Air-ground amphibious rescue robot for high-rise fire scene

Abstract

The invention relates to the technical field of fire rescue, in particular to an air-ground amphibious rescue robot for a high-rise fire scene, in a flight moving mode, an analysis module performs analysis based on data information, so that a control module controls a telescopic arm to stretch out and draw back and controls a sliding block rocker arm component to rotate; the position of the propeller component and the position of the wheel type suspension component are adjusted, so that the rescue robot can quickly and stably reach a target floor and shuttle a road barrier; and in the flight landing descending mode, the analysis module can perform analysis based on the data information to obtain a ground slope angle, and corrects the rotation angle of the sliding block rocker arm component of the robot through the control module based on the ground slope angle to adjust the position of the wheel type suspension component in the descending process, so that the terrain adaptability is improved. The air-ground amphibious rescue robot can quickly arrive at a high-rise fire scene and adapt to the indoor complex environment, and therefore the rescue efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire rescue, and in particular to a land-air amphibious rescue robot for high-rise fire scenes. BACKGROUND

[0002] With the acceleration of urbanization, the density of high-rise buildings continues to increase, and the difficulty and risk of fire rescue accidents also rise. The traditional fire rescue mode of firefighting faces challenges such as slow response speed, limited rescue height, and great threat to personnel safety when dealing with high-rise fire scenes. For example, the ladder truck is limited by height and terrain, the unmanned aerial vehicle has problems of insufficient load capacity and endurance, and cannot move flexibly indoors, and the personal safety of firefighters in extreme environments such as high temperature, smoke, and unstable building structure also faces severe tests. The existing fire rescue robots have the following problems when dealing with high-rise fire scenes: 1. Mobile robots are difficult to quickly reach the fire scene; 2. Unmanned aerial vehicles are difficult to move flexibly indoors; 3. The control system of the composite robot is complex.

[0003] Therefore, in view of the problems that traditional firefighting equipment is difficult to quickly arrive, accurately position, and efficiently rescue in high-rise building fire scenes, there is an urgent need for a land-air amphibious high-rise fire rescue robot that has the ability to quickly arrive by air and flexibly operate on the ground, in order to improve the efficiency of fire rescue and protect the safety of personnel.

[0004] Chinese Patent Application Publication No. CN108001136A discloses a new land-air amphibious vehicle. The new land-air amphibious vehicle in this technical solution determines the corresponding walking mode when it detects obstacles in front, including walking over obstacles and flying over obstacles, and can turn and avoid obstacles by changing the rotation speed of the left and right wheels. This technical solution provides a land-air switching movement mode, but still lacks adaptability in fire environments and when facing complex internal building terrain. SUMMARY

[0005] To this end, the present application provides a land-air amphibious rescue robot for high-rise fire scenes to overcome the problem of low rescue efficiency caused by the difficulty of mobile robots to quickly reach the fire scene, adapt to complex indoor environments, and complex control systems in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides a land-air amphibious rescue robot for high-rise fire scenes, comprising: a rotor mechanism comprising a plurality of propeller components and telescopic arms connected to each propeller component; a fuselage mechanism comprising a fuselage body and a rescue execution assembly arranged on the fuselage body, wherein each telescopic arm is connected to the fuselage body; The walking mechanism comprises a plurality of wheel suspension components and a slider rocker arm component elastically connected with the plurality of wheel suspension components, the slider rocker arm component penetrates the fuselage mechanism and is rotationally connected to the fuselage mechanism, wherein the rotation direction is around the axis of the connecting rod in the slider rocker arm component; The sensing module is mounted on the fuselage body to collect data information, wherein the data information comprises real-time wind speed information, ground topography information and real-time attitude information of the robot; The analysis module is connected to the sensing module to determine the adjustment strategy in the flight movement mode of the robot based on the data information collected by the sensing module, including determining the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component based on the data information, and correcting the rotation angle of the slider rocker arm component of the robot based on the ground slope angle obtained from the data information in the flight landing descent mode; The control module is connected to the analysis module, each propeller component, each telescopic arm, each wheel suspension component and the slider rocker arm component, and is used to control the robot to perform the corresponding movement mode according to the instruction of the analysis module, including, controlling the telescopic displacement of the telescopic arm and / or the rotation angle of the slider rocker arm component based on the control instruction of the analysis module.

[0007] Further, in the flight movement mode, the analysis module is also used to construct a mapping relationship between height and wind force based on the data information, to determine the wind disturbance force corresponding to different heights based on the mapping relationship between height and wind force, and to adjust the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component based on the wind disturbance force at the current height.

[0008] Further, the analysis module is also used to determine the adjustment strategy based on the comparison result of the wind disturbance force and the preset wind disturbance force, wherein the adjustment strategy comprises adjusting only the telescopic displacement of the telescopic arm, adjusting the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component cooperatively, and adjusting the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component with saturation compensation.

[0009] Further, in the case that the analysis module determines that the adjustment strategy is only to adjust the telescopic displacement of the telescopic arm, the analysis module determines the adjustment of the telescopic displacement based on the comparison result of the wind disturbance force difference and the preset wind disturbance force difference, and the adjustment range of the telescopic displacement is negatively correlated with the wind disturbance force difference. Wherein, the preset wind disturbance force comprises a first preset wind disturbance force, and the wind disturbance force difference is the difference between the first preset wind disturbance force and the wind disturbance force.

