Disaster prevention and rescue gas-driven variable-cell robot and detection method thereof

Abstract

This invention relates to the field of robotics, and more particularly to a gas-driven variable-cell robot for disaster relief and its detection method. The robot comprises: a torso module, which includes several torso links rotatably connected end-to-end and a walking unit connected to the torso links. The walking unit includes a hip joint rotatably connected to the torso links, a thigh rotatably connected to the hip joint, a lower leg rotatably connected to the thigh, and a foot connected to the lower leg; a gas-driven module, which includes a hip joint rotary cylinder disposed on the torso links, and the hip joint is driven and connected to the hip joint rotary cylinder; a detection module disposed on the torso links; and an explosion-proof energy module installed on the torso links. This invention solves the technical problem of poor robot morphology and environmental adaptability in the prior art, and improves the robot's adaptability to complex environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a gas-driven variable cell robot for disaster prevention and relief and its detection method. Background Technology

[0002] Currently, underground robots generally face challenges in mobility and spatial adaptability in complex tunnel environments. This is mainly reflected in two aspects: First, unstructured tunnel environments are harsh, with uneven surfaces and numerous obstacles, posing a significant challenge to robot movement. Second, underground tunnel spaces are typically narrow and complexly laid out, imposing strict requirements on the size and movement methods of robots. Specifically, while tracked robots possess good ground adaptability and a certain ability to climb slopes and overcome obstacles, their turning radius is often too large, resulting in low efficiency in narrow and winding tunnels and difficulty in flexibly adjusting their direction of travel. While track-based inspection systems can achieve continuous and stable automated operations, they require pre-laid fixed tracks, occupying valuable tunnel space and essentially sacrificing the effective utilization of tunnel space, thus limiting the placement of other equipment and personnel passage. These limitations in mobility severely restrict the comprehensive application effectiveness of robots in unstructured underground environments, making it difficult for them to fully realize their potential in monitoring, exploration, and rescue.

[0003] Meanwhile, robots used in underground mines must also meet stringent explosion-proof safety requirements, which is determined by the special working environment of flammable and explosive gases underground. Although the widely adopted intrinsically safe explosion-proof design can effectively prevent explosions caused by electrical sparks, it imposes very strict power limitations on the drive motor, which significantly affects the robot's output power and motion performance, reducing the robot's load capacity, travel speed, and obstacle-crossing performance. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a disaster prevention and rescue air-driven cellular robot and its detection method, which solves the technical problem of poor robot morphology and environmental adaptability in the prior art, and improves the robot's adaptability to complex environments.

[0005] This invention provides a gas-driven variable cell robot for disaster prevention and rescue, comprising:

[0006] The torso module includes several torso links rotatably connected end to end and a walking unit connected to the torso links. The walking unit includes a hip joint rotatably connected to the torso links, a thigh rotatably connected to the hip joint, a lower leg rotatably connected to the thigh, and a foot connected to the lower leg. By rotating and adjusting the several torso links, the robot's shape can be adjusted to be gecko-shaped, dog-shaped, spider-shaped, or stick insect-shaped. By rotating and adjusting the hip joint, the robot's walking direction can be adjusted.

[0007] A pneumatic drive module, the pneumatic drive module including a hip joint rotary cylinder disposed on the torso connecting rod, the hip joint drive being connected to the hip joint rotary cylinder;

[0008] A detection module is disposed on the torso link, and the detection module is used for environmental perception and data acquisition;

[0009] An explosion-proof energy module is installed on the torso connecting rod and is used to provide air and power to the air drive module and the detection module.

[0010] A further improvement of the present invention, a gas-driven variable cell robot for disaster prevention and rescue, is that the trunk link includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link that are rotatably connected end to end, and the gas-driven module also includes several pneumatic joints and pneumatic motors;

[0011] The walking unit has four components, which are respectively installed on the third link, the fourth link, the seventh link, and the eighth link;

[0012] The third and fourth links, the sixth and seventh links, the first link and the eighth link are rotatably connected by a pneumatic joint;

[0013] The second and third links, the fourth and fifth links, and the seventh and eighth links are rotatably connected by a rotary joint;

[0014] The first link, the second link, the fifth link, and the sixth link are all rotatably connected by a pneumatic motor, which is connected to the explosion-proof energy module.

