Multipurpose emergency robot

Abstract

The utility model relates to the field of unmanned emergency robot structures, and particularly discloses a multipurpose emergency robot. Comprising a mobile chassis of the robot, a chassis control module which is arranged on the mobile chassis and is used for controlling the robot, a chassis navigation module which is used for realizing mobile navigation of the robot, a mobile module which is controlled by the chassis control module and is used for realizing the movement of the robot, and a safety protection module which is used for realizing mobile safety protection of the robot, the traction type transportation module, the unmanned aerial vehicle and airport module, the killing module, the environment sensing module and / or the man-machine interaction module are modularly carried on the movable chassis. The robot with the structure can have multiple purposes for emergency epidemic prevention, and can better respond quickly and provide help and support in an emergency.

Description

Technical Field

[0001] The utility model relates to the field of unmanned emergency robot structures. Background Art

[0002] The design and development of emergency epidemic prevention robots are generated in response to the needs of frequent natural disasters, public health events and emergencies. In these emergency situations, emergency managers, rescuers and logistics personnel need to take action in a short time to minimize casualties and property losses. However, in reality, there are often problems such as difficulty in transporting materials, disorderly order, and repetitive and cumbersome disinfection and security patrols. In this case, emergency robots can provide support and assistance to emergency managers, rescuers and logistics personnel. Some existing emergency epidemic prevention robots for this purpose include an intelligent robot that integrates epidemic prevention, first aid and safety with Chinese patent application number 202021277655.0, a multifunctional epidemic prevention robot with Chinese patent application number 202120973095.0, and a multi-purpose robot with Chinese patent application number 202110169206.7.

[0003] However, most of the robot products currently disclosed for emergency epidemic prevention purposes are service robots transformed and applied in the fields of medical disinfection, material distribution, intelligent patrol, etc. Faced with the needs of multi-functional epidemic prevention operations, the products have single functions, limited usage scenarios, and insufficient ability to respond to emergency epidemic prevention deployment, and cannot meet the needs of multi-functional epidemic prevention operations. Therefore, in actual applications, unmanned emergency epidemic prevention robots still face many hurdles and challenges. Utility Model Content

[0004] The utility model aims to provide a multi-purpose emergency robot which can have multi-purpose emergency epidemic prevention and can better respond quickly and provide help and support in emergency situations.

[0005] To achieve the above-mentioned purpose, the technical solution of the utility model is: a multi-purpose emergency robot, including a mobile chassis of the robot and a chassis control module installed on the mobile chassis to realize the control work of the robot, a chassis navigation module to realize the mobile navigation of the robot, a mobile module controlled by the chassis control module to realize the mobile safety protection of the robot, and also includes a traction transport module, a drone and airport module, a disinfection module, an environmental sensing module and / or a human-computer interaction module modularly mounted on the mobile chassis. The mobile chassis is provided with a quick-disassembly frame structure that is convenient for module assembly and adjustment.

[0006] The mobile module includes a left wheel group and a right wheel group corresponding to both sides of the mobile chassis and a swing mechanism respectively connected to the left wheel group and the right wheel group, the left wheel group and the right wheel group respectively include a rotating shaft connected to the side of the frame of the mobile chassis, a middle bridge steering hinge, an intermediate connecting rod, a forearm connecting rod, a rear swing group forearm, a rear swing group rear arm, a first hub motor, a second hub motor and a third hub motor, the lower end of the middle bridge steering hinge, one end of the intermediate connecting rod and one end of the forearm connecting rod are fixedly connected as a whole and rotatably sleeved on the rotating shaft, the other end of the forearm connecting rod is provided with a front steering joint, the first hub motor is installed on the front steering joint through a walking wheel bracket, and the front of the rear swing group The arm and one end of the rear arm of the rear swing group are fixedly connected together, and the other end of the intermediate connecting rod is rotatably mounted on the same axis. The other end of the front arm of the rear swing group is provided with a fixed joint, and the second wheel hub motor is installed on the fixed joint through a walking wheel bracket. The other end of the rear arm of the rear swing group is provided with a rear steering joint, and the third wheel hub motor is installed on the rear steering joint through a walking wheel bracket. The swing mechanism includes a central axis rotating connecting rod whose middle part is rotatably mounted on the frame of the mobile chassis through a rotating shaft assembly and two driving connecting rods whose one end is hinged to the two ends of the central axis rotating connecting rod respectively, and the other ends of the two driving connecting rods are respectively hinged to the upper ends of the central bridge steering hinges of the corresponding left wheel group or right wheel group.

[0007] The drone and airport module includes a carrying platform arranged on a mobile chassis, a drone landing airport and a drone fixedly installed on the carrying platform; and / or, the drone and airport module includes a carrying platform carried on a mobile chassis through a quickly detachable installation connection structure, a drone landing airport and a drone fixedly installed on the carrying platform.