[0010] Further, the analysis module is configured to determine the adjustment of the telescopic displacement and the rotation angle of the slider rocker component based on a comparison result of the wind disturbance offset value and a preset wind disturbance offset value, and the adjustment range of the telescopic displacement and the adjustment range of the rotation angle are positively correlated with the wind disturbance offset value. The preset wind disturbance includes a first preset wind disturbance, and the wind disturbance offset value is a difference between the wind disturbance and the first preset wind disturbance.

[0011] Further, the analysis module is further configured to determine a wind direction type based on the mapping relationship between the height and the wind force, and determine a telescopic adjustment type of the telescopic arm based on the wind direction type, wherein the wind direction type includes a headwind and a tailwind, and the telescopic adjustment type includes an outward extension adjustment and an inward retraction adjustment. The analysis module is further configured to determine that the telescopic adjustment type is the outward extension adjustment when the wind direction type is the headwind. The analysis module is further configured to determine that the telescopic adjustment type is the inward retraction adjustment when the wind direction type is the tailwind.

[0012] Further, in the flight landing descent mode, the analysis module is further configured to correct the rotation angle of the slider rocker component based on the comparison result of the ground slope angle and the preset ground slope angle, so as to correct the landing angle of the robot, and the correction range of the rotation angle is positively correlated with the ground slope angle.

[0013] Further, the telescopic arm includes a fixed outer arm provided with a gear and a movable inner arm provided with a rack, and the movable inner arm is connected to the gear of the fixed outer arm through the rack. The control module is in transmission connection with the gear and is configured to drive the gear to rotate. One end of the fixed outer arm is fixedly connected to the fuselage mechanism. The propeller component is fixedly connected to the movable inner arm.

[0014] Further, the slider rocker component includes the connecting rod, a plurality of connecting plate assemblies, and a plurality of rotation assemblies. The plurality of connecting plate assemblies are respectively connected to two ends of the connecting rod, and the plurality of connecting plate assemblies are respectively and elastically connected to the plurality of wheeled suspension components. One end of the rotation assembly is correspondingly connected to the connecting plate assembly, and the other end is in transmission connection with the control module, and the control module is configured to drive the rotation assembly to rotate.

[0015] Further, the wheeled suspension component includes a first wheeled suspension structure and a second wheeled suspension structure. The first wheeled suspension structure comprises a front wheel and a first spring shock absorber, and the front wheel is elastically connected to the slider rocker component through the first spring shock absorber; The second wheeled suspension structure comprises a rear wheel and a second spring shock absorber, and the rear wheel is elastically connected to the slider rocker component through the second spring shock absorber.

[0016] Compared with the prior art, the high-rise fire field amphibious rescue robot has the beneficial effects that in the flight moving mode, the analysis module analyzes based on data information to control the telescopic arm to extend and retract and control the slider rocker component to rotate through the control module, so as to adjust the position of the propeller component and the position of the wheeled suspension component, so that the rescue robot can quickly and smoothly reach the target floor and shuttle through the roadblock obstacles; in the flight landing mode, the analysis module can analyze based on data information to obtain the ground slope angle, and based on the ground slope angle, the control module corrects the rotation angle of the slider rocker component of the robot, so as to adjust the position of the wheeled suspension component in the descending process, thereby improving the terrain adaptability; in this way, the rescue robot can quickly reach the high-rise fire field and realize stable landing, thereby improving the rescue efficiency.

[0017] Further, the present application constructs a mapping relationship between height and wind force based on data information in the flight moving mode, further determines the corresponding wind disturbance force at different heights, and adjusts the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker component based on the wind disturbance force; by adjusting the telescopic displacement, the center of lift is changed to resist the pitching moment, and by adjusting the rotation angle, the stress state or dynamic balance condition is changed to improve the position of the center of gravity to resist the roll moment, and the two can form a wind-resistant "double insurance".

[0018] Further, the present application also determines the wind direction type based on the mapping relationship between height and wind force, including head wind and tail wind, and further determines the telescopic adjustment type of the telescopic arm according to the wind direction type, including outward extension adjustment and inward retraction adjustment; when it is determined to be head wind, the telescopic arm is controlled by the control module to perform outward extension adjustment, the center of lift is moved forward by outward extension, and then a head-up recovery moment is generated to resist the head-down trend; when it is determined to be tail wind, the telescopic arm is controlled by the control module to perform inward retraction adjustment, the center of lift is moved backward by inward retraction, and then a head-down recovery moment is generated to resist the head-up trend; in this way, the moving stability of the rescue robot in the flight moving mode is improved, thereby improving the rescue efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is an overall structure axial view of the high-rise fire field amphibious rescue robot in the present application; Figure 2 It is an overall structure front view of the high-rise fire field amphibious rescue robot in the present application; Figure 3 The overall structure side view of the amphibious rescue robot for high-rise fire field in the present application; Figure 4 The overall structure plan view of the amphibious rescue robot for high-rise fire field in the present application; Figure 5 The rotor mechanism shaft side view of the amphibious rescue robot for high-rise fire field in the present application; Figure 6 The rotor mechanism front view of the amphibious rescue robot for high-rise fire field in the present application; Figure 7 The rotor mechanism plan view of the amphibious rescue robot for high-rise fire field in the present application; Figure 8 The walking mechanism shaft side view of the amphibious rescue robot for high-rise fire field in the present application; Figure 9 The walking mechanism front view of the amphibious rescue robot for high-rise fire field in the present application; Figure 10 The walking mechanism side view of the amphibious rescue robot for high-rise fire field in the present application; Figure 11 The walking mechanism plan view of the amphibious rescue robot for high-rise fire field in the present application; Figure 12 The body mechanism shaft side view of the amphibious rescue robot for high-rise fire field in the present application; In the figure: 1, rotor mechanism; 11, propeller part; 111, blade; 112, screw motor; 12, telescopic arm; 121, fixed outer arm; 1211, gear; 122, moving inner arm; 1221, rack; 2, body mechanism; 21, first body part; 22, second body part; 23, sensing module; 24, dustproof and heat dissipation part; 3, walking mechanism; 31, sliding block rocker part; 311, connecting rod; 312, connecting plate assembly; 313, rotating assembly; 32, wheel suspension part; 321, first wheel suspension structure; 3211, front wheel; 3212, first spring shock absorber; 322, second wheel suspension structure; 3221, rear wheel; 3222, second spring shock absorber. DETAILED DESCRIPTION

