Rescue robot mouse

Abstract

The embodiment of the invention discloses a rescue robot mouse. The rescue robot mouse comprises a head mechanism; the trunk mechanism is movably connected with the head mechanism, and the head mechanism can perform multi-degree-of-freedom movement relative to the trunk mechanism; and a plurality of leg mechanisms connected to the torso mechanism, the leg mechanisms including: thigh mechanisms swingably attached to the torso mechanism; the walking wheels are rotatably mounted at the ends, away from the trunk mechanism, of the thigh mechanisms; the shank mechanism is connected to the thigh mechanism in a swinging mode, and a foot structure is arranged at the end of the shank mechanism; a telescopic rod; the controller can control the telescopic rod to drive the shank mechanism to swing relative to the thigh mechanism so as to adjust the position of the foot structure relative to the walking wheel; when the height of the foot structure is larger than that of the walking wheel, the walking wheel can make contact with the walking surface, and the rescue robot mouse moves through the walking wheel, and when the height of the foot structure is smaller than that of the walking wheel, the foot structure can make contact with the walking surface, and the rescue robot mouse moves through the foot structure.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, and more particularly to a rescue robot mouse. Background Technology

[0002] Biomimetic robots in related technologies can usually only use a single mode of movement. When biomimetic robots move in complex terrain, it is difficult for them to switch their movement mode according to changes in the terrain, which leads to a decrease in the working efficiency of biomimetic robots in complex terrain environments. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0004] In view of this, the present application proposes a rescue robotic mouse, comprising: a head mechanism; a torso mechanism movably connected to the head mechanism, the head mechanism being capable of multi-degree-of-freedom movement relative to the torso mechanism; multiple leg mechanisms movably connected to both sides of the torso mechanism, each leg mechanism comprising: a thigh mechanism swayably mounted to the torso mechanism; a walking wheel rotatably mounted to the end of the thigh mechanism away from the torso mechanism; a lower leg mechanism swayably connected to the end of the thigh mechanism away from the torso mechanism, the lower leg mechanism having a foot structure at the end away from the thigh mechanism; and a telescopic rod capable of... The system features a telescopic rod with one end rotatably connected to the torso mechanism and the other end connected to the lower leg mechanism. The telescopic rod can cause the lower leg mechanism to swing relative to the thigh mechanism. A controller, installed in the torso mechanism, can control the telescopic rod to swing the lower leg mechanism relative to the thigh mechanism, thereby adjusting the position of the foot structure relative to the walking wheels. When the height of the foot structure is higher than the walking wheels, the walking wheels can contact the walking surface, and the rescue robot mouse moves via the walking wheels. When the height of the foot structure is lower than the walking wheels, the foot structure can contact the walking surface, and the rescue robot mouse moves via the foot structure.

[0005] In some of the technical solutions provided in this application, any leg mechanism further includes: a first motor connected to the thigh mechanism, the first motor being used to drive the thigh mechanism to swing in multiple directions relative to the torso mechanism; a second motor connected to the walking wheel, the second motor being used to drive the walking wheel to rotate relative to the thigh mechanism; and a third motor connected to the telescopic rod, the third motor being used to drive the telescopic rod to swing relative to the torso mechanism.

[0006] In some technical solutions provided in this application, any leg mechanism further includes: a force sensor installed on the foot structure, electrically connected to a controller. During the movement of the rescue robot mouse through the foot structure, the foot structure moves sequentially by a single step length. The duration of a single step length movement is a unit time. Each step length of the foot structure includes a lifting phase and a falling phase, both of which have a duration of 0.5 unit times. Specifically, after the foot structure transitions from the lifting phase to the falling phase, if the force value detected by the force sensor within 0.5 unit times is greater than or equal to a first force value, the controller determines that the walking surface is a raised terrain and stops the extension rod from extending. If the force sensor does not detect a force value within one unit time, the controller determines that the walking surface is a concave terrain and continues to extend the extension rod until the force sensor detects a force value, at which point the controller stops the extension rod from extending.

[0007] In some technical solutions provided in this application, the controller pre-stores a foot motion curve, which includes multiple wave curves. Each wave curve corresponds to a single step length of the foot structure. The controller controls the movement of the foot structure according to the foot motion curve. The starting point of the wave curve corresponds to the starting point of the lifting phase, and the ending point of the wave curve corresponds to the ending point of the falling phase. The acceleration at the starting point and the ending point of the wave curve is zero. The velocity of the foot structure corresponding to any point in the wave curve is less than or equal to a first velocity threshold. Furthermore, the portion of the wave curve corresponding to the lifting phase and the portion of the wave curve corresponding to the falling phase are symmetrical.

[0008] In some of the technical solutions provided in this application, the torso mechanism includes: at least two torso bodies, with two adjacent torso bodies connected by a universal joint so that the two adjacent torso bodies can swing relative to each other, and multiple leg mechanisms located on the same side of the torso mechanism are respectively installed on different torso bodies.

[0009] In some technical solutions provided in this application, the head mechanism includes: a head shell, the head shell having a binocular mounting slot; a binocular camera, mounted in the binocular mounting slot, the binocular camera being used to acquire images of the surrounding environment and electrically connected to the controller; wherein, when the binocular camera detects an obstacle within the target range, the controller plans an avoidance path according to the position of the obstacle, and controls multiple leg mechanisms to move according to the avoidance path to avoid the obstacle.

[0010] In some technical solutions provided in this application, the head mechanism further includes: a gas sensor, and the head housing also has a nose mounting slot, on which the gas sensor is mounted. The gas sensor is used to detect the gas composition in the surrounding environment and is electrically connected to the controller; an alarm, which is electrically connected to the controller; wherein, when the gas sensor detects the presence of a target gas in the surrounding environment and the concentration of the target gas is greater than or equal to a concentration threshold, the controller controls the alarm to sound an alarm, and the controller records the detection results of the gas sensor and the location information of the rescue robot mouse when the gas sensor detects a target gas concentration greater than or equal to the concentration threshold.

[0011] In some of the technical solutions provided in this application, the head mechanism also includes: a fourth motor, installed inside the head housing; and a pull rod, connected to the fourth motor and the binocular camera, wherein the fourth motor drives the binocular camera to rotate via the pull rod.