[0008] The traction transport module is a cargo bucket truck connected to the rear of the mobile chassis via a traction joint.

[0009] The disinfection module includes a water storage tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly arranged on a mobile chassis, a liquid level sensor and a water pump are arranged in the water storage tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer, and the water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it;

[0010] And / or, the disinfection module is an integrated module, which is carried on a mobile chassis through a quickly detachable mounting and connecting structure, and the integrated module includes a water tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly that are fixedly installed or detachably installed on the mobile chassis. A liquid level sensor and a water pump are provided in the water tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, and the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer. The water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it.

[0011] The safety protection module includes a one-touch alarm button, an audio-visual warning unit, a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device installed on the mobile chassis; and / or, the environmental sensing module includes a temperature and humidity sensing unit, an odor sensing unit and a visual device; and / or, the human-computer interaction module includes a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera; and / or, the chassis navigation module includes a laser radar and an ultrasonic radar.

[0012] By adopting the above technical solution, the beneficial effects of the utility model are as follows: a multi-purpose emergency robot with the above structural setting is equipped with a modular design, such as the above further structural setting, which can be easily assembled freely, is simple and direct, and the universal connector can freely install the load, which is flexible and changeable, and improves the overall scalability and functionality of the robot, so that the robot is not limited to one structure and function, and is more convenient to use and more effective. It effectively reduces the burden of personnel, improves the deployment efficiency, and further improves the scientificity, accuracy, and effectiveness of emergency management. In addition, the robot can use a wireless network connection, can work through remote control or autonomous operation, can quickly respond, provide help and support in emergencies such as natural disasters or public health events, and is equipped with various sensors and tools to perform a variety of tasks, such as emergency resource transportation, security patrols, regional disinfection, command personnel evacuation, etc. In summary, the robot of the utility model achieves the above-mentioned purpose, effectively reduces the burden of emergency epidemic prevention personnel, improves the efficiency of emergency epidemic prevention deployment, and further improves the scientificity, accuracy, and effectiveness of emergency management. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The utility model is a schematic diagram of a mode structure of a multi-purpose emergency robot.

[0014] Figure 2 This is another structural diagram of a multi-purpose emergency robot involved in the utility model.

[0015] Figure 3 The utility model is a schematic diagram of the internal structure of a multi-purpose emergency robot.

[0016] Figure 4 The utility model is a structural schematic diagram of a mobile module of a multi-purpose emergency robot.

[0017] In the figure:

[0018] Mobile chassis 1; mobile module 2; left wheel set 21; right wheel set 22; rotating shaft 241;

[0019] Middle bridge steering hinge 242; middle link 243; front arm link 244; front steering joint 2441;

[0020] Rear swing group front arm 245; fixed joint 2451; rear swing group rear arm 246; rear steering joint 2461;

[0021] First wheel hub motor 247; second wheel hub motor 248; third wheel hub motor 249; swing mechanism 23;

[0022] Rotating shaft assembly 231; middle shaft rotating connecting rod 232; driving connecting rod 233; traction transport module 3;

[0023] UAV and airport module 4; carrying platform 41; disinfection module 5; water storage tank 51; mist outlet pipe assembly 52 。 DETAILED DESCRIPTION

[0024] In order to further explain the technical solution of the present utility model, the present utility model is described in detail below through specific embodiments.

[0025] The multi-purpose emergency robot disclosed in this embodiment is an unmanned robot that integrates functions such as transportation, disinfection, inspection, path finding and leading, and environmental monitoring. Each functional purpose mainly adopts a modular design, and some modules can be assembled and adjusted according to needs. Therefore, it is particularly suitable for use in emergency situations. Its structural arrangement is as follows: Figure 1-4 The following is described in detail.

[0026] It mainly includes mobile chassis 1, chassis control module (not numbered in the figure), chassis navigation module (not numbered in the figure), mobile module 2, safety protection module (not numbered in the figure), towing transport module 3, drone and airport module 4, disinfection module 5, environmental sensor module (not shown in the figure), human-computer interaction module (not numbered in the figure), etc. Among them, mobile chassis 1, chassis control module, chassis navigation module, mobile module 4, safety protection module are common modules of some existing service robots, auxiliary robots in intelligent manufacturing or some inspection robots, etc. This embodiment adapts the layout or structural improvement of these modules according to the application investment needs. Among them, the towing transport module, drone and airport module, disinfection module, environmental sensor module, human-computer interaction module, etc. are modules with further modular settings, which can be fully equipped, reserved for carrying, or equipped in combination of modules according to the needs of use, such as Figure 1 The structure for carrying the drone and the airport module 4, such as 2 and Figure 3 The structure is equipped with a disinfection module 5. The mobile chassis 1 provides a basis for the robot to carry, install, support and move. The chassis control module is installed on the mobile chassis 1 to realize the control of the robot. The chassis navigation module realizes the autonomous mobile navigation of the robot. The mobile module 2 is controlled by the chassis control module to realize the movement of the robot. The safety protection module realizes the mobile safety protection of the robot. The traction transport module 3 is used for cargo transportation. The drone and airport module 4 can obtain visual images and videos remotely and at high altitudes by carrying drones. The disinfection module 5 can perform disinfection work at close range. The environmental sensing module can sense the on-site environmental conditions. The human-computer interaction module can be used for information interaction, setting and control between humans and machines, etc. Due to the above-mentioned modular setting, the mobile chassis of the utility model is provided with a quick-disassembly frame structure that is conducive to module assembly and adjustment. The structural setting position connection relationship of this embodiment is described in detail below in conjunction with the accompanying drawings.