[0015] A further improvement of the present invention, a gas-driven variable cell robot for disaster prevention and rescue, is that the pneumatic motor is also connected to a self-locking deceleration module.

[0016] A further improvement of the present invention, a gas-driven variable-cell robot for disaster prevention and rescue, is that the gas-driven module further includes:

[0017] A first cylinder with one end rotatably connected to the hip joint and the other end rotatably connected to the thigh;

[0018] A second cylinder, with one end rotatably connected to the thigh and the other end rotatably connected to the calf.

[0019] A further improvement of the present invention, a gas-driven variable cell robot for disaster prevention and rescue, is that it further includes a gas path control system connected to the torso link, the gas path control system being connected to the gas drive module and the explosion-proof energy module.

[0020] A further improvement of the present invention on a disaster relief and rescue air-driven variable cell robot is that the air circuit control system includes several three-position five-way solenoid valve groups, which are used to connect the explosion-proof energy module and the air drive module.

[0021] A further improvement of the gas-driven variable cell robot for disaster prevention and rescue of the present invention is that the detection module includes a visual perception unit, a gas detection unit and an inertial navigation unit. The visual perception unit is used to acquire environmental image information, the gas detection unit includes several gas sensors, and the inertial navigation unit includes a gyroscope and an accelerometer. The inertial navigation unit is controlled and connected to the air circuit control system to collect the robot's attitude angle and angular velocity information.

[0022] A further improvement of the gas-driven variable cell robot for disaster prevention and rescue of the present invention is that the visual perception unit includes a plurality of cameras and a protective shell connected to the cameras, the cameras being used to acquire environmental image information.

[0023] A further improvement of the gas-driven variable cell robot for disaster prevention and rescue of the present invention is that the explosion-proof energy module is a gas storage tank, the gas storage tank is made of carbon fiber composite material, and the outer surface of the gas storage tank is provided with an antistatic coating.

[0024] A detection method for a disaster relief air-driven variable-cell robot, comprising the following steps, using the disaster relief air-driven variable-cell robot as described above to perform the detection method:

[0025] S1. After the robot is started, the torso module adjusts to change the robot's shape to that of a gecko, and then the robot begins to move.

[0026] S2, when the detection module detects a gap whose height is less than the first preset value, the torso module switches to a spider shape to pass through the gap; when the detection module detects a pipe whose width is less than the second preset value, the torso module switches to a stick insect shape to wriggle through it.

[0027] S3, after the robot moves to the detection point, the detection module samples the data of the detection point and transmits the collected data to the terminal;

[0028] S4. When the terminal confirms that the detection is complete or the robot's detection module determines that the battery life is lower than the safe return threshold, the optimal return strategy is generated, and then the robot withdraws from the disaster area according to the optimal return strategy.

[0029] This invention discloses a gas-driven, variable-cell robot for disaster relief and rescue. Through a detection module, the robot can detect environmental changes and adjust the connection of its trunk links accordingly. This allows the robot's form to adapt to environmental conditions, improving its mobility and adaptability. The robot can quickly reach disaster areas, acquire environmental data promptly, and enhance its disaster detection efficiency. It effectively reduces the probability of robot malfunctions due to environmental incompatibility, providing accurate information support for rescue operations. This ensures the successful completion of disaster detection tasks in various complex environments, saving valuable time for rescue efforts.

[0030] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a gecko-shaped schematic diagram of a gas-driven, variable-cell robot for disaster prevention and rescue provided by the present invention.

[0033] Figure 2 This is a canine-shaped schematic diagram of a gas-driven, variable-cell robot for disaster prevention and rescue provided by the present invention.