[0012] In some technical solutions provided in this application, the rescue robot mouse further includes: a center of mass detector, installed on the torso mechanism, the center of mass detector is connected to a controller and used to detect the center of mass position of the rescue robot mouse, and the controller controls multiple leg mechanisms to move according to at least one of the following rules: Rule 1: Multiple leg mechanisms move sequentially, and when one leg mechanism moves, the projection of the area enclosed by the remaining unmoved leg mechanisms on the horizontal plane is a stable area, and the center of mass is moved between two adjacent leg mechanism movements so that the projection of the center of mass on the horizontal plane is located within the stable area, and the offset of the center of mass each time is less than or equal to the offset threshold; Rule 2: Multiple leg mechanisms move sequentially, and after two leg mechanism movements, the center of mass is moved so that the projection of the center of mass on the horizontal plane is located within the stable area; Rule 3: Multiple leg mechanisms move sequentially, and the center of mass is moved synchronously each time a leg mechanism moves so that the projection of the center of mass on the horizontal plane is located within the stable area; In some technical solutions provided in this application, the rescue robot mouse further includes: a speed sensor installed on the torso mechanism, the speed sensor being connected to a controller and used to detect the movement speed of the rescue robot mouse; wherein, multiple leg mechanisms move sequentially, the speed sensor detects the movement speed of the rescue robot mouse in real time, and the center of mass detector detects the position of the center of mass of the rescue robot mouse in real time to confirm whether the center of mass is located at the target position; when the movement speed of the rescue robot mouse is less than a second speed threshold, and / or the center of mass is not located at the target position, the controller adjusts the action of at least some of the leg mechanisms according to the detection results of the speed sensor and the center of mass detector, so that the movement speed of the rescue robot mouse is greater than or equal to the second speed threshold, and the center of mass is located at the target position, the target position being within a stable region or the edge of a stable region.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: This application enables the rescue robot mouse to possess both legged and wheeled locomotion modes by incorporating both wheels and feet in its leg mechanism. Furthermore, a telescopic rod drives the lower leg mechanism to swing, allowing adjustment of the relative position between the feet and wheels, thus enabling the rescue robot mouse to freely switch between the two locomotion modes. This allows the rescue robot mouse to be adapted to various working environments and to arbitrarily switch locomotion modes according to environmental changes during operation. This allows the rescue robot mouse to move quickly through long-distance pipes and climb and traverse complex terrain, significantly improving its mobility compared to traditional wheeled or tracked robots. It balances mobility and efficiency, enhancing the rescue robot mouse's flexibility and expanding its applicability. Attached Figure Description

[0014] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This illustration shows one of the structural schematic diagrams of a rescue robotic mouse provided in an embodiment of this application; Figure 2 This is a second schematic diagram of the structure of a rescue robot mouse provided in an embodiment of this application; Figure 3 This is shown as a third schematic diagram of the structure of a rescue robotic mouse provided in an embodiment of this application; Figure 4 This illustration shows one of the structural schematic diagrams of a leg mechanism provided in an embodiment of this application; Figure 5 This is a second schematic diagram of the structure of a leg mechanism provided in an embodiment of this application; Figure 6 This is shown as a third structural schematic diagram of a leg mechanism provided in an embodiment of this application; Figure 7 The fourth schematic diagram shows a structural diagram of a leg mechanism provided in an embodiment of this application; Figure 8 This illustration shows one of the structural schematic diagrams of a three-degree-of-freedom wheel steering device according to an embodiment of this application; Figure 9 This is a second schematic diagram of the structure of a three-degree-of-freedom wheel steering device according to an embodiment of this application; Figure 10 This is shown as the third structural schematic diagram of a three-degree-of-freedom wheel steering device according to an embodiment of this application; Figure 11This illustration shows a schematic diagram of the motion trajectory of a foot structure provided in an embodiment of this application; Figure 12 A schematic diagram illustrating a foot structure for walking on raised terrain, according to an embodiment of this application, is shown. Figure 13 A schematic diagram illustrating a foot structure for walking on concave terrain, as provided in an embodiment of this application, is shown.

[0015] The correspondence between the reference numerals and component names in the attached drawings is as follows: 100. Rescue robot mouse; 110. Head mechanism; 111. Head shell; 112. Binocular camera; 113. Gas sensor; 120. Torso mechanism; 121. Torso; 130. Leg mechanism; 131. Thigh mechanism; 132. Walking wheel; 133. Lower leg mechanism; 134. Foot structure; 135. Telescopic rod; 140. Three-degree-of-freedom wheel steering device; 141. Head motor; 142. Flange. Detailed Implementation

[0016] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0017] The following reference Figures 1 to 13 A rescue robot mouse is described according to some embodiments of the present invention.

[0018] In one embodiment according to this application, such as Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, this application proposes a rescue robot mouse 100, including: a head mechanism 110; a torso mechanism 120 movably connected to the head mechanism 110, the head mechanism 110 being capable of multi-degree-of-freedom movement relative to the torso mechanism 120; multiple leg mechanisms 130, movably connected to both sides of the torso mechanism 120, each leg mechanism 130 including: a thigh mechanism 131, pivotally mounted on the torso mechanism 120; a walking wheel 132, rotatably mounted on the end of the thigh mechanism 131 away from the torso mechanism 120; a lower leg mechanism 133, pivotally connected to the end of the thigh mechanism 131 away from the torso mechanism 120, the end of the lower leg mechanism 133 away from the thigh mechanism 131 having a foot structure 134; and a telescopic rod 135 capable of extension and retraction. The telescopic rod 135 is rotatably connected at one end to the torso mechanism 120 and at the other end to the lower leg mechanism 133. The telescopic rod 135 can cause the lower leg mechanism 133 to swing relative to the thigh mechanism 131. A controller is installed on the torso mechanism 120. The controller can control the telescopic rod 135 to cause the lower leg mechanism 133 to swing relative to the thigh mechanism 131, so as to adjust the position of the foot structure 134 relative to the walking wheel 132. When the height of the foot structure 134 is higher than the walking wheel 132, the walking wheel 132 can contact the walking surface, and the rescue robot mouse 100 moves through the walking wheel 132. When the height of the foot structure 134 is lower than the walking wheel 132, the foot structure 134 can contact the walking surface, and the rescue robot mouse 100 moves through the foot structure 134.

[0019] The rescue robotic mouse 100 proposed in this application is small in size and flexible in movement, making it suitable for use in confined working environments, such as narrow pipes and gaps in rubble. The rescue robotic mouse 100 includes a head mechanism 110, a torso mechanism 120, multiple leg mechanisms 130, and a controller. The head mechanism is movably connected to the torso mechanism 120, and the multiple leg mechanisms 130 are movably connected to both sides of the torso mechanism 120. The controller is electrically connected to the head mechanism 110 and can control the head mechanism 110 to perform multi-degree-of-freedom movements relative to the torso mechanism 120, thereby flexibly adjusting the detection angle of the rescue robotic mouse 100 and expanding its field of vision. The controller is also electrically connected to the leg mechanisms 130 and can control the movement of the leg mechanisms 130 relative to the torso mechanism 120 to enable the rescue robotic mouse 100 to walk, thus allowing it to move.