[0020] In order to make the purpose and advantages of the present application more clear and obvious, the present application is further described below in combination with examples; it should be understood that the specific examples described here are only used to explain the present application, and are not used to limit the present application.

[0021] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art will appreciate that the embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0022] It should be noted that in the description of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. Those skilled in the art can understand the specific meaning of the above-mentioned term in the present application according to the specific circumstances.

[0023] Please refer to Figures 1-4 as shown, Figure 1 is a whole structure axial view of a land-air amphibious rescue robot for high-rise fire field in the embodiment, Figure 2 is a whole structure front view of a land-air amphibious rescue robot for high-rise fire field in the embodiment, Figure 3 is a whole structure side view of a land-air amphibious rescue robot for high-rise fire field in the embodiment, Figure 4The figure is a top view of the overall structure of a land-air amphibious rescue robot for a high-rise fire scene in the embodiment. The land-air amphibious rescue robot comprises a rotor mechanism 1, a body mechanism 2 and a walking mechanism 3. The rotor mechanism 1 comprises a plurality of propeller components 11 and telescopic arms 12 connected with the propeller components 11; the body mechanism 2 comprises a body main body and a rescue execution assembly (not shown in the figure) arranged on the body main body, each telescopic arm 12 is connected to the body main body, wherein the rescue execution assembly may include, for example, a fire extinguishing bomb rack, a rescue basket and a life detector; the walking mechanism comprises a plurality of wheeled suspension components 32 and slider rocker components 31 elastically connected with the wheeled suspension components 32, the slider rocker components 31 penetrate through the body mechanism 2 and are rotationally connected to the body mechanism 2, wherein the rotation direction is around the axis of the connecting rod 311 in the slider rocker component 31; a sensing module 23 is mounted on the body main body to collect data information, wherein the data information includes real-time wind speed information, ground topography information and real-time attitude information of the robot; an analysis module is connected to the sensing module 23 to determine the adjustment strategy in the flight movement mode of the robot based on the data information collected by the sensing module 23, including determining the telescopic displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31 based on the data information, and correcting the rotation angle of the slider rocker component 31 of the robot based on the ground slope angle obtained from the data information in the flight landing and descending mode; a control module is connected with the analysis module, each propeller component 11, each telescopic arm 12, each wheeled suspension component 32 and the slider rocker component 31 respectively, and is used to control the corresponding movement mode of the robot according to the instruction of the analysis module, including controlling the telescopic displacement of the telescopic arm 12 and / or the rotation angle of the slider rocker component 31 based on the control instruction of the analysis module.

[0024] In the embodiment, the rotor mechanism 1 includes four propeller components 11 arranged evenly in space, and four telescopic arms 12 connected one-to-one with the four propeller components 11, wherein the propeller component 11 includes a blade 111 and a screw motor 112, and the telescopic arm 12 can be telescoped in a direction perpendicular to the transmission rod axis of the blade 111. The rescue execution assembly includes an analysis module, a control module, a sensing module 23, a battery pack, a ground driving unit, etc., the battery pack provides power supply for the entire amphibious rescue robot, the sensing module 23 collects data information, the analysis module generates instructions for controlling the movement of the entire rescue robot, and the control module controls the movement of the rescue robot based on the instructions; the rotor mechanism 1 is fixedly connected to the upper part of the fuselage mechanism 2 through one end of each telescopic arm 12. The walking mechanism 3 includes two symmetrically arranged wheeled suspension components 32 and a slider rocker component 31 penetrating through the fuselage mechanism 2 and capable of rotating, the two sides of the slider rocker component 31 are respectively elastically connected with one wheeled suspension component 32, wherein the slider rocker component 31 is connected with the control module in the fuselage mechanism 2 and is driven to rotate by the control module, and the rotation direction is around the axis of the connecting rod in the slider rocker component 31.