[0034] Figure 3 This is a spider-shaped schematic diagram of a gas-driven variable cell robot for disaster prevention and rescue provided by the present invention.

[0035] Figure 4 This is a schematic diagram of a stick insect-shaped gas-driven cytomorphic robot for disaster prevention and rescue provided by the present invention.

[0036] Figure 5 This is a schematic diagram of the walking unit in a gas-driven variable cell robot for disaster prevention and rescue provided by the present invention.

[0037] Figure 6 This is a schematic diagram of the first and second links in a gas-driven variable cell robot for disaster prevention and rescue provided by the present invention.

[0038] Figure 7This is a schematic diagram of the fifth and sixth links in a gas-driven variable cell robot for disaster prevention and rescue provided by the present invention.

[0039] Figure label:

[0040] 11. First Link; 12. Second Link; 13. Third Link; 14. Fourth Link; 15. Fifth Link; 16. Sixth Link; 17. Seventh Link; 18. Eighth Link; 21. Pneumatic Joint; 22. Rotary Joint; 23. Pneumatic Motor; 24. Self-Locking Reduction Module; 31. Hip Joint Rotary Cylinder; 32. Hip Joint; 33. Thigh; 34. Lower Leg; 35. Foot; 36. First Cylinder; 37. Second Cylinder; 41. Detection Module; 51. Explosion-Proof Energy Module; 52. Three-Position Five-Way Solenoid Valve Assembly. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but should not be used to limit the scope of this invention.

[0042] The following is combined with Figures 1 to 7 The present invention describes a gas-driven variable cell robot for disaster prevention and relief, comprising:

[0043] The torso module includes several torso links rotatably connected end to end and a walking unit connected to the torso links. The walking unit includes a hip joint 32 rotatably connected to the torso links, a thigh 33 rotatably connected to the hip joint 32, a lower leg 34 rotatably connected to the thigh 33, and a foot 35 connected to the lower leg 34. By rotating and adjusting the several torso links, the robot's shape can be adjusted to be gecko-shaped, dog-shaped, spider-shaped, or stick insect-shaped. By rotating and adjusting the hip joint 32, the robot's walking direction can be adjusted.

[0044] The pneumatic drive module includes a hip joint rotary cylinder 31 disposed on the torso link, and the hip joint 32 is drivenly connected to the hip joint rotary cylinder 31.

[0045] Detection module 41, which is disposed on the torso link, is used for environmental perception and data acquisition;

[0046] An explosion-proof energy module 51 is installed on the torso connecting rod and is used to provide air and power to the air drive module and the detection module 41.

[0047] The detection module 41 detects the environment, thereby changing the connection of the torso links according to environmental changes. This allows the robot's form to adapt to the environment, improving its movement efficiency and adaptability. The robot can quickly reach the disaster area, acquire environmental data in a timely manner, and improve its disaster detection efficiency. It can effectively reduce the probability of robot failure due to environmental incompatibility, provide accurate information support for rescue operations, and ensure that disaster detection tasks can be successfully completed in various complex environments, thus saving valuable time for rescue work.

[0048] In a preferred embodiment of the gas-driven variable cell robot for disaster prevention and rescue of the present invention, such as Figures 1 to 4 As shown, the torso linkage includes a first link 11, a second link 12, a third link 13, a fourth link 14, a fifth link 15, a sixth link 16, a seventh link 17, and an eighth link 18 that are rotatably connected end to end. The pneumatic drive module also includes several pneumatic joints 21 and a pneumatic motor 23.

[0049] The walking unit has four components, which are respectively installed on the third link 13, the fourth link 14, the seventh link 17 and the eighth link 18;

[0050] The third link 13 and the fourth link 14, the sixth link 16 and the seventh link 17, the first link 11 and the eighth link 18 are rotatably connected by a pneumatic joint 21;

[0051] The second link 12 and the third link 13, the fourth link 14 and the fifth link 15, the seventh link 17 and the eighth link 18 are rotatably connected by a rotary joint 22;

[0052] The first link 11 and the second link 12, the fifth link 15 and the sixth link 16 are all rotatably connected by a pneumatic motor 23, which is connected to the explosion-proof energy module 51.