[0020] The following defines the structure of the leg mechanism 130. For example... Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, any leg mechanism 130 includes a thigh mechanism 131, a lower leg mechanism 133, a walking wheel 132, and a telescopic rod 135. The thigh mechanism 131 is connected to the torso mechanism 120 and is capable of multi-degree-of-freedom swinging relative to the torso mechanism 120. A walking wheel 132 is mounted on the end of the thigh mechanism 131 away from the torso mechanism 120. The walking wheel 132 is capable of rotating relative to the thigh mechanism 131. The walking wheel 132 is a walking tool for the rescue robot mouse 100. When the rescue robot mouse 100 moves by wheels, the walking wheel 132 contacts and rolls along the walking surface. The walking wheel 132 is suitable for high-speed movement on flat walking surfaces. In one possible embodiment, the walking wheel 132 is made of rubber to increase the friction between the walking wheel 132 and the contacting surface. The diameter of the walking wheel 132 is 40 mm.

[0021] Furthermore, the lower leg mechanism 133 is connected to the end of the thigh mechanism 131 away from the torso mechanism 120, that is, the lower leg mechanism 133 and the walking wheel 132 are mounted on the same end of the thigh mechanism 131, and the lower leg mechanism 133 can swing relative to the thigh mechanism 131. The end of the lower leg mechanism 133 away from the thigh mechanism 131 also has a foot structure 134, which is a walking tool for the rescue robot mouse 100. When the rescue robot mouse 100 moves on its feet, the foot structure 134 contacts the walking surface and walks along the walking surface. The foot structure 134 is suitable for climbing and crossing complex terrain, such as curved pipes and rubble gaps. When the rescue robot mouse 100 moves on its feet, it can simulate the flexible gait of quadrupedal creatures in nature. In one possible embodiment, the foot structure 134 is a spherical structure with a diameter of 30 mm.

[0022] Furthermore, the telescopic rod 135 is used to drive the lower leg mechanism 133 to swing relative to the thigh mechanism 131, thereby driving the foot structure 134 to move. Specifically, one end of the telescopic rod 135 is rotatably connected to the torso mechanism 120, and the other end is connected to the lower leg mechanism 133. The telescopic rod 135 has a multi-segment structure and can perform telescopic movements. When the rescue robot mouse 100 adopts foot-based movement, the thigh mechanism 131 swings with multiple degrees of freedom. Through the coordinated rotation and telescopic movements, the telescopic rod 135 drives the lower leg mechanism 133 to swing relative to the thigh mechanism 131, enabling the leg mechanism 130 to perform walking movements as a whole, thereby allowing the foot structure 134 to achieve various complex gaits. In one possible embodiment, the telescopic rod 135 is a hydraulic rod, which is connected to a motor. The motor can drive the telescopic rod 135 to extend, retract, and swing. The motor drives a micro hydraulic pump to provide power to the telescopic rod 135 so as to realize the coordinated action of the extension and swing of the telescopic rod 135. The stroke of the telescopic rod 135 is 50mm, and the thrust is greater than or equal to 50N.

[0023] Furthermore, a controller is installed on the torso mechanism 120, and the controller can control the telescopic rod 135 to swing the lower leg mechanism 133 relative to the thigh mechanism 131, thereby adjusting the position of the foot structure 134 relative to the walking wheel 132. Specifically, when the rescue robot mouse 100 needs to use wheeled movement, the controller controls the telescopic rod 135 to swing the lower leg mechanism 133 relative to the thigh mechanism 131 until the lower leg mechanism 133 swings the foot structure 134 to a position higher than the walking wheel 132. At this time, the walking wheel 132 can contact the walking surface, and the rescue robot mouse 100 can move by the walking wheel 132. When the rescue robot mouse 100 needs to use footed movement, the controller controls the telescopic rod 135 to swing the lower leg mechanism 133 relative to the thigh mechanism 131 until the lower leg mechanism 133 swings the foot structure 134 to a position lower than the walking wheel 132. At this time, the foot structure 134 can contact the walking surface, and the rescue robot mouse 100 can walk by the foot structure 134.

[0024] This application enables the rescue robot mouse 100 to have both legged and wheeled movement modes by incorporating two locomotion tools—a walking wheel 132 and a foot structure 134—in the leg mechanism 130. Furthermore, the lower leg mechanism 133 is oscillating via a telescopic rod 135, allowing adjustment of the relative position between the foot structure 134 and the walking wheel 132. This enables the rescue robot mouse 100 to freely switch between the two movement modes, making it suitable for various working environments and allowing it to switch movement modes arbitrarily according to environmental changes during operation. This allows the rescue robot mouse 100 to move quickly through long-distance pipes and climb and traverse complex terrain, significantly improving its mobility compared to traditional wheeled or tracked robots. It balances mobility and movement efficiency, enhancing the flexibility of the rescue robot mouse 100 and expanding its applicability.

[0025] In some embodiments, optionally, any leg mechanism 130 further includes: a first motor connected to the thigh mechanism 131, the first motor being used to drive the thigh mechanism 131 to swing relative to the torso mechanism 120 in multiple directions; a second motor connected to the walking wheel 132, the second motor being used to drive the walking wheel 132 to rotate relative to the thigh mechanism 131; and a third motor connected to the telescopic rod 135, the third motor being used to drive the telescopic rod 135 to swing relative to the torso mechanism 120.

[0026] In this embodiment, the structure of the leg mechanism 130 is further defined. Each leg mechanism 130 is provided with multiple driving devices, which are used to drive the thigh mechanism 131, the walking wheel 132, and the telescopic rod 135, respectively. These driving devices include a first motor, a second motor, and a third motor. Specifically, the first motor is connected to the thigh mechanism 131 and can be mounted on the torso mechanism 120. The first motor can drive the thigh mechanism 131 to swing relative to the torso mechanism 120 with multiple degrees of freedom. In one possible embodiment, the first motor is mounted at the connection between the thigh mechanism 131 and the torso mechanism 120. The first motor can mimic the hip joint of a quadruped, is a two-degree-of-freedom motor, and can drive the thigh mechanism 131 to swing back and forth and left and right relative to the torso mechanism 120. In one possible embodiment, the output shaft of the first motor is connected to the thigh mechanism 131 via a coupling. The thigh mechanism 131 may be made of alloy structural steel rod. The surface of the alloy structural steel rod is micro-arc oxidized and covered with a coating with a thickness greater than or equal to 8μm. The diameter of the alloy structural steel rod is 8mm.

