Multi-scene emergency rescue quadruped robot

Abstract

The application discloses a multi-scene emergency rescue four-legged robot, which comprises a robot main body, four supporting feet are arranged on the robot main body, each supporting foot comprises a joint one, a joint two and a walking wheel, the joint one and the joint two are connected together through mutual hinging, the end of the joint one is hinged on the robot main body, and the end of the joint two is connected with the walking wheel. The driving motor, the linear module and the joint one are arranged in the joint one, so that the driving motor can drive the wheel movement and the foot movement, the weight of the joint two is reduced, the power consumption is reduced, the endurance time of the device is longer, and the robot disclosed by the application can be driven by using one motor and a linear module, so that the cost is lower compared with the robot in the prior art.

Description

Technical Field

[0001] This invention relates to the field of robotics technology, specifically to a quadruped robot for multi-scenario emergency rescue. Background Technology

[0002] In the field of emergency rescue, robotics is gradually replacing or assisting human beings in performing tasks in dangerous and complex environments. Existing rescue robots mostly adopt wheeled, tracked, or legged structures, but they generally suffer from a single mode of movement. Especially in variable scenarios such as ruins, mountains, and narrow passages, traditional robots often struggle to meet the needs of flexible passage, stable transport, and long-term operation.

[0003] In the existing technology, although there are robots that combine wheels and legs, their structures can be divided into two categories: one is a wheel-leg separation type, in which the wheels and legs are installed and arranged separately. This form occupies more space and the drive structure is more complex (such as the structure disclosed in application number: CN202311256832.5); the other is a wheel-leg integrated structure (the walking leg has a large arm and a forearm, which are hinged to each other, and the large arm is connected to the main body), in which the motion wheel is set at the end of the forearm of the walking leg. In this form, the motor that drives the wheel motion is usually arranged inside the forearm to ensure smoother wheel drive.

[0004] Regarding the wheel-leg integrated structure, when it is implemented, because the motor is located inside the forearm, the swinging of the forearm during leg movement consumes more power, which greatly affects the robot's battery life and limits the robot's application (such as the structure disclosed in application number CN202310578890.3). Summary of the Invention

[0005] To address this issue, the present invention provides a quadruped robot for multi-scenario emergency rescue, which solves the problem in the prior art where the motor is located inside the forearm, causing the forearm to swing during leg movement and consuming more power, which greatly affects the robot's battery life and limits its application.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A quadruped robot for multi-scenario emergency rescue includes a robot body with four supporting legs. Each supporting leg includes a joint one, a joint two, and a walking wheel. The joints one and two are hinged together, and the end of the joint one is hinged to the robot body, while the end of the joint two is connected to the walking wheel. The robot body is equipped with a control module, a sensing module, an energy module, and a communication module.

[0008] The first joint and the second joint are an integrated joint module. The first joint and the second joint have a built-in frameless torque motor and a low backlash reducer, and integrate dual encoder feedback.

[0009] The walking wheels are a composite structure of wheel and foot, and can switch between wheel rolling mode or foot walking mode according to terrain instructions;

[0010] A drive motor and a linear module are installed inside joint one. The fixed end of the linear module is fixed to the inner wall of joint one, and the extended end of the linear module is connected to the drive motor. A drive gear is fixed to the output end of the drive motor. A rotating shaft is fixed to joint two, and the rotating shaft passes through joint one. A first driven gear is installed inside joint one. The first driven gear is sleeved outside the rotating shaft and can rotate. A transmission wheel is installed inside joint two. The first driven gear and the transmission wheel mesh with each other, and the transmission wheel is connected to the wheel axle through a transmission chain.

[0011] Preferably, the sensing module includes:

[0012] The environmental perception unit, including lidar, depth camera, ultrasonic sensor and inertial measurement unit, is used to build environmental maps and detect obstacles and terrain features in real time;

[0013] The task perception unit includes a thermal imaging camera, a gas sensor, and an audio acquisition device, used to identify vital signs, detect hazardous gas sources, and collect environmental sounds.

[0014] The self-state sensing unit is used to monitor the robot's own posture, joint torque, battery level, and system temperature.

[0015] Preferably, the control module includes:

[0016] The motion control unit, based on reinforcement learning algorithms, enables adaptive gait generation, terrain adaptation, dynamic balance, and fall recovery.

[0017] The navigation planning unit combines SLAM algorithm and multimodal perception data to perform global path planning and local obstacle avoidance.

[0018] The task execution unit integrates visual recognition and AI decision-making models, supporting autonomous target recognition, environmental detection, and collaborative operations.

[0019] The mode switching unit is used to automatically or manually switch between wheeled and legged movement modes according to terrain complexity or mission requirements.