[0025] The amphibious rescue robot collects surrounding data information through the sensing module 23 during movement, and the data information includes real-time wind speed information, real-time attitude information of the amphibious rescue robot, obstacle shape size information of the fire scene, ground shape information, fire source information, etc.; the moving mode also includes a ground moving mode, the analysis module can determine the moving mode to be activated by the current rescue robot according to the analysis of the data information, the flying moving mode is used to quickly reach the target floor and pass through the roadblock obstacles, the flying landing descending mode is used to stabilize landing, and the ground moving mode is used for flexible indoor deep search, and the ground moving mode improves the terrain adaptability through the two wheeled suspension components 32. The rescue robot helps the firefighters to search for trapped personnel in high-temperature, high-pressure and toxic dangerous environments, which is of great significance for further improving the rescue efficiency and reducing the casualties of firefighters.

[0026] In the embodiment, the control module controls the movement mode of each part of the amphibious rescue robot according to the instructions generated by the analysis module to realize the movement and corresponding functions of the amphibious rescue robot; the control module controls the start and stop of each propeller component 11 to switch the movement mode, the control module drives any one telescopic arm 12 to extend or retract to move the corresponding propeller component 11 to the required position, the control module drives the wheeled suspension component 32 to move along the ground, and the control module drives the slider rocker component 31 to rotate along the corresponding rotation angle. During the flight movement, the analysis module analyzes the data information collected by the sensing module 23 to determine the rotation angle of the slider rocker component 31, and then adjusts the rotation angle to adjust the center of gravity of the slider rocker component 31, thereby optimizing the center of gravity of the entire amphibious rescue robot in the flight state to optimize the aerodynamic layout and reduce the aerodynamic resistance in high altitude; and in the flight movement mode, the analysis module controls the telescopic displacement of the telescopic arm 12 in real time according to the data information to adapt to different wind forces, thereby improving the flight stability; when landing, the analysis module analyzes the data information collected by the sensing module 23 to determine the angle of rotation angle of the slider rocker component 31 needs to be corrected, and adjusts the slider rocker component 31 through the control module, and then adjusts the displacement of the two wheeled suspension components 32 by adjusting the rotation angle, thereby compensating for the change of terrain to adapt to complex terrain (such as facing steps, protrusions, inclined ground and other complex terrain in the fire field), thereby enhancing the stability of the robot when landing.

[0027] Specifically, in the flight movement mode, the analysis module is also used to construct a mapping relationship between height and wind force based on the data information, determine the wind disturbance force corresponding to different heights based on the mapping relationship between height and wind force, and adjust the telescopic displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31 based on the wind disturbance force at the current height.

[0028] In the embodiment, the analysis module can construct a mapping relationship between height and wind force according to the data information. The amphibious rescue robot further comprises a communication module (not shown in the figure) for receiving real-time meteorological data packets from a ground station or a meteorological satellite. The meteorological data packets contain wind speed and direction information at different latitude and longitude coordinates and different pressure layers. The analysis module performs interpolation query in the meteorological data packets according to the real-time positioning information (longitude, latitude, and altitude) of the rescue robot, thereby obtaining more accurate wind force information at the current height, and constructing or updating the mapping relationship between height and wind force according to the wind force information. Then, the wind disturbance force at different heights is calculated according to the mapping relationship, and the extension and retraction displacement (including extension and retraction) of the telescopic arm 12 and the rotation angle of the slider rocker component 31 are adjusted based on the wind disturbance force. The dynamic adjustment of the extension and retraction displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31 needs to follow the nonlinear anti-wind stability rule. By adjusting the extension and retraction displacement, the center of lift is changed to resist the pitching moment. By adjusting the rotation angle, the stress state or dynamic balance condition is changed to improve the position of the center of gravity to resist the rolling moment. In addition, after the several wheeled suspension components 32 are adjusted following the slider rocker component 31, the structure is uniformly stressed and there is no local stress concentration phenomenon, meeting the requirements of attitude balance and structural reliability in flight mode. The rotor changes the lift distribution according to the adjustment of the extension and retraction displacement, and the wheeled suspension component 32 adjusts the support polygon according to the rotation angle condition. The two can form a wind-resistant "double insurance".

[0029] Specifically, the analysis module is further configured to determine an adjustment strategy based on a comparison result of the wind disturbance force and a preset wind disturbance force, wherein the adjustment strategy includes adjusting only the extension and retraction displacement of the telescopic arm 12, adjusting the extension and retraction displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31 cooperatively, and adjusting the extension and retraction displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31 with saturation compensation.

[0030] In the embodiment, in order to accurately determine the corresponding adjustment strategy, the preset wind disturbance force F0 can be divided into a first preset wind disturbance force F1 and a second preset wind disturbance force F2, F1=120 N and F2=180 N can be set, and the comparison process based on the wind disturbance force F and F1 and F2 is specifically as follows: when F is less than or equal to F1, it is determined that the current wind disturbance force is in a relatively small high-level wind disturbance state, at this time, the influence of the wind disturbance force can be solved only by adjusting the telescopic displacement of the telescopic arm 12; when F is greater than F1 and less than or equal to F2, it is determined that the current wind disturbance force is in a relatively large high-level wind disturbance state, at this time, the telescopic displacement of the telescopic arm 12 and the rotation angle of the slider rocker member 31 need to be adjusted, and the adjustment of the telescopic displacement is the main one and the adjustment of the rotation angle is the auxiliary one; when F is greater than F2, it is determined that the current wind disturbance force is in a relatively large high-level wind disturbance state, at this time, the telescopic displacement of the telescopic arm 12 and the rotation angle of the slider rocker member 31 are all adjusted to a saturated compensation state, that is, to the limit value (maximum telescopic stroke or maximum rotation angle) of the design parameter.