[0027] Furthermore, the second motor is connected to the walking wheel 132 and can be mounted at the end of the thigh mechanism 131. The second motor can drive the walking wheel 132 to rotate relative to the thigh mechanism 131. In one possible embodiment, the second motor is connected to the walking wheel 132 via a drive shaft, and the housing of the second motor is fixed to the end of the thigh mechanism 131 to avoid swinging interference with the lower leg mechanism 133. The second motor and the walking wheel 132 can mimic the knee joint of a quadruped.

[0028] Furthermore, a third motor is connected to the telescopic rod 135. The third motor is used to drive the telescopic rod 135 to swing relative to the torso mechanism 120 and to drive the telescopic rod 135 to extend and retract. Specifically, the third motor is installed on the torso mechanism 120. When the rescue robot mouse 100 needs to switch its movement mode, or when the rescue robot mouse 100 is walking through the foot structure 134, the third motor drives the telescopic rod 135 to swing back and forth relative to the torso mechanism 120. At the same time, the third motor can also drive a micro hydraulic pump to provide power to the telescopic rod 135, so as to realize the coordinated action of the extension and swing of the telescopic rod 135, thereby driving the lower leg mechanism 133 to swing relative to the thigh mechanism 131, thereby adjusting the position of the foot structure 134, or driving the foot structure 134 to walk through the lower leg mechanism 133.

[0029] By setting a first motor, a second motor, and a third motor in the leg mechanism 130, the thigh mechanism 131, the walking wheel 132, and the telescopic rod 135 can be driven by the first motor, the second motor, and the third motor respectively to move, thereby realizing the switching of the rescue robot mouse 100 between two walking modes.

[0030] In some embodiments, optionally, any leg mechanism 130 further includes: a force sensor mounted on the foot structure 134, the force sensor being electrically connected to a controller. During the movement of the rescue robot mouse 100 through the foot structure 134, the foot structure 134 moves sequentially by a single step length. The duration of a single step length movement by the foot structure 134 is a unit time. Each step length of the foot structure 134 includes a lifting phase and a falling phase, both of which have a duration of 0.5 unit time. Wherein, after the foot structure 134 transitions from the lifting phase to the falling phase, if the force value detected by the force sensor within 0.5 unit time is greater than or equal to a first force value, the controller determines that the walking surface is a raised terrain, and the controller controls the telescopic rod 135 to stop extending. If the force sensor does not detect a force value within one unit time, the controller determines that the walking surface is a concave terrain, and the controller controls the telescopic rod 135 to continue extending until the force sensor detects a force value, and the controller controls the telescopic rod 135 to stop extending.

[0031] In this embodiment, the movement mode of the leg mechanism 130 is defined. Each leg mechanism 130 has a force sensor installed in the foot structure 134 to detect the force applied to the foot structure 134. The force sensor is electrically connected to a controller, which can control the leg mechanism 130 based on the force sensor's detection results. In one possible embodiment, a signal line is installed in the lower leg, and the controller is connected to the force sensor via the signal line.

[0032] Furthermore, when the rescue robot mouse 100 walks using the foot structure 134, the foot structure 134 moves one step length sequentially, meaning each foot structure 134 moves one step length during each movement. The time required for each foot structure 134 to move one step length is called a unit time. Each step of the foot structure 134 includes a lifting phase and a falling phase. When the foot structure 134 is in the lifting phase, the leg mechanism 130 performs a leg-lifting motion, and the foot structure 134 moves from low to high. When the foot structure 134 is in the falling phase, the leg mechanism 130 performs a leg-lowering motion, and the foot structure 134 moves from high to low. The lifting and falling phases each require the same time, which is 0.5 unit times.

[0033] Furthermore, the control device can judge the surrounding terrain based on the detection results of the force sensor and control the leg mechanism 130 to perform corresponding actions. Specifically, after the foot structure 134 transitions from the lifting phase to the falling phase, if the force value detected by the force sensor within 0.5 unit time is greater than or equal to the first force value, it indicates that the foot structure 134 has prematurely contacted the walking surface, i.e., the walking surface on which the foot structure 134 is located is a raised terrain. At this time, the controller controls the telescopic rod 135 to stop extending to avoid the rescue robot mouse 100 from tipping over or becoming unstable. Figure 12 The diagram shows a simplified illustration of foot structure 134 walking on raised terrain. The first force value is greater than or equal to 5N. After foot structure 134 transitions from the lifting phase to the falling phase, if the force sensor does not detect a force value within one unit of time, it indicates that foot structure 134 has not yet contacted the walking surface after landing, meaning the walking surface is a concave terrain. In this case, the controller controls the telescopic rod 135 to continue extending until the force sensor detects a force value, indicating that foot structure 134 has contacted the walking surface. The controller then controls the telescopic rod 135 to stop extending, thus preventing the possibility of stepping into a hole. Figure 13 The diagram shown is a simplified illustration of foot structure 134 walking on concave terrain.

[0034] In one possible embodiment, the force sensor has a range of 0 to 100 N and an accuracy of ±0.5 N.

[0035] By setting a force sensor in the foot structure 134 and controlling the telescopic rod 135 to operate according to the detection result of the force sensor, the rescue robot mouse 100 can walk stably on raised and sunken terrain, avoiding the problem of stepping into the air or falling over, thus improving the walking stability of the rescue robot mouse 100.

[0036] In some embodiments, optionally, the controller pre-stores a foot motion curve, which includes multiple wave curves. Each wave curve corresponds to a single step length of the foot structure 134. The controller controls the movement of the foot structure 134 according to the foot motion curve. The starting point of the wave curve corresponds to the starting point of the lifting phase, and the ending point of the wave curve corresponds to the ending point of the falling phase. The acceleration at the starting point and the ending point of the wave curve is zero. The velocity of the foot structure 134 corresponding to any point in the wave curve is less than or equal to a first velocity threshold. Furthermore, the portion of the wave curve corresponding to the lifting phase and the portion of the wave curve corresponding to the falling phase are symmetrical.

[0037] In this embodiment, the motion trajectory of the foot structure 134 is defined. The controller pre-stores foot motion curves and controls each foot structure 134 to move according to these curves. The foot motion curves include multiple wavelet curves, each corresponding to a single step length of the foot structure 134. The wavelet curves are modified versions of Bézier curves.