[0027] The quick-disassembly frame structure of the mobile chassis 1, such as some existing market-available profiles that can be quickly assembled and installed to assemble and lock the designed frame structure, is conducive to modular combination design and application.

[0028] The mobile module 2 is as follows Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, it includes a left wheel group 21 and a right wheel group 22 corresponding to the two sides of the mobile chassis 1 respectively, and a swing mechanism 23 respectively connecting the left wheel group 21 and the right wheel group 22, the left wheel group 21 and the right wheel group 22 respectively include a rotating shaft 241 connected to the side of the frame of the mobile 1, a middle bridge steering hinge 242, an intermediate connecting rod 243, a forearm connecting rod 244, a rear swing group forearm 245, a rear swing group rear arm 246, a first hub motor 247, a second hub motor 248 and a third hub motor 249, the lower end of the middle bridge steering hinge 242, one end of the intermediate connecting rod 243 and one end of the forearm connecting rod 244 are fixedly connected as a whole and rotatably sleeved on the rotating shaft 241, each component can be separately manufactured and formed structural parts are connected as a whole through structural settings such as splines, the other end of the forearm connecting rod 244 is provided with a front steering joint 2441, the first hub motor 247 is installed on the front through a walking wheel bracket On the steering joint 2441, one end of the rear swing group front arm 245 and the rear swing group rear arm 246 are fixedly connected together, and the other end of the intermediate connecting rod 243 is rotatably sleeved on the same axis, the other end of the rear swing group front arm 245 is provided with a fixed joint 2451, the second wheel hub motor 248 is installed on the fixed joint 2451 through a walking wheel bracket, the other end of the rear swing group rear arm 246 is provided with a rear steering joint 2461, and the third wheel hub motor 249 is installed on the rear steering joint 2461 through a walking wheel bracket. The swing mechanism 23 includes a middle part rotatably mounted on the frame of the mobile chassis 1 through a rotating shaft assembly 231, and two driving connecting rods 233, one end of which is hinged on both ends of the middle axis rotating connecting rod 232, and the other ends of the two driving connecting rods 233 are respectively hinged on the upper ends of the middle bridge steering hinges 242 of the corresponding left wheel group 21 or right wheel group 22. Through the above-mentioned structural setting, the mobile chassis 1 is realized as a six-wheel independently controlled chassis, which can realize the robot's straight-moving, center rotation, forward swing, backward swing, double-sided climbing, single-sided climbing and other actions. The central axis rotating link 232 of the swing mechanism 23 swings with the rotating shaft assembly 231 as the axis, and its two driving links 233 can drive the middle link 243 and the forearm link 244 on the corresponding side to swing, so that the robot can flexibly adapt to different terrain changes according to the undulations of the road surface when driving.

[0029] The drone and airport module 4, such as Figure 1 As shown, it includes a carrying platform 41 arranged on the mobile chassis 1, a UAV take-off and landing airport and a UAV (not numbered in the figure) fixedly installed on the carrying platform 41. The carrying platform 41 can be arranged according to the carrying space of the mobile chassis 1, and it can also be carried on the mobile chassis 1 through a mounting connection structure that can be quickly disassembled, such as Figure 1This is the setting shown, which can facilitate the rapid switching of operations between the need for drones and the use for epidemic prevention and disinfection. The drone take-off and landing airport can adopt some existing drone airports on the market, such as DJI brand drone airports, equipped with Matrice 3D drones as the drones, and access the system through the cloud API to achieve interaction with the robot. The navigation and pathfinding functions can be realized by sending the drone coordinate trajectory. The carrying platform 41 can quickly replace the drone module through the slide rail and the aerospace interface. The following functions can be realized: 1. Automatic take-off and landing: The drone airport can be equipped with precise navigation and sensor systems to ensure that drones can take off and land safely and accurately. When a mission needs to be performed, the drone will automatically take off from the airport and automatically return to the airport for landing after completing the mission; 2. Charging function: Charging equipment can be installed in the drone airport. The drone will automatically dock and charge after returning to the drone airport, which can ensure that the drone always has sufficient power when needed; 3. Data storage and transmission: The drone airport can also have data storage and transmission functions. The drone will collect a large amount of data when performing a mission. This data will be automatically uploaded and stored in the airport's built-in storage device. Users can remotely access this data for further analysis and processing; 4. Remote control and management: The drone airport supports remote control and management functions. Users can remotely access the airport through terminal devices such as mobile phones, tablets or computers to make flight plans, issue tasks, and monitor the status of airports and drones.