[0031] Specifically, in a case where the analysis module determines that the adjustment strategy is to adjust only the telescopic displacement of the telescopic arm 12, the adjustment of the telescopic displacement is determined based on the comparison result of the wind disturbance force difference and the preset wind disturbance force difference, and the adjustment range of the telescopic displacement is in a negative correlation with the wind disturbance force difference; wherein the preset wind disturbance force includes a first preset wind disturbance force, and the wind disturbance force difference is the difference between the first preset wind disturbance force and the wind disturbance force.

[0032] In the embodiment, the wind disturbance force difference Q is the difference between F1 and F, when Q is larger, F is smaller, and when F is smaller, the adjustment range of the telescopic displacement of the telescopic arm 12 is smaller, therefore, the adjustment range of the telescopic displacement is in a negative correlation with Q; in order to more accurately determine the adjustment parameter of the telescopic displacement, the preset wind disturbance force difference Q0 can be divided into a first preset wind disturbance force difference Q1 and a second preset wind disturbance force difference Q2, Q1=20 N and Q2=40 N can be set, and the comparison process based on Q and Q1 and Q2 is specifically as follows: If Q is less than or equal to Q1, a corresponding first telescopic displacement adjustment instruction is generated by the analysis module, and the control module adjusts the telescopic displacement to 30% of the maximum stroke based on the instruction; if Q is greater than Q1 and less than or equal to Q2, a corresponding second telescopic displacement adjustment instruction is generated by the analysis module, and the control module adjusts the telescopic displacement to 23% of the maximum stroke based on the instruction; if Q is greater than Q2, a corresponding third telescopic displacement adjustment instruction is generated by the analysis module, and the control module adjusts the telescopic displacement to 10% of the maximum stroke based on the instruction. It can be understood that the adjustment range of the telescopic displacement can also be set to other required values, for example, when Q is greater than Q2, the telescopic displacement is adjusted to 9% of the maximum stroke; it should be noted that the adjustment range of the telescopic displacement will not have a negative impact on the rescue robot in the current flight state.

[0033] Specifically, in the case where the adjustment strategy is the cooperative adjustment of the telescopic displacement of the telescopic arm 12 and the rotation angle of the slider rocker component 31, the analysis module determines the adjustment of the telescopic displacement and the rotation angle based on the comparison result of the wind disturbance offset value and the preset wind disturbance offset value, and the adjustment range of the telescopic displacement and the adjustment range of the rotation angle are both positively correlated with the wind disturbance offset value; wherein the preset wind disturbance includes a first preset wind disturbance, and the wind disturbance offset value is the difference between the wind disturbance and the first preset wind disturbance.

[0034] In this embodiment, the wind disturbance offset value R is the difference between F and F1, when R is larger, F is larger, and when F is larger, the adjustment of the telescopic displacement of the telescopic arm 12 and the adjustment of the rotation angle of the slider rocker component 31 are both larger, therefore, the adjustment range of the telescopic displacement and the adjustment range of the rotation angle are both positively correlated with the wind disturbance offset value; in order to more accurately determine the adjustment parameters of the telescopic displacement and the rotation angle, the preset wind disturbance offset value R0 can be divided into a first preset wind disturbance offset value R1 and a second preset wind disturbance offset value R2, R1 can be set to 40N, and R2 can be set to 60N, and the comparison process based on R, R1 and R2 is as follows: If R is less than or equal to R1, the analysis module generates corresponding fourth telescopic displacement adjustment instructions and first rotation angle adjustment instructions, and the control module adjusts the telescopic displacement to 40% of the maximum stroke and the rotation angle to 40% of the maximum rotation angle based on the instructions; if R is greater than R1 and less than or equal to R2, the analysis module generates corresponding fifth telescopic displacement adjustment instructions and second rotation angle adjustment instructions, and the control module adjusts the telescopic displacement to 50% of the maximum stroke and the rotation angle to 50% of the maximum rotation angle based on the instructions; if R is greater than R2, the analysis module generates corresponding sixth telescopic displacement adjustment instructions and third rotation angle adjustment instructions, and the control module adjusts the telescopic displacement to 60% of the maximum stroke and the rotation angle to 60% of the maximum rotation angle based on the instructions, wherein the telescopic displacement adjustment to 60% and the rotation angle adjustment to 60% are both instantaneous maximum loads, and gradually decrease after a period of time after completing the strong wind state full load response, and the corresponding period of time is determined in combination with the mechanical allowance designed for the robot. It can be understood that the adjustment range of the telescopic displacement and the adjustment range of the rotation angle can also be set to other required values, for example, when R is greater than R2, the telescopic displacement is adjusted to 62% of the maximum stroke, and the rotation angle is adjusted to 58% of the maximum rotation angle; it should be noted that the adjustment range of the telescopic displacement and the rotation angle will not have a negative impact on the rescue robot in the current flight state.

[0035] Specifically, the analysis module is further configured to determine a wind direction type based on the mapping relationship between the height and the wind force, and determine a telescopic adjustment type of the telescopic arm 12 based on the wind direction type, wherein the wind direction type includes a head wind and a tail wind, and the telescopic adjustment type includes an outward telescopic adjustment and an inward telescopic adjustment; the analysis module is further configured to determine that the telescopic adjustment type is the outward telescopic adjustment when the wind direction type is the head wind; the analysis module is further configured to determine that the telescopic adjustment type is the inward telescopic adjustment when the wind direction type is the tail wind.