[0038] Specifically, the positions of the foot structure 134 within a single step correspond to points in the wave curve. The starting point of the wave curve corresponds to the starting point of the lifting phase, and the ending point corresponds to the ending point of the falling phase. The acceleration at the starting and ending points of the wave curve is zero, meaning the acceleration of the foot structure 134 at the starting and ending points of the lifting and falling phases is zero, thus reducing the force on the foot structure 134 upon landing. The velocity of the foot structure 134 corresponding to any point in the wave curve is less than or equal to a first velocity threshold, which can be 0.5 m / s. This prevents the foot structure 134 from moving too fast, improving the stability of the leg mechanism 130. The portions of the wave curve corresponding to the lifting and falling phases are symmetrical, meaning the movement trajectories of the foot structure 134 are symmetrical during the lifting and falling phases. Figure 11 The diagram shows the motion trajectory of the foot structure 134. The rescue robot mouse 100 walks along the x-axis, and the lifting direction of the foot structure 134 is along the z-axis. The motion trajectory of the foot structure 134 is symmetrical during the lifting and falling phases. Verification has shown that the foot structure 134 moving according to this motion curve can reduce the impact force on it. The force sensor in the foot structure 134 detects a force value less than or equal to 10N, which reduces damage to the foot structure 134 and avoids damaging the working environment of the rescue robot mouse 100.

[0039] In some embodiments, optionally, such as Figure 2 and Figure 3 As shown, the torso mechanism 120 includes at least two torso bodies 121, which are connected by universal joints so that the two adjacent torso bodies 121 can swing relative to each other, and a plurality of leg mechanisms 130 located on the same side of the torso mechanism 120 are respectively mounted on different torso bodies 121.

[0040] In this embodiment, the structure of the torso mechanism 120 is defined. The torso mechanism 120 has a multi-segment structure, comprising at least two torsos 121, which are movably connected sequentially. Specifically, adjacent torsos 121 are connected by universal joints, which consist of a cross shaft, a universal joint fork, and a universal joint bearing. The universal joint bearing is a miniature deep groove ball bearing, and lithium-based wear-resistant grease is applied to the universal joint bearing to improve its rotational life. This allows the torso mechanism 120 to swing left and right by ±45° and bend longitudinally by ±30°, enabling the rescue robot mouse 100 to turn and move within curved pipes and narrow gaps. The housing of the torso 121 is made of insulating board, and at least one torso 121 has reserved wiring channels and component mounting space for mounting components such as controllers, batteries, and wireless transmission modules.

[0041] Furthermore, multiple leg mechanisms 130 are respectively installed on both sides of the torso mechanism 120. Multiple leg mechanisms 130 located on the same side of the torso mechanism 120 are respectively installed on different torso sections 121. On the one hand, the leg mechanisms 130 can support the torso section 121, and on the other hand, the torso mechanism 120 can be subjected to balanced forces to improve the stability of the rescue robot mouse 100.

[0042] In some embodiments, optionally, such as Figure 1 , Figure 2 and Figure 3 As shown, the head mechanism 110 includes: a head housing 111, which has a binocular mounting slot; a binocular camera 112, which is mounted in the binocular mounting slot, and is used to acquire images of the surrounding environment and is electrically connected to the controller; wherein, when the binocular camera 112 detects an obstacle within the target range, the controller plans an avoidance path according to the position of the obstacle and controls multiple leg mechanisms 130 to move according to the avoidance path in order to avoid the obstacle.

[0043] In this embodiment, the structure of the head mechanism 110 is defined. The head structure includes a head housing 111 and a binocular camera 112. The head housing 111 is made of a lightweight alloy, and a binocular mounting slot is provided on the head housing 111. The binocular mounting slot is located at the front end of the head housing 111, and the binocular camera 112 is mounted in the binocular mounting slot. Specifically, the binocular camera 112 can rotate with the head and is used to acquire images of the surrounding environment.

[0044] In one possible embodiment, such as Figure 2 , Figure 3 , Figure 8 , Figure 9 and Figure 10As shown, the head mechanism 110 is connected to the torso mechanism 120 via a three-degree-of-freedom wheel steering device 140. The three-degree-of-freedom wheel steering device 140 includes multiple head motors 141 and a flange 142. The multiple head motors 141 can be X-axis rotary motors, Y-axis rotary motors, and Z-axis rotary motors. The flange 142 is connected to the head mechanism 110. The X-axis rotary motors, Y-axis rotary motors, and Z-axis rotary motors are used to drive the flange 142 to perform multi-degree-of-freedom movements, thereby driving the head mechanism 110 to perform multi-degree-of-freedom movements, so as to realize the horizontal rotation and vertical pitching movements of the head mechanism 110 relative to the torso mechanism 120.

[0045] Furthermore, the binocular camera 112 is electrically connected to the controller, which can control the movement of the rescue robot mouse 100 based on the image information acquired by the binocular camera 112.

[0046] In one possible embodiment, the rescue robot mouse 100 can avoid obstacles based on image information acquired by the binocular camera 112. When the binocular camera 112 detects an obstacle within the target range, the controller plans an avoidance path based on the obstacle's position and controls multiple leg mechanisms 130 to move according to the avoidance path to avoid the obstacle.

[0047] In another possible embodiment, the rescue robot mouse 100 can move towards a target point based on image information acquired by the binocular camera 112. When the binocular camera 112 identifies a target point within the target range, the controller plans a movement path based on the location of the target point and controls the movement of multiple leg mechanisms 130 according to the movement path, so that the rescue robot mouse 100 can quickly move towards the target point. The target point can be the location of a target object or a break point inside a pipe, etc.

[0048] Furthermore, the head mechanism 110 also includes a beard structure, which is mounted on the head housing 111. The end of the beard structure is equipped with a tactile sensor, which is electrically connected to the controller. The tactile sensor can detect obstacles in the surrounding environment. Specifically, the surrounding environment can be a pipe. When the tactile sensor in the beard structure contacts the inner wall of the pipe, the controller receives a signal from the tactile sensor, determining that the beard structure of the rescue robot mouse 100 has contacted the inner wall of the pipe. The controller then adjusts the movement path of the rescue robot mouse 100 based on the detection result.

[0049] In some embodiments, optionally, such as Figure 1 , Figure 2 and Figure 3As shown, the head mechanism 110 also includes: a gas sensor 113, and the head housing 111 is also provided with a nose mounting slot. The gas sensor 113 is installed in the nose mounting slot. The gas sensor 113 is used to detect the gas composition in the surrounding environment and is electrically connected to the controller; an alarm, which is electrically connected to the controller; wherein, when the gas sensor 113 detects the presence of a target gas in the surrounding environment and the concentration of the target gas is greater than or equal to a concentration threshold, the controller controls the alarm to sound an alarm, and the controller records the detection result of the gas sensor 113 and the location information of the rescue robot mouse 100 when the gas sensor 113 detects a target gas concentration greater than or equal to a concentration threshold.

[0050] In this embodiment, the structure of the head mechanism 110 is further defined. The head mechanism 110 also includes a gas sensor 113, which is used to detect harmful gases in the surrounding environment. The head housing 111 has a nose mounting slot, and the gas sensor 113 is installed in the nose mounting slot. The gas sensor 113 can detect the gas composition of the surrounding environment to determine whether the target gas exists in the surrounding environment and whether the concentration of the target gas exceeds the standard. The target gas can be harmful gases such as carbon monoxide or sulfur dioxide.