[0053] Specifically, the third link 13, the fourth link 14, the seventh link 17 and the eighth link 18 are in a straight line, while the first link 11, the second link 12, the fifth link 15 and the sixth link 16 are in an L-shape.

[0054] Specifically, the first link 11, the second link 12, the third link 13, the fourth link 14, the fifth link 15, the sixth link 16, the seventh link 17, and the eighth link 18 all include a first plate and a second plate arranged in parallel. Two third plates are arranged between the first and second plates of the third link 13, the fourth link 14, the seventh link 17, and the eighth link 18. The pneumatic shaft of the pneumatic joint 21 is rotatably connected between the two first plates, and the two second plates are rotatably connected via a first rotating shaft. The main body of the pneumatic joint 21 is fixedly connected to the third plates. The rotating joint 22 includes two joint plates rotatably connected via a second rotating shaft, and the two joint plates are respectively fixedly connected to the corresponding two first plates or two second plates.

[0055] Furthermore, the pneumatic motor 23 is also connected to a self-locking reduction module 24.

[0056] Specifically, four first support rods are provided between the first plate and the second plate of the second connecting rod 12, and a fourth plate is provided between the four first support rods. The pneumatic motor 23 is installed on the fourth plate, and the motor rotation shaft of the pneumatic motor 23 is connected to the self-locking reduction module 24. A self-locking shaft is provided in the self-locking reduction module 24. A fifth plate is provided on the side of the first plate and the second plate of the first connecting rod 11, and the fifth plate is connected to the self-locking shaft.

[0057] Preferably, the first link 11 and the second link 12 are controlled to rotate left and right by the pneumatic motor 23, and the first link 11 and the second link 12 are controlled to rotate up and down by the self-locking reduction module 24; the fifth link 15 and the sixth link 16 are controlled to rotate left and right by the pneumatic motor 23, and the fifth link 15 and the sixth link 16 are controlled to rotate up and down by the self-locking reduction module 24; the second link 12, the third link 13, the fourth link 14 and the fifth link 15 are controlled to rotate left and right by the pneumatic joint 21, and the sixth link 16, the seventh link 17, the eighth link 18 and the first link 11 are controlled to rotate left and right by the pneumatic joint 21.

[0058] Furthermore, such as Figure 5 As shown, the pneumatic drive module further includes: a first cylinder 36 with one end rotatably connected to the hip joint 32 and the other end rotatably connected to the thigh 33; and a second cylinder 37 with one end rotatably connected to the thigh 33 and the other end rotatably connected to the calf 34.

[0059] Preferably, the first cylinder 36 drives the thigh 33 to rotate around the hip joint 32 at a certain angle, providing the main up-and-down swinging power for the robot's legs, enabling the robot to raise and lower the thigh 33 during walking. The second cylinder 37 is responsible for controlling the relative movement between the lower leg 34 and the thigh 33. When the piston rod of the second cylinder 37 extends or retracts, the lower leg 34 rotates around the connection point with the thigh 33, thereby realizing the bending and extension movements of the leg. This allows the robot to flexibly adjust the shape of its legs to adapt to different terrains and rescue mission requirements.

[0060] Preferably, the feet 35 are made of a soft and elastic material. This design increases the friction between the robot and the ground during walking, ensuring its stability. Especially in complex disaster sites, such as ground covered with gravel and rubble, the soft feet 35 can better conform to the ground, reducing the risk of slipping and falling. At the same time, the elastic material also acts as a cushion, reducing the impact on the robot's legs during walking, jumping, and other actions, protecting the pneumatic drive module and linkage structure from excessive vibration, and extending the robot's service life.