[0036] In the embodiment, the analysis module can also analyze and determine the wind direction type faced by the rescue robot in the flight state according to the constructed mapping relationship between the height and the wind force, at this time, the telescopic arm 12 is considered for telescopic adjustment, therefore, the wind direction type is divided into the head wind which is easy to cause the front turning and the tail wind which is easy to cause the back turning. When it is determined that the current is the head wind (the wind blows from the head direction), the telescopic arm 12 is controlled by the control module to perform the outward telescopic adjustment, the lift center is moved forward by the outward telescopic adjustment, and then the head lifting recovery torque is generated to resist the head down trend; when it is determined that the current is the tail wind (the wind blows from the tail direction), the telescopic arm 12 is controlled by the control module to perform the inward telescopic adjustment, the lift center is moved backward by the inward telescopic adjustment, and then the head lifting recovery torque is generated to resist the back turning trend.

[0037] Specifically, in the flight landing descent mode, the analysis module is further configured to determine the correction of the original rotation angle adjustment of the slider rocker component 31 according to the comparison result of the ground slope angle K and the preset ground slope angle K0, so as to correct the landing angle of the robot, and the correction range of the rotation angle is positively correlated with the ground slope angle K.

[0038] In this embodiment, the ground slope angle K is determined according to the ground shape information in the data information, and K is an absolute value at this time. In order to accurately determine the parameters when the original rotation angle adjustment of the slider rocker component 31 is corrected, the preset ground slope angle K0 can be divided into a first preset ground slope angle K1 and a second preset ground slope angle K2, K1 = 5° and K2 = 8° are set. The comparison process based on K, K1 and K2 is as follows: if K is less than or equal to K1, the analysis module generates a corresponding fourth rotation angle adjustment instruction, and the control module corrects the adjusted rotation angle by 3% based on the instruction; if K is greater than K1 and less than or equal to K2, the analysis module generates a corresponding fifth rotation angle adjustment instruction, and the control module corrects the adjusted rotation angle by 5% based on the instruction; if K is greater than K2, the analysis module generates a corresponding sixth rotation angle adjustment instruction, and the control module corrects the adjusted rotation angle by 6.5% based on the instruction. It can be understood that the correction range of the rotation angle can also be set to other required values, for example, when K is greater than K2, the adjusted rotation angle can also be corrected by 6%. It should be noted that the correction range of the rotation angle will not have a negative impact on the current landing process of the robot.

[0039] Please refer to Figures 5-7 shown, Figure 5 is a shaft side view of a rotor mechanism of a land-air amphibious rescue robot for a high-rise fire field in this embodiment, Figure 6 is a front view of a rotor mechanism of a land-air amphibious rescue robot for a high-rise fire field in this embodiment, Figure 7 is a top view of a rotor mechanism of a land-air amphibious rescue robot for a high-rise fire field in this embodiment. The telescopic arm 12 includes a fixed outer arm 121 provided with a gear 1211 and a movable inner arm 122 provided with a rack 1221, and the movable inner arm 122 is connected with the gear 1211 of the fixed outer arm 121 through the engagement of the rack 1221. The control module is in transmission connection with the gear 1211 and is configured to drive the gear 1211 to rotate. One end of the fixed outer arm 121 is fixedly connected to the fuselage mechanism 2. The propeller component 11 is fixedly connected to the movable inner arm.

[0040] In the embodiment, the movable inner arm 122 is provided with a rack 1221 on both sides, the fixed outer arm 121 is provided with two gears 1211, and the movable inner arm 122 moves inside the fixed outer arm 121 along the direction of travel of the gears 1211; the telescopic arm 12 is retracted and extended by using the gear 1211 and rack 1221 transmission, and the propeller component 11 is retracted and extended quickly, so as to improve the adaptability of the rescue robot in indoor space operation.

[0041] Please refer to Figures 8-11 shown, Figure 8 is a side view of a walking mechanism of a land-air amphibious rescue robot for a high-rise fire in the embodiment, Figure 9 is a front view of a walking mechanism of a land-air amphibious rescue robot for a high-rise fire in the embodiment, Figure 10 is a side view of a walking mechanism of a land-air amphibious rescue robot for a high-rise fire in the embodiment, Figure 11 is a top view of a walking mechanism of a land-air amphibious rescue robot for a high-rise fire in the embodiment. The slider rocker arm component 31 comprises the connecting rod 311, a plurality of connecting plate assemblies 312, and a plurality of rotating assemblies 313; wherein the plurality of connecting plate assemblies 312 are respectively connected to both ends of the connecting rod 311, and the plurality of connecting plate assemblies 312 are respectively elastically connected to the corresponding wheel suspension components 32; one end of the rotating assembly 313 is connected to the connecting plate assembly 312, and the other end is drivingly connected to the control module, which is used to drive the rotating assembly 313 to rotate.

[0042] In the embodiment, the slider rocker arm component 31 comprises a cylindrical connecting rod 311, two connecting plate assemblies 312, and two rotating assemblies 313. Both ends of the connecting rod 311 are respectively connected to the connecting plate assemblies 312. One end of one rotating assembly 313 is connected to the connecting plate assembly 312, and the other end is drivingly connected to the control module. The rotating assembly 313 is driven to rotate by the control module, and the entire slider rocker arm component 31 is driven to rotate. The rotating assembly 313 comprises two rotating members, which drive the connecting plate assembly 312 to rotate. The connecting plate assembly 312 is composed of two long hollow plates.