[0051] Furthermore, the head mechanism 110 also includes an alarm. Both the gas sensor 113 and the alarm are electrically connected to the controller. When the gas sensor 113 detects the presence of a target gas in the surrounding environment, and the concentration of the target gas is greater than or equal to a concentration threshold, the controller controls the alarm to sound an alarm. Simultaneously, the controller records the detection results of the gas sensor 113, and also records the position of the rescue robot mouse 100 when the gas sensor 113 detects a target gas concentration greater than or equal to the concentration threshold. This allows the precise location of the harmful gas in the environment to be confirmed, enabling personnel to avoid areas where harmful gases are present and preventing poisoning.

[0052] In some embodiments, the head mechanism 110 may optionally include: a fourth motor, installed inside the head housing 111; and a pull rod, connected to the fourth motor and the binocular camera 112, wherein the fourth motor drives the binocular camera 112 to rotate via the pull rod.

[0053] In this embodiment, the structure of the head mechanism 110 is further defined. The head mechanism 110 also includes a fourth motor and a pull rod, which cooperate to drive the binocular camera 112 to rotate. Specifically, both the pull rod and the fourth motor are installed inside the head housing 111. The pull rod is connected to the binocular camera 112, and the fourth motor is connected to the pull rod. The fourth motor drives the binocular camera 112 to rotate through the pull rod, thereby expanding the observation range of the binocular camera 112. The fourth motor is connected to a controller, which controls the operation of the fourth motor, and can then control the binocular camera 112 to rotate to the corresponding angle according to actual needs. The controller receives the image information received by the binocular camera 112 to determine the three-dimensional coordinates of the target object, thereby locating obstacles or trapped persons.

[0054] In one possible embodiment, the fourth motor and the lever together form a servo lever structure, which fixes the binocular camera 112 and ensures that the binocular camera 112 is oriented in the same direction as the movement direction of the rescue robot mouse 100 or that the binocular camera 112 performs circular motion.

[0055] In some embodiments, optionally, the rescue robot mouse 100 further includes: a center of mass detector, installed on the torso mechanism 120, the center of mass detector being connected to a controller and used to detect the center of mass position of the rescue robot mouse 100, the controller controlling multiple leg mechanisms 130 to move according to at least one of the following rules: Rule 1: Multiple leg mechanisms 130 move sequentially, when one leg mechanism 130 moves, the projection of the area enclosed by the remaining unmoved leg mechanisms 130 on the horizontal plane is a stable region, the center of mass is moved between two adjacent leg mechanism 130 movements so that the projection of the center of mass on the horizontal plane is located within the stable region, the offset of the center of mass each time is less than or equal to the offset threshold; Rule 2: Multiple leg mechanisms 130 move sequentially, after two leg mechanism 130 movements, the center of mass is moved so that the projection of the center of mass on the horizontal plane is located within the stable region; Rule 3: Multiple leg mechanisms 130 move sequentially, the center of mass is moved synchronously each time a leg mechanism 130 moves so that the projection of the center of mass on the horizontal plane is located within the stable region.

[0056] In this embodiment, the movement mode of the rescue robot mouse 100 is defined. The rescue robot mouse 100 also includes a center of mass detector, which is mounted on the torso mechanism 120 and used to detect the center of mass position of the rescue robot mouse 100. Understandably, the position of the center of mass of the rescue robot mouse 100 will change during movement. If the displacement of the center of mass position is too large or the position of the center of mass is outside the safe range, it can easily lead to instability of the rescue robot mouse 100. The rescue robot mouse 100 moves through the cooperation of multiple leg mechanisms 130. Both the leg mechanisms 130 and the center of mass detector are electrically connected to a controller, which can control the operation of the leg mechanisms 130 according to the detection results of the center of mass detector. Specifically, the controller can control the multiple leg mechanisms 130 to move according to at least one of the following rules.

[0057] Specifically, the controller can control multiple leg mechanisms 130 to move according to Rule 1, which is as follows: Multiple leg mechanisms 130 move sequentially. When one leg mechanism 130 moves, the projection of the area enclosed by the remaining stationary leg mechanisms 130 onto the horizontal plane is the stable region. The center of mass moves between two adjacent movements of the leg mechanisms 130 so that the projection of the center of mass onto the horizontal plane is within the stable region. The offset of the center of mass each time is less than or equal to an offset threshold. In one possible embodiment, the rescue robot mouse 100 includes four leg mechanisms 130: a right front leg, a left front leg, a right hind leg, and a left hind leg. The controller controls the rescue robot mouse 100 to move according to the following sequence: right front leg swings → center of mass moves into the stable region → left front leg swings → center of mass moves into the stable region → right hind leg swings → center of mass moves into the stable region → left hind leg swings → center of mass moves into the stable region, and so on in a cyclical manner. Each action takes 1 second to execute, and one cycle of the above actions takes 8 seconds. During the movement of the rescue robot mouse 100, the center of mass sensor monitors the position of the center of mass of the rescue robot mouse 100 in real time to ensure that the offset of the center of mass after each movement is less than or equal to the offset threshold, which can be 5mm. This ensures that the rescue robot mouse 100 moves smoothly, and the stability margin of the rescue robot mouse 100 can reach greater than or equal to 10mm.

[0058] Furthermore, the controller can also control multiple leg mechanisms 130 to move according to Rule 2, which is as follows: Multiple leg mechanisms 130 move sequentially. After two movements of a leg mechanism 130, the center of mass is moved so that the projection of the center of mass on the horizontal plane is within a stable region. In one possible embodiment, the rescue robot mouse 100 includes four leg mechanisms 130. The controller first controls two of the four leg mechanisms 130 to move sequentially, then moves the center of mass for the first time, then controls the other two leg mechanisms 130 to move sequentially, and then moves the center of mass for the second time. The movement time of each leg mechanism 130 and the duration of each movement of the center of mass are both 1 second, and one cycle of completing the above actions is 6 seconds. The rescue robot mouse 100 moving using this rule can achieve a stability margin greater than or equal to 8 mm. Compared to Rule 1, following Rule 2 shortens the duration of each cycle, and the stability margin also meets the operational requirements, thus achieving a balance between efficiency and stability.