[0061] Furthermore, such as Figures 1 to 7 As shown, it also includes a pneumatic control system connected to the torso link, which is connected to the pneumatic drive module and the explosion-proof energy module 51. The pneumatic control system includes a plurality of three-position five-way solenoid valve groups 52, which are used to connect the explosion-proof energy module 51 and the pneumatic drive module.

[0062] Preferably, the three-position five-way solenoid valve group 52 of the pneumatic control system is connected to three pneumatic joints 21, two pneumatic motors 23, four hip joint rotary cylinders 31, four first cylinders 36, and four second cylinders 37.

[0063] Furthermore, the detection module 41 includes a visual perception unit, a gas detection unit, and an inertial navigation unit. The visual perception unit is used to acquire environmental image information. The gas detection unit includes several gas sensors. The inertial navigation unit includes a gyroscope and an accelerometer. The inertial navigation unit is connected to the air circuit control system to collect the robot's attitude angle and angular velocity information.

[0064] Preferably, the visual perception unit can clearly capture environmental image information in complex disaster environments, identifying key targets such as collapsed buildings, trapped personnel, and hazardous materials, providing intuitive visual basis for rescue operations. Several gas sensors in the gas detection unit can monitor various harmful gases in real time, such as carbon monoxide, methane, and hydrogen sulfide. Once the concentration of a harmful gas exceeds the safety threshold, it alerts rescue personnel to take appropriate protective measures, ensuring the safety of personnel at the rescue site. The inertial navigation unit, through the coordinated operation of gyroscopes and accelerometers, can accurately collect the robot's attitude angles and angular velocity information, enabling the robot to walk stably and operate accurately in complex terrain. The pneumatic control system, based on the data provided by the inertial navigation unit, adjusts the working state of the pneumatic drive module in real time, enabling the robot to maintain balance and adapt to different terrains and tasks. For example, when the robot is climbing a slope or crossing an obstacle, the pneumatic control system can precisely control the movement of the pneumatic joints 21 and cylinders based on changes in attitude angles and angular velocity, ensuring the robot completes the action smoothly. In addition, the data collected by the inertial navigation unit can also be used for the robot's path planning and positioning, helping the robot reach the target location more efficiently and perform rescue missions.

[0065] Furthermore, the visual perception unit includes several cameras and a protective housing connected to the cameras. The cameras are used to acquire environmental image information. The visual perception unit transmits the acquired environmental image information to the robot's central processing system in real time. After analysis and processing by the system, it can identify obstacles at the rescue site, the location of trapped personnel, and potential danger zones.

[0066] Furthermore, the explosion-proof energy module 51 is an air storage tank made of carbon fiber composite material, with an anti-static coating on its outer surface. The carbon fiber composite material used in the air storage tank provides high strength and light weight, ensuring sufficient structural strength while reducing the overall load on the robot and improving its maneuverability. The anti-static coating effectively prevents sparks from static electricity during rescue operations, avoiding hazards in flammable and explosive environments and significantly improving the robot's safety in complex and dangerous conditions. The air storage tank is connected to the pneumatic control system, providing a stable power source for the pneumatic drive module, ensuring continuous and stable operation and allowing the robot to perform tasks efficiently and for extended periods at the rescue site. The air storage tank is also equipped with a pressure monitoring device that monitors the internal pressure in real time. When the pressure falls below a safe threshold, an alarm is promptly sent to the central processing system, reminding operators to refill or replace the air storage tank to ensure the robot's normal operation.

[0067] A detection method for a gas-driven variable-cell robot for disaster prevention and relief, such as Figures 1 to 7 As shown, the detection method performed using the disaster prevention and relief air-driven variable cell robot described above includes the following steps:

[0068] S1. After the robot is started, the torso module adjusts to change the robot's shape to that of a gecko, and then the robot begins to move.

[0069] S2, when the detection module 41 detects a gap whose height is less than the first preset value, the torso module switches to a spider shape to pass through the gap; when the detection module 41 detects a pipe whose width is less than the second preset value, the torso module switches to a stick insect shape to wriggle through.