[0020] Preferably, the robot body further integrates an execution module, including:

[0021] The cargo platform unit is located on the back of the robot's main body;

[0022] Emergency operation units are equipped with demolition tools, fire extinguishing equipment, or medical supply delivery mechanisms.

[0023] Preferably, the energy module includes:

[0024] High-energy-density battery pack, supporting quick plug-and-play replacement;

[0025] The intelligent power management system is used to realize multi-channel voltage output, charge and discharge protection and thermal management;

[0026] The autonomous charging unit includes a charging docking interface, a charging pile positioning subsystem, an automatic docking mechanism, and a charging status monitoring and management system.

[0027] Preferably, the charging docking interface is located on the side or bottom of the robot body and supports conductive or wireless inductive charging;

[0028] The charging pile positioning subsystem automatically locates and navigates to the charging pile based on vision or radio frequency identification.

[0029] The automatic docking mechanism enables the robot to achieve physical alignment and electrical connection with the charging pile.

[0030] Preferably, the communication module has:

[0031] Multi-link redundant communication units, including 5G / 4G, Wi-Fi, self-organizing network and satellite communication interfaces;

[0032] The real-time video and data transmission unit enables low-latency remote control and status monitoring;

[0033] Edge computing units are capable of performing local data processing and decision-making in environments with weak or no network coverage.

[0034] Preferably, an arc-shaped second driven gear is fixed to the outside of the rotating shaft. When the linear module extends, the drive gear can move forward and separate from the first driven gear before meshing with the second driven gear.

[0035] Preferably, one end of a spring is provided on the inner wall of joint one, and the other end of the spring is connected to a positioning tooth. The positioning tooth can mesh with the second driven gear. A positioning rod is fixedly connected to the inner wall of joint one and inserted into the positioning tooth. A toggle rod is fixedly connected to the extended end of the linear module. The toggle rod can press on the positioning tooth to push the positioning tooth.

[0036] The present invention has the following advantages:

[0037] By incorporating a drive motor and a linear module into joint one, the drive motor can drive not only wheeled movement but also legged movement, thereby reducing the weight of joint two, reducing power consumption, and extending the battery life of the device. Furthermore, the technical solution disclosed in this application can drive wheeled and legged movement using only one motor and a linear module, which is more cost-effective than robots in the prior art. Attached Figure Description

[0038] To more intuitively illustrate the prior art and this application, exemplary drawings are provided below. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing this application; for example, based on the technical concept disclosed in this application and the exemplary drawings, those skilled in the art are able to easily make conventional adjustments or further optimizations to the addition / reduction / classification, specific shapes, positional relationships, connection methods, size ratios, etc. of certain units (components).

[0039] Figure 1 This is a structural schematic diagram of the quadruped robot for multi-scenario emergency rescue provided in the embodiments of this application.

[0040] Figure 2 A block diagram of a multi-scenario emergency rescue quadruped robot provided in the embodiments of this application.

[0041] Figure 3 This is a schematic diagram of the cooperation structure of joint one and joint two of the quadruped robot for multi-scenario emergency rescue provided in the embodiments of this application.

[0042] In the diagram: 1. Robot body; 2. Joint 1; 3. Joint 2; 4. Walking wheel; 5. Axle; 6. Drive motor; 7. Drive gear; 8. Linear module; 9. First driven gear; 10. Rotating shaft; 11. Second driven gear; 12. Positioning gear; 13. Spring; 14. Actuating lever; 15. Rotating wheel; 16. Transmission chain. Detailed Implementation

[0043] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that these embodiments are merely for further explanation of the present invention and should not be construed as limiting the scope of protection of the present invention. Technical engineers in the field can make some non-essential improvements and adjustments to the present invention based on the above-described content. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see Figure 1-3 A quadruped robot for multi-scenario emergency rescue includes a robot body 1 with four supporting legs. Each supporting leg includes a joint 1 2, a joint 2 3, and a walking wheel 4. The joint 1 2 and the joint 2 3 are hinged together, and the end of the joint 1 2 is hinged to the robot body 1. The end of the joint 2 3 is connected to the walking wheel 4. The robot body 1 is equipped with a control module, a sensing module, an energy module, and a communication module.

[0045] The first joint 2 and the second joint 3 are an integrated joint module. The first joint 2 and the second joint 3 have built-in frameless torque motors and low backlash reducers, and integrate dual encoder feedback.

[0046] The walking wheel 4 is a composite structure of wheel and foot, which can switch between wheel rolling mode or foot walking mode according to terrain instructions.