[0059] Furthermore, the controller can also control multiple leg mechanisms 130 to move according to Rule 3, which is as follows: Multiple leg mechanisms 130 move sequentially, and each time a leg mechanism 130 moves, its center of mass moves synchronously so that the projection of the center of mass on the horizontal plane is within a stable region. In one possible embodiment, the rescue robot mouse 100 includes four leg mechanisms 130. The controller controls two of the four leg mechanisms 130 to move simultaneously, and when these two leg mechanisms 130 move, their center of mass moves simultaneously. Then, the controller controls the other two leg mechanisms 130 to move simultaneously, and when these other two leg mechanisms 130 move, their center of mass moves simultaneously. Each movement of a leg mechanism 130 lasts for 1 second, and one cycle of the above actions is 2 seconds. Using this rule for movement can shorten the duration of each cycle, thereby increasing the movement speed of the rescue robot mouse 100.

[0060] In some embodiments, optionally, the rescue robot mouse 100 further includes: a speed sensor mounted on the torso mechanism 120, the speed sensor being connected to a controller and used to detect the moving speed of the rescue robot mouse 100; wherein, multiple leg mechanisms 130 move sequentially, the speed sensor detects the moving speed of the rescue robot mouse 100 in real time, and the center of mass detector detects the position of the center of mass of the rescue robot mouse 100 in real time to confirm whether the center of mass is located at the target position. When the moving speed of the rescue robot mouse 100 is less than a second speed threshold, and / or the center of mass is not located at the target position, the controller adjusts the action of at least some of the leg mechanisms 130 according to the detection results of the speed sensor and the center of mass detector, so that the moving speed of the rescue robot mouse 100 is greater than or equal to the second speed threshold, and the center of mass is located at the target position, the target position being within a stable region or the edge of a stable region.

[0061] In this embodiment, the movement mode of the rescue robotic mouse 100 is further defined. The rescue robotic mouse 100 also includes a speed sensor mounted on the torso mechanism 120 and used to detect the movement speed of the rescue robotic mouse 100. Understandably, if the movement speed of the rescue robotic mouse 100 is too fast, it may easily lead to instability. The speed sensor is electrically connected to a controller, which can control the operation of the leg structure based on the detection results of the speed sensor and the center of mass detector.

[0062] Specifically, multiple leg mechanisms 130 move sequentially. Speed ​​sensors detect the movement speed of the rescue robot mouse 100 in real time, and a center of mass detector detects the position of the center of mass of the rescue robot mouse 100 in real time to confirm whether the center of mass is located at the target position. When the movement speed of the rescue robot mouse 100 is less than the second speed threshold and / or the center of mass is not located at the target position, the controller adjusts the action of at least some of the leg mechanisms 130 according to the detection results of the speed sensors and the center of mass detector, so that the movement speed of the rescue robot mouse 100 is greater than or equal to the second speed threshold, and the center of mass is located at the target position, which is within the stable area or the edge of the stable area.

[0063] In one possible embodiment, the rescue robot mouse 100 includes four leg mechanisms 130, which move alternately to complete walking actions. The controller is programmed to transform the rectangle formed by the four leg mechanisms 130 into a trapezoid, and the duration of each leg mechanism 130's single movement is set to 0.5 seconds. In each cycle, the four leg mechanisms 130 move sequentially once, and each cycle lasts 2 seconds. The controller controls the four leg mechanisms 130 to move alternately to achieve trapezoidal gait switching. A speed sensor monitors the movement speed of the rescue robot mouse 100 in real time. When the movement speed of the rescue robot mouse 100 is less than a second speed threshold, the controller adjusts the movements of the leg mechanisms 130 to increase the movement speed of the rescue robot mouse 100. The second speed threshold can be 0.2 m / s. Furthermore, during the movement of the rescue robot mouse 100, its center of mass needs to remain at the target position. If the center of mass deviates from the target position, the rescue robot mouse 100 may not be able to maintain stability. Therefore, when the center of mass detector detects that the center of mass of the rescue robot mouse 100 deviates from the target position, the controller adjusts the movement of the leg mechanism 130 to bring the center of mass back to the target position. Specifically, when one of the four leg mechanisms 130 moves, the other three leg mechanisms 130 form a stable region, with the target position located within or at the edge of this stable region. The stability margin of this gait is greater than or equal to 5 mm.

[0064] In one possible embodiment, the usage procedure of the rescue robot mouse 100 is as follows: 1. Check the status of the rescue robot mouse 100: ensure that the battery is fully charged, all sensors are calibrated, and all motors are operating normally; 2. Adjust the threshold of the gas sensor 113 and the shooting parameters of the binocular camera 112 according to the type of pipe or narrow detection area (e.g., the waterproof mode needs to be turned on for sewage pipes, and the LED needs to be turned off for natural gas pipes). 1. Lights should be kept away from electrical or static sparks; sparks should be avoided in areas with gas leaks. 2. The rescue robot mouse 100 has a built-in wireless transmission module, which is electrically connected to the controller. The wireless transmission module can also connect to the ground control console. A connection is established between the rescue robot mouse 100 and the ground control console via the wireless transmission module. Detection data can be transmitted from the controller to the wireless transmission module, and then sent to the ground control console via the wireless transmission module to ensure transmission stability (transmission distance ≥ 50m, delay ≤ 0.5s). The ground control console can also send control commands to the controller via the wireless transmission module to control the movements of the rescue robot mouse 100. 3. After the rescue robot mouse 100 is placed in the pipe, it selects its movement mode according to the smoothness of the pipe's inner wall: on smooth sections, it switches to wheel-like movement mode (moving speed 0.3m / s); on uneven sections, it switches to leg-like movement mode (using rule one for movement to ensure stability). 4. The binocular camera 112 in the head mechanism 110 is implemented... The system continuously images the inner wall of the pipeline. The ground control console can remotely adjust the angle of the head mechanism 110 via the wheel steering device, thereby adjusting the angle of the binocular camera 112 to comprehensively observe the pipeline condition; 6. The gas sensor 113 continuously monitors the gas concentration. If an anomaly is detected, the location is immediately recorded (located by the encoder built into the rescue robot mouse 100, which is a rotary encoder of the walking wheel 132. The positioning accuracy is ±10mm when moving by wheels, and ±20mm when moving by legs, combined with visual positioning correction by the binocular camera 112) and the rescue robot mouse 100 is paused; 7. After the detection is completed, the rescue robot mouse 100 exits the pipeline, and the controller automatically exports the detection data (images, gas concentration, location of the damage point) and transmits it to the computer through the system; 8. The staff analyzes the data using dedicated software to generate a detection report, marking the location of the damage point, the type of obstacle, the distribution of harmful gases, information on trapped persons, etc., to provide a basis for detection and rescue.