[0070] S3, after the robot moves to the detection point, the detection module 41 samples the data of the detection point and transmits the collected data to the terminal;

[0071] S4, when the terminal confirms that the detection is complete or the robot's detection module 41 determines that the battery life is lower than the safe return threshold, the optimal return strategy is generated, and then the robot withdraws from the disaster area according to the optimal return strategy.

[0072] In one specific implementation case, S1, after the robot is started, the air circuit control system detects the pressure of the air tank and the airtightness of each circuit. After confirming that everything is normal, it enters gecko mode and quickly approaches the disaster area.

[0073] S2, during movement, when the visual perception system detects a flat gap less than 15cm high, the control system automatically switches to spider form to crawl along the ground; when it detects a narrow pipe less than 20cm wide, it switches to stick insect form to crawl through.

[0074] S3. After reaching the detection point, the robot uses the middle function of the three-position five-way solenoid valve group 52 to lock the air drive module and build a rigid steady-state platform; it then activates the visual perception system to perform three-dimensional modeling; subsequently, it controls the first cylinder 36 to perform periodic extension and retraction, driving the gas detection unit to perform layered lifting and lowering sampling on the vertical section of the roadway to establish a gas concentration gradient model.

[0075] S4 integrates and packages the collected environmental and gas data; the control system detects the current wireless signal strength, adjusts the aircraft's altitude and attitude according to the signal quality, and transmits the data back to the ground control center via the wireless network;

[0076] S5: When the ground control center confirms that the detection is complete or the robot determines that its endurance is below the safe return threshold, it generates the optimal return path; the robot unlocks the air drive module, adjusts to the form with the lowest flow resistance and energy consumption, and withdraws from the disaster area along the planned path.

[0077] When the robot is located in a low-lying area or behind an obstacle, causing the return signal strength to be lower than the preset threshold, the air circuit control system triggers the communication relay posture. The system prioritizes injecting high-pressure gas into the first cylinder 36 and the second cylinder 37 to lift the torso module to the highest point of the dog-shaped form, acting as a temporary signal booster tower to avoid signal obstruction at low locations.

[0078] When the air supply is sufficient, the robot maintains its gecko form and quickly returns along the original route. If it encounters an obstacle along the way, it can still perform pneumatic cell transformation to overcome it. When the system detects that the pressure in the air tank is lower than the critical value for maintaining cell transformation, it forcibly switches the robot to the stick insect form with the least flow resistance. Then, it uses the self-locking deceleration module 24 and the solenoid valve group's locking function to physically lock the mechanical structure. It cuts off the air supply to all other pneumatic drive modules and supplies the remaining compressed air only to the walking unit to drive away from the danger zone at low speed, preventing the robot from becoming paralyzed and unable to move due to depletion of air pressure.

[0079] The self-locking reduction module 24 amplifies the output torque of the pneumatic motor 23 and provides mechanical self-locking force in the event of an air shortage to prevent the torso module from collapsing. The three-position five-way solenoid valve group 52 is connected to the air ports of the pneumatic drive module. The three-position five-way solenoid valve group 52 has three working states: left position (A end energized), right position (B end energized), and center position (de-energized). The center position closes the air inlet and outlet of the pneumatic drive module, enabling the module to hover and maintain rigidity at any position during its stroke, allowing the robot to maintain a specific configuration without mechanical limitations. The electrical control part of the pneumatic control system adopts an intrinsically safe circuit design. The electrical control part and the pneumatic actuator are functionally decoupled through solenoid valves. When the electrical control system is powered off or malfunctions, the three-position five-way solenoid valve group 52 automatically returns to the center position, relying on the air circuit closure and the compressibility of the gas within the actuator to maintain the mechanical configuration, thereby preventing uncontrolled movement caused by electrical faults. The pneumatic control system meets intrinsic safety requirements in a mining environment.