[0047] In operation, the control system of this invention instructs the joint module to switch between "rolling" and "pick-up-step" modes based on the flatness of the terrain or the height of obstacles, thereby achieving a seamless transition between high-speed cruising and high maneuverability. The high-density integrated joint module integrates power, transmission, and sensing, offering fast response, precise control, and a compact structure. This enhances the robot's terrain adaptability and movement efficiency, enabling it to maneuver quickly on flat surfaces like a wheeled robot and traverse complex obstacles such as ditches and stairs like a legged robot, overcoming the limitations of single-mode robots in complex rescue scenarios.

[0048] This structure boasts advantages such as light weight, high load capacity, long battery life, strong protection, and flexible and stable movement. It incorporates a built-in reinforcement learning motion model, possessing capabilities such as impact resistance, disturbance resistance, fall recovery, and dynamic self-adaptation, enabling it to autonomously adapt to various terrains and road conditions. Equipped with vision, laser, ultrasonic, and inertial navigation sensing functions, it supports environmental detection, autonomous navigation, and target recognition. It provides abundant power supply and communication interfaces to meet the application needs of security patrols, power line inspections, logistics transportation, mission handling, and personnel search and rescue.

[0049] The wheeled design also enhances the robot's autonomous operation capabilities and task execution efficiency, reducing its reliance on continuous external control. This allows it to independently complete exploration, arrival, and initial response tasks even in emergency situations where communication is unstable or command is delayed.

[0050] The wheeled design ensures quiet operation without any creaking noise, making it suitable for low-noise environments such as offices, shopping malls, and hospitals. The wheel-foot structure provides greater stability and less wobbling, adapting to various complex surfaces, including smooth floors and narrow passages.

[0051] Furthermore, the design parameters of this robot can be referenced as follows: Standing dimensions (length × width × height) approximately 80 × 50 × 60 cm; Folded dimensions approximately 89 × 50 × 26 cm; Weight approximately 30 kg (including battery); Battery life of over 2 hours; Continuous walking load of 20-30 kg; Maximum climbing drop height > 22 cm; Slope walking ability > 45°; Legged walking speed > 4 m / s; Wheeled walking speed > 8 m / s; Obstacle crossing height 80 cm; Ditch crossing width 80 cm; Operating temperature -20-55℃; Protection rating IP67; External expansion interfaces: Communication interfaces: Gigabit Ethernet port, USB interface, serial port; Power interface: 5V / 12 / 24V / 48V 480W.

[0052] The sensing module includes:

[0053] The environmental perception unit, including lidar, depth camera, ultrasonic sensor and inertial measurement unit, is used to build environmental maps and detect obstacles and terrain features in real time;

[0054] The task perception unit includes a thermal imaging camera, a gas sensor, and an audio acquisition device, used to identify vital signs, detect hazardous gas sources, and collect environmental sounds.

[0055] The self-state sensing unit is used to monitor the robot's own posture, joint torque, battery level, and system temperature.

[0056] By using environmental perception units, task perception units, and self-state perception units, multi-dimensional and high-precision perception of rescue scenarios is achieved. This not only provides a data foundation for autonomous navigation and obstacle avoidance but also enables the direct detection of signs of life and sources of danger, significantly improving the targeting and safety of search and rescue.

[0057] The control module enhances the robot's autonomous operation capabilities and task execution efficiency, reducing its reliance on continuous external control. This allows it to independently complete exploration, arrival, and initial response tasks even in emergency situations with unstable communication or delayed command. It includes:

[0058] The motion control unit, based on reinforcement learning algorithms, enables adaptive gait generation, terrain adaptation, dynamic balance, and fall recovery.

[0059] The navigation planning unit combines SLAM algorithm and multimodal perception data to perform global path planning and local obstacle avoidance.

[0060] The task execution unit integrates visual recognition and AI decision-making models, supporting autonomous target recognition, environmental detection, and collaborative operations.

[0061] The mode switching unit is used to automatically or manually switch between wheeled and legged movement modes according to terrain complexity or mission requirements.

[0062] The robot body 1 also integrates an execution module, including:

[0063] The loading platform unit is located on the back of the robot body 1. The loading platform can be a horizontal platform. Limiting components (baffles, robotic arms, etc.) can also be set on both sides of the loading platform to ensure that the placed items will not fall off.

[0064] The emergency operation unit is equipped with demolition tools, fire extinguishing devices, or medical supply delivery mechanisms. When implemented, it can be a cavity inside the robot body 1 or a structure with a shelf set under the abdomen of the robot body 1. There are no restrictions here.