[0065] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection; "link" can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0068] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rescue robotic mouse, characterized in that, include: Head structure; A torso mechanism is movably connected to the head mechanism, and the head mechanism is capable of multi-degree-of-freedom movement relative to the torso mechanism. Multiple leg mechanisms are movably connected to both sides of the torso mechanism, and each leg mechanism includes: The thigh mechanism is pivotally mounted to the torso mechanism; The walking wheel is rotatably mounted on the end of the thigh mechanism away from the torso mechanism; The lower leg mechanism is pivotally connected to the end of the thigh mechanism away from the torso mechanism, and the end of the lower leg mechanism away from the thigh mechanism is provided with a foot structure; A telescopic rod is capable of telescopic movement. One end of the telescopic rod is rotatably connected to the torso mechanism, and the other end is connected to the lower leg mechanism. The telescopic rod can cause the lower leg mechanism to swing relative to the thigh mechanism. A controller, installed on the torso mechanism, is capable of controlling the telescopic rod to swing the lower leg mechanism relative to the thigh mechanism, thereby adjusting the position of the foot structure relative to the walking wheel; Specifically, when the height of the foot structure is higher than the walking wheel, the walking wheel can contact the walking surface, and the rescue robot mouse moves by the walking wheel; when the height of the foot structure is lower than the walking wheel, the foot structure can contact the walking surface, and the rescue robot mouse moves by the foot structure.

2. The rescue robot mouse according to claim 1, characterized in that, Any of the leg mechanisms further includes: A first motor is connected to the thigh mechanism, and the first motor is used to drive the thigh mechanism to swing in multiple directions relative to the torso mechanism; A second motor is connected to the walking wheel, and the second motor is used to drive the walking wheel to rotate relative to the thigh mechanism; A third motor is connected to the telescopic rod, and the third motor is used to drive the telescopic rod to swing relative to the torso mechanism.

3. The rescue robot mouse according to claim 2, characterized in that, Any of the leg mechanisms further includes: A force sensor is installed on the foot structure and is electrically connected to the controller. During the movement of the rescue robot mouse through the foot structure, the foot structure moves one step at a time in sequence. The duration of each step is a unit time. Each step of the foot structure includes a lifting phase and a falling phase. The duration of both the lifting phase and the falling phase is 0.5 unit times. Specifically, after the foot structure transitions from the lifting phase to the falling phase, if the force sensor detects a force value greater than or equal to a first force value within 0.5 unit time intervals, the controller determines that the walking surface is a raised terrain, and the controller controls the telescopic rod to stop extending; if the force sensor does not detect a force value within one unit time interval, the controller determines that the walking surface is a concave terrain, and the controller controls the telescopic rod to continue extending until the force sensor detects a force value, and the controller controls the telescopic rod to stop extending.

4. The rescue robot mouse according to claim 3, characterized in that, The controller has a pre-stored foot motion curve, which includes multiple waveband curves. Each waveband curve corresponds to a single step length of the foot structure. The controller controls the movement of the foot structure according to the foot motion curve. Wherein, the starting point of the band curve corresponds to the starting point of the lifting phase, the ending point of the band curve corresponds to the ending point of the falling phase, the acceleration of the starting point and the ending point of the band curve are both zero, the velocity of the foot structure corresponding to any point in the band curve is less than or equal to a first velocity threshold, and the part of the band curve corresponding to the lifting phase and the part of the band curve corresponding to the falling phase are symmetrical.

5. The rescue robot mouse according to any one of claims 1 to 4, characterized in that, The trunk mechanism includes: At least two torso sections are connected by universal joints to allow the adjacent torso sections to swing relative to each other, and multiple leg mechanisms located on the same side of the torso structure are respectively mounted on different torso sections.

6. The rescue robot mouse according to any one of claims 1 to 4, characterized in that, The head mechanism includes: A head housing, wherein the head housing is provided with a binocular mounting slot; A binocular camera is installed in the binocular mounting slot. The binocular camera is used to acquire images of the surrounding environment and is electrically connected to the controller. When the binocular camera detects an obstacle within the target range, the controller plans an avoidance path based on the obstacle's position and controls the movement of the plurality of leg mechanisms according to the avoidance path to avoid the obstacle.

7. The rescue robot mouse according to claim 6, characterized in that, The head mechanism also includes: The head housing also has a nose mounting slot for the gas sensor, which is installed in the nose mounting slot. The gas sensor is used to detect the gas composition in the surrounding environment and is electrically connected to the controller. The alarm is electrically connected to the controller; Specifically, when the gas sensor detects the presence of a target gas in the surrounding environment and the concentration of the target gas is greater than or equal to a concentration threshold, the controller controls the alarm to sound an alarm, and the controller records the detection result of the gas sensor and the location information of the rescue robot mouse when the gas sensor detects a target gas with a concentration greater than or equal to the concentration threshold.

8. The rescue robot mouse according to claim 6, characterized in that, The head mechanism also includes: The fourth motor is installed inside the head housing; A pull rod is connected to the fourth motor and the binocular camera. The fourth motor drives the binocular camera to rotate through the pull rod.

9. The rescue robot mouse according to any one of claims 1 to 4, characterized in that, Also includes: A center of mass detector is installed on the torso mechanism. The center of mass detector is connected to the controller and is used to detect the center of mass position of the rescue robot mouse. The controller controls the multiple leg mechanisms to move according to at least one of the following rules. Rule 1: Multiple leg mechanisms move sequentially. When one leg mechanism moves, the projection of the area enclosed by the remaining unmoved leg mechanisms onto the horizontal plane is a stable region. The center of mass is moved between two adjacent leg mechanism movements so that the projection of the center of mass onto the horizontal plane is located within the stable region. The offset of the center of mass each time is less than or equal to the offset threshold. Rule 2: Multiple leg mechanisms move sequentially. After two leg mechanism movements, the center of mass is moved so that the projection of the center of mass on the horizontal plane is located within the stable region. Rule 3: Multiple leg mechanisms move sequentially, and each time a leg mechanism moves, the center of mass moves synchronously so that the projection of the center of mass on the horizontal plane is located within the stable region.

10. The rescue robot mouse according to claim 9, characterized in that, Also includes: A speed sensor is installed on the torso mechanism, the speed sensor is connected to the controller, and is used to detect the movement speed of the rescue robot mouse; In this system, multiple leg mechanisms move sequentially. The speed sensor detects the movement speed of the rescue robot mouse in real time, and the center of mass detector detects the position of the center of mass of the rescue robot mouse in real time to confirm whether the center of mass is located at the target position. When the movement speed of the rescue robot mouse is less than a second speed threshold, and / or the center of mass is not located at the target position, the controller adjusts the movement of at least some of the leg mechanisms according to the detection results of the speed sensor and the center of mass detector, so that the movement speed of the rescue robot mouse is greater than or equal to the second speed threshold, and the center of mass is located at the target position, which is within the stable region or at the edge of the stable region.

Images