[0080] In gecko mode, the first cylinder 36 and the second cylinder 37 are controlled to retract, causing the thigh 33 and the lower leg 34 to press down to reduce the ground clearance of the torso module. At the same time, the hip joint rotation cylinder 31 is controlled to abduct and swing, causing the walking unit to spread outwards. The pneumatic joint 21 of the torso module is controlled to keep the first link 11 to the eighth link 18 basically on the same plane or to make small-angle fine adjustments, thereby completing the gecko mode.

[0081] In spider form, the pneumatic joint 21 drives the first link 11 to the eighth link 18 to rotate. At the same time, the first link 11, the second link 12, the fifth link 15, and the sixth link 16 retract inward along the longitudinal centerline of the robot to form a wide polygonal support chassis. During this process, the third link 13 and the seventh link 17 are kept parallel, and the fourth link 14 and the eighth link 18 are kept parallel. Meanwhile, the hip joint rotation cylinder 31 is controlled to extend the four walking units outward significantly and lock the first cylinder 36 at a preset stroke position to improve the stability of multi-point support, thus completing the spider form.

[0082] In the stick insect form, based on the spider form, the hip joint rotation cylinder 31 is controlled to rotate the walking unit 90° in the horizontal plane and retract it longitudinally towards the robot. The walking unit folds to a line parallel to the longitudinal direction of the torso module. At the same time, the pneumatic motor 23 is controlled to make the first link 11, the second link 12, the fifth link 15, and the sixth link 16 collinear, so that the robot as a whole is long and thin. This form is conducive to the robot's straight-line movement in narrow alleys / pipes and 90° right-angle turns on the spot.

[0083] The dog-like form is based on the gecko form. The pneumatic motor 23 drives the first link 11 relative to the second link 12 and the fifth link 15 relative to the sixth link 16 in the vertical direction via the self-locking reduction module 24. This causes the front and rear ends of the torso module to fold down and raise the middle section of the torso. At the same time, high-pressure gas is injected into the first cylinder 36 and the second cylinder 37 to extend them, thus supporting the robot to a high-positioned four-legged standing posture, thereby completing the dog-like form.

[0084] The disaster relief and rescue pneumatic variable-cell robot and its detection method of this invention employ a walking unit, a torso module, a pneumatic control system, a detection module 41, and an explosion-proof energy module 51. The walking unit realizes movement modes such as quadrupedal support, alternating walking, and ground crawling. The torso module achieves twisting and folding in the horizontal and vertical directions through multi-links and pneumatic joints 21. The pneumatic control system achieves precise control of pneumatic actuators through three-position five-way solenoid valves and intrinsically safe circuits. The detection module 41 integrates visual perception, gas detection, and inertial navigation functions to realize three-dimensional detection and data acquisition of the disaster area environment. The explosion-proof energy module 51 includes a main air source and a power source, providing power to each module. The robot can switch between gecko, spider, stick insect, and canine forms to adapt to complex terrains such as narrow alleys, flat gaps, and collapsed ruins, significantly improving detection efficiency and safety in extreme environments.