[0065] The energy module includes:

[0066] A high-energy-density battery pack, to ensure long battery life, is located inside the robot body 1 and supports quick plug-and-play replacement;

[0067] The intelligent power management system is used to realize multi-channel voltage output, charge and discharge protection and thermal management;

[0068] The autonomous charging unit includes a charging docking interface, a charging pile positioning subsystem, an automatic docking mechanism, and a charging status monitoring and management system.

[0069] When the battery power is low, the robot can initiate a charging station positioning program, autonomously navigate to the charging station, and complete the physical connection through an automatic docking mechanism to begin charging, all without human intervention. Combining high-energy-density batteries with intelligent power management constitutes a complete energy solution, solving the bottleneck problem of robot endurance in field or long-term rescue missions. This ensures 24-hour uninterrupted rotation operations at large disaster sites, greatly improving the durability and continuity of mission coverage.

[0070] The charging docking interface is located on the side or bottom of the robot body and supports conductive or wireless inductive charging.

[0071] The charging pile positioning subsystem automatically locates and navigates to the charging pile based on vision or radio frequency identification.

[0072] The automatic docking mechanism enables the robot to achieve physical alignment and electrical connection with the charging pile.

[0073] The communication module has:

[0074] The multi-link redundant communication unit includes 5G / 4G, Wi-Fi, self-organizing network and satellite communication interfaces. Through the multi-link redundant communication design, it can automatically switch to other links (such as self-organizing network or satellite communication) when one network (such as the public network) is interrupted.

[0075] The real-time video and data transmission unit enables low-latency remote control and status monitoring;

[0076] Edge computing units are capable of local data processing and decision-making in weak or no network environments. Edge computing capabilities allow for the local processing of critical data and autonomous decision-making even when communication is completely interrupted.

[0077] It enhances the robot's survival and communication capabilities in environments where communication infrastructure is damaged after a disaster, ensuring uninterrupted transmission of control commands, environmental videos, and critical data between the command center and the robot, and providing reliable support for remote command and decision-making.

[0078] In traditional wheel-foot composite structures, the driving mechanism for the walking wheel 4 is usually a motor installed inside joint 2 3. However, this increases the weight of joint 2 3. When dealing with complex road conditions, the walking mode is mainly foot-based, which greatly increases power consumption. To solve this technical problem, the following technical solution is provided: A drive motor 6 and a linear module 8 are installed inside joint 1 2. The fixed end of the linear module 8 is fixed to the inner wall of joint 1 2, and the extended end of the linear module 8 is connected to the drive motor 6. A drive gear 7 is fixed to the output end of the drive motor 6. A rotating shaft 10 is fixed to joint 2 3, and the rotating shaft 10 passes through joint 1 2. A first driven gear 9 is installed inside joint 1 2. The first driven gear 9 is sleeved outside the rotating shaft 10 and can rotate. A transmission wheel 15 is installed inside joint 2 3. The first driven gear 9 and the transmission wheel 15 mesh with each other, and the transmission wheel 15 is connected to the wheel axle 5 through a transmission chain 16. The drive chain 16 can be a belt or a chain, and the traveling wheel 4 is installed together with the wheel axle 5.

[0079] The rotating shaft 10 is externally fixed with an arc-shaped second driven gear 11. When the linear module 8 extends, the drive gear 7 can move forward and separate from the first driven gear 9 and then mesh with the second driven gear 11.

[0080] By incorporating a drive motor 6 and a linear module 8 into joint 2, the drive motor 6 can drive not only wheel movement but also foot movement, thereby reducing the weight of joint 3, reducing power consumption, and extending the battery life of the device.

