontoon 302 and is fixedly connected with the robot body 1. In the natural state, the pull rope 504 is in the straightened state and suppresses the elastic force release of the spring 503. In addition, the main pontoon 302 is rotatably connected with guide wheels 506 located 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 present an L shape, so that the pull rope 504 can be relaxed or tightened when the floating body 3 is away from or approaches the robot body 1.

[0040] With the above structure, when the floating body 3 is driven by the obstacle avoidance adjusting mechanism 4 to be gathered to the robot body 1, the pull rope 504 is slack due to the length redundancy, and the binding force on the auxiliary float 301 is released. At this time, the spring 503 in the pre-compressed state rapidly releases the elastic potential energy to drive the auxiliary float 301 to slide outward along the connecting rod 502 track with strong thrust, so that it maintains a moderate distance with the main float 302, maintaining the basic buoyancy support of the floating body. Conversely, 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 the pull rope 504 is transmitted to the auxiliary float 301 through the L-shaped turning of the guide wheel 506, and the auxiliary float 301 is pulled to the main float 302 to overcome the resistance of the spring 503, thereby effectively reducing the collision risk while ensuring stability when avoiding obstacles.

[0041] The obstacle avoidance adjusting mechanism 4 is introduced as follows:

[0042] The obstacle avoidance adjusting mechanism 4 includes two limit plates 401 movably arranged in the robot body 1, and an inner threaded cylinder 402 fixedly connected between each limit plate 401 and the adjacent floating body 3, each inner threaded cylinder 402 movably penetrating 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 penetrates the side wall of the robot body 1. Through the cooperative action of the limit plate 401, the inner threaded 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 the gathering and spreading action in the direction perpendicular to the side wall of the body.

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

[0044] In the embodiment, the obstacle avoidance adjusting mechanism 4 further comprises two partitions 404 fixed in parallel and at intervals in the robot body 1, an outer threaded rod 405 is rotatably connected to each partition 404, each outer threaded rod 405 is screw-connected with the adjacent inner threaded cylinder 402, and a driving member 406 for driving the synchronous rotation of each outer threaded rod 405 is installed between the two partitions 404. When the driving member 406 drives the synchronous rotation of the two outer threaded rods 405, the two floating bodies 3 can be brought closer to or farther away from each other through the cooperation of the outer threaded rods 405 and the inner threaded cylinders 402. It should be noted that the driving member 406 comprises a double-shaft motor installed between the two partitions 404, the double-shaft motor is in communication connection with the main controller in the robot body 1, and each outer threaded rod 405 is connected with the output end of the double-shaft motor. When the main controller issues an obstacle avoidance instruction, the double-shaft motor synchronously drives the same-direction rotation of the two outer threaded rods 405, and through the cooperation of the outer threaded rods 405 and the inner threaded cylinders 402, the synchronous approaching or moving away action of the two floating bodies 3 is realized, thereby providing the robot with efficient and flexible obstacle avoidance capability in complex water environment.

[0045] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0046] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application 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, Also include: Obstacle detection module (2), the obstacle detection module (2) is fixedly installed on the front side of the robot body (1); Two floating bodies (3), two floating bodies (3) are symmetrically distributed on the left and right sides of the robot body (1); Obstacle avoidance adjusting mechanism (4), the obstacle avoidance adjusting mechanism (4) is connected between the robot body (1) and each floating body (3);When the obstacle detection module (2) detects an obstacle, each floating body (3) is driven by the obstacle avoidance adjusting mechanism (4) to approach or move away from the robot body (1) to avoid the obstacle; The floating body (3) comprises two auxiliary pontoons (301) spaced apart along the length direction of the robot body (1), and a main pontoon (302) is arranged between the two auxiliary pontoons (301), and the obstacle avoidance adjusting mechanism (4) is connected with the main pontoon (302); An unfolding mechanism (5) is connected between each auxiliary pontoon (301) and the main pontoon (302);When the floating body (3) approaches the robot body (1), the unfolding mechanism (5) synchronously drives the auxiliary pontoon (301) to move away from the main pontoon (302);When the floating body (3) moves away from the robot body (1), the unfolding mechanism (5) synchronously drives the auxiliary pontoon (301) to approach the main pontoon (302); The unfolding mechanism (5) comprises a connecting plate (501) movably arranged in the auxiliary pontoon (301), a plurality of connecting rods (502) are fixedly connected between the connecting plate (501) and the side wall of the main pontoon (302), and each connecting rod (502) movably penetrates the side wall of the auxiliary pontoon (301);A plurality of springs (503) are connected between the side, away from the connecting rod (502), of the connecting plate (501) and the inner wall of the auxiliary pontoon (301);In the natural state, each spring (503) is in a compressed state; The unfolding mechanism (5) further comprises a pull rope (504) fixed in the auxiliary pontoon (301), and a through hole (505) corresponding to the pull rope (504) is formed in one of the connecting rods (502);The pull rope (504) sequentially movably penetrates the through hole (505) and the main pontoon (302) and is fixed to the robot body (1);In the natural state, the pull rope (504) is in a straightened state; The main pontoon (302) is rotatably connected with a guide wheel (506) 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.

2. The water rescue robot with obstacle avoidance function according to claim 1, characterized in that: The obstacle detection module (2) comprises a laser radar fixedly installed on the front side of the robot body (1), and the laser radar is in communication connection with a main control unit in the robot body (1).

3. The water rescue robot with obstacle avoidance function according to claim 1, characterized in that: The obstacle avoidance adjusting mechanism (4) comprises two limiting plates (401) movably arranged in the robot body (1), and an inner threaded cylinder (402) is fixedly connected between each limiting plate (401) and the floating body (3) close thereto, and each inner threaded cylinder (402) movably penetrates the side wall of the robot body (1); A plurality of guide rods (403) are fixedly connected between each limiting plate (401) and the floating body (3) close thereto, and each guide rod (403) movably penetrates the side wall of the robot body (1).

4. The water rescue robot with obstacle avoidance function according to claim 3, characterized in that: The obstacle avoidance adjusting mechanism (4) further comprises two partitions (404) fixed in parallel and at intervals in the robot body (1), each partition (404) is rotationally connected with an outer threaded rod (405), each outer threaded rod (405) is screw-connected with a proximal inner threaded cylinder (402), and a driving member (406) for driving synchronous rotation of each outer threaded rod (405) is installed between the two partitions (404).

5. The water rescue robot with obstacle avoidance function according to claim 4, characterized in that: The driving member (406) comprises a double-shaft motor installed between the two partitions (404), the double-shaft motor is in communication connection with a master controller in the robot body (1), and each outer threaded rod (405) is connected with an output end of the double-shaft motor.

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