[0085] This invention's robot can traverse tunnels and obstructed terrain to directly reach core areas that are difficult for traditional rescue equipment or personnel to access quickly, shortening search time and buying precious rescue time for trapped personnel. The robot can flexibly change its configuration in complex mine tunnels, large chambers, and shafts, unrestricted by ground obstacles, achieving truly comprehensive and three-dimensional searches, significantly improving the safety of rescue personnel. In extremely dangerous areas with high risk of secondary collapse, accumulation of toxic and harmful gases such as methane, or high temperatures and oxygen deficiency, the robot can completely replace rescue personnel to perform reconnaissance and detection tasks, avoiding casualties among rescuers. In extreme environmental conditions such as mine disasters, the morphological robot can quickly enter unknown areas and transmit real-time environmental information, providing crucial data for subsequent manual rescue plan development and safety assessments. It possesses powerful information perception and transmission capabilities, can be equipped with multiple sensors to monitor the concentration of various gases in real time, and transmits the collected multimodal information back to the ground command center in real time, providing immediate support for decision-making.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A detection method for a gas-driven variable-cell robot for disaster prevention and relief, characterized in that, Using robots, including: The torso module includes several torso links rotatably connected end to end and a walking unit connected to the torso links. The walking unit includes a hip joint rotatably connected to the torso links, a thigh rotatably connected to the hip joint, a lower leg rotatably connected to the thigh, and a foot connected to the lower leg. By rotating and adjusting the several torso links, the robot's shape can be adjusted to be gecko-shaped, dog-shaped, spider-shaped, or stick insect-shaped. By rotating and adjusting the hip joint, the robot's walking direction can be adjusted. A pneumatic drive module, the pneumatic drive module including a hip joint rotary cylinder disposed on the torso connecting rod, the hip joint drive being connected to the hip joint rotary cylinder; A detection module is disposed on the torso link, and the detection module is used for environmental perception and data acquisition; An explosion-proof energy module is installed on the torso connecting rod and is used to provide air and power to the air drive module and the detection module. The trunk linkage includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link that are rotatably connected end to end. The pneumatic drive module also includes several pneumatic joints and pneumatic motors. The walking unit has four components, which are respectively installed on the third link, the fourth link, the seventh link, and the eighth link; The third and fourth links, the sixth and seventh links, the first link and the eighth link are rotatably connected by a pneumatic joint; The second and third links, the fourth and fifth links, and the seventh and eighth links are rotatably connected by a rotary joint; The first link and the second link, the fifth link and the sixth link are all rotatably connected by a pneumatic motor, and the pneumatic motor is connected to the explosion-proof energy module; The detection method includes the following steps: S1. After the robot is started, the torso module adjusts to change the robot's shape to that of a gecko, and then the robot begins to move. S2, when the detection module detects a gap whose height is less than the first preset value, the torso module switches to a spider shape to pass through the gap; when the detection module detects a pipe whose width is less than the second preset value, the torso module switches to a stick insect shape to wriggle through it. S3, after the robot moves to the detection point, the detection module samples the data of the detection point and transmits the collected data to the terminal; S4. When the terminal confirms that the detection is complete or the robot's detection module determines that the battery life is lower than the safe return threshold, the optimal return strategy is generated, and then the robot withdraws from the disaster area according to the optimal return strategy.

2. The detection method of the disaster-prevention and rescue gas-driven cellular robot according to claim 1, wherein The pneumatic motor is also connected to a self-locking reduction module.

3. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 1, characterized in that, The pneumatic drive module also includes: A first cylinder with one end rotatably connected to the hip joint and the other end rotatably connected to the thigh; A second cylinder, with one end rotatably connected to the thigh and the other end rotatably connected to the calf.

4. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 1, characterized in that, It also includes a pneumatic control system connected to the torso link, the pneumatic control system being connected to the pneumatic drive module and the explosion-proof energy module.

5. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 4, characterized in that, The pneumatic control system includes several three-position five-way solenoid valve groups, which are used to connect the explosion-proof energy module and the pneumatic drive module.

6. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 5, characterized in that, The detection module includes a visual perception unit, a gas detection unit, and an inertial navigation unit. The visual perception unit is used to acquire environmental image information. The gas detection unit includes several gas sensors. The inertial navigation unit includes a gyroscope and an accelerometer. The inertial navigation unit is connected to the air circuit control system to collect the robot's attitude angle and angular velocity information.

7. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 6, characterized in that, The visual perception unit includes several cameras and a protective housing connected to the cameras, the cameras being used to acquire environmental image information.

8. The detection method for a disaster prevention and rescue air-driven variable-cell robot according to claim 1, characterized in that, The explosion-proof energy module is a gas storage tank, which is made of carbon fiber composite material and has an antistatic coating on its outer surface.

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