[0081] One end of a spring 13 is provided on the inner wall of joint 2, and the other end of the spring 13 is connected to a positioning tooth 12. The positioning tooth 12 can mesh with the second driven gear 11. A positioning rod is fixedly connected to the inner wall of joint 2 and inserted into the positioning tooth 12, thereby ensuring the movement trajectory and stability of the positioning tooth 12. That is, when the positioning tooth 12 is engaged with the second driven gear 11, the positioning tooth 12 can ensure the stability of the rotating shaft 10 and joint 2 3 (no shaking or small shaking amplitude). A toggle rod 14 is fixedly connected to the extended end of the linear module 8. The toggle rod 14 can press on the positioning tooth 12 to push the positioning tooth 12. When the drive gear 7 meshes with the second driven gear 11, the toggle rod 14 can push the positioning tooth 12 to the position where it is separated from the second driven gear 11.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A quadruped robot for multi-scenario emergency rescue, characterized in that, The robot body (1) includes a robot body (1) with four supporting feet. Each supporting foot includes a joint (2), a joint (3) and a walking wheel (4). The joint (2) and the joint (3) are hinged together. The end of the joint (2) is hinged to the robot body (1), and the end of the joint (3) is connected to the walking wheel (4). The robot body (1) is equipped with a control module, a sensing module, an energy module and a communication module. The first joint (2) and the second joint (3) are an integrated joint module. The first joint (2) and the second joint (3) are equipped with a frameless torque motor and a low backlash reducer, and integrate dual encoder feedback. The walking wheel (4) is a composite structure of wheel and foot, which can switch to wheel rolling mode or foot walking mode according to terrain instructions; A drive motor (6) and a linear module (8) are provided in joint one (2). The fixed end of the linear module (8) is fixed to the inner wall of joint one (2). The extended end of the linear module (8) is connected to the drive motor (6). A drive gear (7) is fixed to the output end of the drive motor (6). A rotating shaft (10) is fixed to joint two (3). The rotating shaft (10) passes through joint one (2). A first driven gear (9) is provided in joint one (2). The first driven gear (9) is sleeved outside the rotating shaft (10) and can rotate. A transmission wheel (15) is provided in joint two (3). The first driven gear (9) and the transmission wheel (15) mesh with each other, and the transmission wheel (15) is connected to the wheel axle (5) through the transmission chain (16).

2. The multi-scenario emergency rescue quadruped robot according to claim 1, characterized in that, The sensing module includes: The environmental perception unit, including lidar, depth camera, ultrasonic sensor and inertial measurement unit, is used to build environmental maps and detect obstacles and terrain features in real time; The task perception unit includes a thermal imaging camera, a gas sensor, and an audio acquisition device, used to identify vital signs, detect hazardous gas sources, and collect environmental sounds. The self-state sensing unit is used to monitor the robot's own posture, joint torque, battery level, and system temperature.

3. The multi-scenario emergency rescue quadruped robot according to claim 1, characterized in that, The control module includes: The motion control unit, based on reinforcement learning algorithms, enables adaptive gait generation, terrain adaptation, dynamic balance, and fall recovery. The navigation planning unit combines SLAM algorithm and multimodal perception data to perform global path planning and local obstacle avoidance. The task execution unit integrates visual recognition and AI decision-making models, supporting autonomous target recognition, environmental detection, and collaborative operations. The mode switching unit is used to automatically or manually switch between wheeled and legged movement modes according to terrain complexity or mission requirements.

4. The multi-scenario emergency rescue quadruped robot according to claim 1, characterized in that, The robot body (1) also includes an execution module, comprising: The cargo platform unit is located on the back of the robot body (1); Emergency operation units are equipped with demolition tools, fire extinguishing equipment, or medical supply delivery mechanisms.

5. The multi-scenario emergency rescue quadruped robot according to claim 2, characterized in that, The energy module includes: The battery pack is located inside the robot body (1) and can be quickly plugged in and replaced; The intelligent power management system is used to realize multi-channel voltage output, charge and discharge protection and thermal management; The autonomous charging unit includes a charging docking interface, a charging pile positioning subsystem, an automatic docking mechanism, and a charging status monitoring and management system.

6. The multi-scenario emergency rescue quadruped robot according to claim 5, characterized in that, The charging docking interface is located on the side or bottom of the robot body and supports conductive or wireless inductive charging. The charging pile positioning subsystem automatically locates and navigates to the charging pile based on vision or radio frequency identification. The automatic docking mechanism enables the robot to achieve physical alignment and electrical connection with the charging pile.

7. The multi-scenario emergency rescue quadruped robot according to claim 1, characterized in that, The communication module has: Multi-link redundant communication units, including 5G / 4G, Wi-Fi, self-organizing network and satellite communication interfaces; The real-time video and data transmission unit enables low-latency remote control and status monitoring; Edge computing units are capable of performing local data processing and decision-making in environments with weak or no network coverage.

8. The multi-scenario emergency rescue quadruped robot according to claim 1, characterized in that, The rotating shaft (10) is externally fixed with an arc-shaped second driven gear (11). When the linear module (8) extends, the drive gear (7) can move forward and separate from the first driven gear (9) and then mesh with the second driven gear (11).

9. The multi-scenario emergency rescue quadruped robot according to claim 8, characterized in that, One end of a spring (13) is provided on the inner wall of joint 1 (2), and the other end of the spring (13) is connected to the positioning tooth (12). The positioning tooth (12) can mesh with the second driven gear (11). A positioning rod is fixedly connected to the inner wall of joint 1 (2), and the positioning rod is inserted into the positioning tooth (12). A toggle rod (14) is fixedly connected to the extended end of the linear module (8). The toggle rod (14) can press on the positioning tooth (12) to push the positioning tooth (12).

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