[0043] Specifically, the slider rocker arm component 31 further comprises a differential member, which is used to balance the torque of the two wheel suspension components 32.

[0044] In the embodiment, the differential (not shown in the figure) is a four-gear 1211 mechanical differential selected and arranged at the middle part of the connecting slider rocker arm part 31. When the amphibious rescue robot is in the ground mode, the differential balances the torque of the two sides of the wheeled suspension mechanism to ensure that the wheels on both sides are in contact with the ground, so as to avoid the wheels in idle or suspension, and to ensure the smoothness and safety of the driving.

[0045] Specifically, the wheeled suspension part 32 includes a first wheeled suspension structure 321 and a second wheeled suspension structure 322; the first wheeled suspension structure 321 includes a front wheel 3211 and a first spring shock absorber 3212, and the front wheel 3211 is elastically connected to the slider rocker arm part 31 through the first spring shock absorber 3212; the second wheeled suspension structure 322 includes a rear wheel 3221 and a second spring shock absorber 3222, and the rear wheel 3221 is elastically connected to the slider rocker arm part 31 through the second spring shock absorber 3222.

[0046] In the embodiment, the first wheeled suspension structure 321 and the second wheeled suspension structure 322 are each provided with two symmetrically arranged wheels on both sides of the body mechanism 2; the walking mechanism 3 adopts a six-wheel leg type (two front wheels 3211 and four rear wheels 3221) suspension design. The wheeled suspension part 32 is equipped with spring shock absorbers (including the first spring shock absorber 3212 and the second spring shock absorber 3222), the two front wheels 3211 are connected to the slider rocker arm part 31 through the first spring shock absorber 3212, which can relieve the impact in the vertical direction; the four rear wheels 3221 are connected to the slider rocker arm part 31 through the second spring shock absorber 3222, and the rear wheel 3221 connection forms a parallelogram connection structure, which can effectively relieve the up-down and left-right vibration during driving.

[0047] Please refer to Figure 12 As shown in the figure, it is a body mechanism axial side view of an amphibious rescue robot for high-rise fire in the embodiment. The body main part further includes a first body part 21, a second body part 22 connected with the first body part 21, and a dustproof and heat dissipation part 24 sleeved outside the connecting rod of the slider rocker arm part 31; the dustproof and heat dissipation part 24, the control module, the sensing module 23 and the analysis module are all arranged in the second body part 22.

[0048] In the embodiment, the body mechanism 2 adopts a modular design and realizes a fully enclosed connection to prevent the fire environment from damaging the internal precision electronic components; the control module (not shown in the figure), the sensing module 23 (including an infrared thermal imager, an airborne camera, etc.) and the analysis module (not shown in the figure).

[0049] In the embodiment, the infrared thermal imager can detect the high-temperature area in the fire scene, identify the area with temperature significantly higher than the surrounding environment by setting the corresponding temperature threshold, and preliminarily determine the fire source position; it can also capture the temperature difference between the human body and the surrounding environment to identify the approximate position of the trapped person; the camera can capture the unique visual features of the flame to assist in confirming the fire source in the environment with relatively light smoke. The analysis module is provided with the ORB-SLAM3 algorithm, and after obtaining the information of the sensing module 23, the analysis module can associate the fire source position with the internal structure information of the building in combination with the environmental modeling capability of the ORB-SLAM3 algorithm, and determine the specific position of the fire source in space, to provide accurate fire information for the rescue personnel; the analysis module can also reduce the interference of smoke on the image through the image preprocessing function, enhance the human body contour features, and the dense mapping function can combine the captured human body shape features with three-dimensional data information to accurately distinguish the human body from other heat sources, so as to realize accurate positioning of the trapped person and ensure that the trapped person is quickly found in a complex fire scene. The dustproof and heat dissipation component 24 is hollow, the sliding block rocker component 31 penetrates through the dustproof and heat dissipation component 24 and can rotate, and the dustproof and heat dissipation component 24 is provided with a heat dissipation vent hole at the middle position. The dustproof and heat dissipation component 24 prevents the internal air pressure from being too large, and at the same time, the upper and lower alternating hollow partitions allow dust to settle, thereby protecting other components inside the fuselage mechanism 2. The differential component is also located inside the dustproof and heat dissipation component 24.

[0050] It can be understood that in the embodiments of the present application, any one of the preset parameters or critical parameters is not specifically limited, and the above values are not limited thereto. Those skilled in the art can adjust the preset parameters or critical parameters according to actual needs or analysis of historical data or device usage.

[0051] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

[0052] The above description is only the preferred embodiments of the present application and is not used to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An amphibious rescue robot for high-rise fire scenes, characterized in that: include: A rotor mechanism comprising a plurality of propeller components and a telescopic arm connected to each propeller component; The fuselage structure includes a fuselage body and a rescue execution assembly arranged on the fuselage body, wherein each of the telescopic arms is connected to the fuselage body; A traveling mechanism comprising a plurality of wheeled suspension components and slider rocker components elastically connected to the plurality of wheeled suspension components, wherein the slider rocker components penetrate the fuselage mechanism and are rotatably connected to the fuselage mechanism, wherein the rotation direction is about the axial direction of the connecting rod in the slider rocker components; a sensor module mounted on the main body of the robot and configured to collect data information, wherein the data information includes real-time wind speed information, ground topography information, and real-time posture information of the robot; an analysis module connected to the sensing module and configured to determine an adjustment strategy for the robot in a flight movement mode based on data collected by the sensing module, including determining the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component based on the data, and correcting the rotation angle of the slider rocker arm component of the robot in a flight landing and descent mode based on a ground slope angle obtained from the data; A control module, which is respectively connected to the analysis module, each propeller component, each telescopic arm, each wheel suspension component and the slider rocker arm component, and is used to control the robot to perform a corresponding movement according to the instructions of the analysis module, including: The telescopic displacement of the telescopic arm and / or the rotation angle of the slider rocker arm component are controlled based on the control instruction of the analysis module.

2. The amphibious rescue robot for high-rise fire scene according to claim 1 is characterized in that: In the flight movement mode, the analysis module is also used to construct a mapping relationship between altitude and wind force based on the data information, determine the wind disturbance force corresponding to different altitudes based on the mapping relationship between altitude and wind force, and adjust the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component based on the wind disturbance force at the current altitude.

3. The amphibious rescue robot for high-rise fire scene according to claim 2 is characterized in that: The analysis module is also used to determine an adjustment strategy based on the comparison result of the wind disturbance force and the preset wind disturbance force, wherein the adjustment strategy includes only adjusting the telescopic displacement of the telescopic arm, coordinated adjustment of the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component, and saturation compensation adjustment of the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component.

4. The amphibious rescue robot for high-rise fire scene according to claim 3 is characterized in that: When the analysis module determines that the adjustment strategy is to adjust only the telescopic displacement of the telescopic arm, the adjustment of the telescopic displacement is determined based on a comparison result of the wind disturbance force difference with a preset wind disturbance force difference, and the adjustment amplitude of the telescopic displacement is negatively correlated with the wind disturbance force difference; The preset wind disturbance force includes a first preset wind disturbance force, and the wind disturbance force difference is the difference between the first preset wind disturbance force and the wind disturbance force.

5. The amphibious rescue robot for high-rise fire scene according to claim 3 is characterized in that: When the analysis module determines that the adjustment strategy is to coordinately adjust the telescopic displacement of the telescopic arm and the rotation angle of the slider rocker arm component, the analysis module determines to adjust the telescopic displacement and the rotation angle based on a comparison result of the wind disturbance force offset value and a preset wind disturbance force offset value, and the adjustment amplitude of the telescopic displacement and the adjustment amplitude of the rotation angle are both positively correlated with the wind disturbance force offset value; The preset wind disturbance force includes a first preset wind disturbance force, and the wind disturbance force offset value is a difference between the wind disturbance force and the first preset wind disturbance force.

6. The amphibious rescue robot for high-rise fire scene according to claim 2 is characterized in that: The analysis module is further configured to determine a wind direction type based on the mapping relationship between the height and the wind force, and determine a telescopic adjustment type of the telescopic arm based on the wind direction type, wherein the wind direction types include head wind and tail wind, and the telescopic adjustment types include extension adjustment and retraction adjustment; The analysis module is further configured to determine that the telescopic adjustment type is the outward extension adjustment based on the wind direction type being the nose wind; The analysis module is further configured to determine that the telescopic adjustment type is the retraction adjustment based on the wind direction type being the tail wind.

7. The amphibious rescue robot for high-rise fire according to claim 4, 5 or 6, characterized in that: In the flight landing and descent mode, the analysis module is further used to determine, based on the comparison result of the ground slope angle with the preset ground slope angle, whether to make corrections based on the original rotation angle adjustment of the slider rocker arm component to correct the landing angle of the robot, and the correction amplitude of the rotation angle is positively correlated with the ground slope angle.

8. The amphibious rescue robot for high-rise fire scene according to claim 1 is characterized in that: The telescopic arm comprises a fixed outer arm provided with a gear and a movable inner arm provided with a rack, wherein the movable inner arm is meshed with the gear of the fixed outer arm via the rack; The control module is connected to the gear transmission and is used to drive the gear to rotate; One end of the fixed outer arm is fixedly connected to the fuselage body; The propeller component is fixedly connected to the movable inner arm.

9. The amphibious rescue robot for high-rise fire scene according to claim 1 is characterized in that: The slider rocker arm component includes the connecting rod, a plurality of connecting plate assemblies and a plurality of rotating assemblies; Wherein, the plurality of connecting plate assemblies are respectively connected to the two ends of the connecting rod, and the plurality of connecting plate assemblies are also respectively elastically connected to the plurality of wheel suspension components; One end of the rotating assembly is correspondingly connected to the connecting plate assembly, and the other end is transmission-connected to the control module, and the control module is used to drive the rotating assembly to rotate.

10. The amphibious rescue robot for high-rise fire scene according to claim 1, characterized in that: The wheel suspension component includes a first wheel suspension structure and a second wheel suspension structure; The first wheel suspension structure includes a front wheel and a first spring shock absorber, and the front wheel is elastically connected to the slider rocker arm component through the first spring shock absorber; The second wheel suspension structure includes a rear wheel and a second spring shock absorber, and the rear wheel is elastically connected to the slider rocker arm component through the second spring shock absorber.

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