[0030] The traction transport module 3 in this embodiment is connected to the cargo bucket behind the mobile chassis 1 through a traction joint. The traction joint can adopt the technical structure of some existing traction vehicles or the application of existing product components, such as Figure 1 , Figure 2 and Figure 3 Except for the traction relationship between the cargo bucket truck and the mobile chassis 1, the other parts are of a non-contact structure. The traction transport module 3 using this structure can be quickly loaded and can carry a large load to transport emergency supplies, reduce human contact, liberate manpower, and improve the efficiency of transporting materials. The front wheels of the cargo bucket truck can use a built-in steering module, which can follow the mobile chassis 1 to travel and deflect.

[0031] The disinfection module 5 includes a water tank 51, an ultrasonic sterilizer (not visible in the figure), an electronic control unit (not visible in the figure) and a mist outlet pipe assembly 52 arranged on a mobile chassis. A liquid level sensor and a water pump (not visible in the figure) are arranged in the water tank 51. The water outlet end of the water pump is connected to the ultrasonic sterilizer, and the mist outlet inlet of the mist outlet pipe assembly 52 is connected to the ultrasonic sterilizer. The water pump, the liquid level sensor and the ultrasonic sterilizer are connected to the electronic control unit and controlled by it. The above-mentioned module structure can also be set as a module integrating the whole part, which can be mounted on the mobile chassis 1 through a mounting connection structure that can be quickly disassembled and assembled to facilitate the disassembly and assembly and combined application of the overall module, and has good adaptability. Its water tank has a large capacity and can carry a large amount of disinfectant. The ultrasonic sterilizer realizes the atomization function of the disinfectant through high-frequency vibration. Therefore, the module can timely adjust the working mode of the atomizer generator of the ultrasonic sterilizer according to the actual position and working conditions of the robot. When in use, it is controlled by the electronic control unit, and the water volume information is obtained by judging the information of the liquid level sensor. The disinfectant is pumped into the container where the atomizer is located through the water pump to achieve uniform and appropriate disinfection spraying, efficient, fast and comprehensive disinfection effect, improve work efficiency and reduce operating costs.

[0032] The safety protection module includes a one-touch alarm button installed on the mobile chassis, an audio-visual warning unit (voice, flashing warning light, etc.), a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device. The environmental sensing module may include a temperature and humidity sensing unit, an odor sensing unit and a visual device. The human-computer interaction module may include a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera. The ultrasonic sensor can be used for obstacle avoidance, and the laser radar can be used for navigation. The sensor senses environmental information and its own state to achieve autonomous movement in an environment with obstacles. When used at work, it can simultaneously locate and construct SLAM maps for epidemic prevention scenes. In scenes without prior environmental information, the robot scans the surrounding environment during movement, obtains point cloud information and establishes an environmental map model, and estimates its own movement and posture in the environmental map, thereby realizing the work of the chassis navigation module. Others, as shown in the figure, one of the alarm buttons is fixed to the front end of the upper panel of the frame structure of the mobile chassis 1; the flashing warning light of the sound and light warning unit is fixed to the left side of the middle section of the upper panel of the frame structure, the laser radar is fixed on the central axis of the front end of the upper panel of the frame structure, and the two sets of voice and ultrasonic radars of the sound and light warning unit are fixed to the front panel of the frame structure, and are symmetrical to the central axis, the flexible safety touch edge is fixed to the front panel of the frame structure and exceeds the whole robot, so that it can first contact the obstacle and deform when a collision occurs, and its internal electrical components can sense and issue an alarm, and the emergency stop device is fixed to the front panel of the frame structure, above the ultrasonic radar on the left. Here is an explanation of the rear of the robot towing the cargo bucket in the figure, the relative is the front of the robot, the three wheels are the left side of the robot, and the relative is the right side of the robot. In addition, the chassis control module of the utility model is connected and controlled through an industrial computer, an STM32 control board, etc. The industrial computer communicates with the laser radar through the network port. The industrial computer communicates with the STM32 control board through CAN. The STM32 control board is connected to the coulomb meter connected to the mobile module through the RS485 serial port. The STM32 control board communicates with the anti-collision switch, the emergency stop switch, etc. through the GPO port. The STM32 control board communicates with the motor drive controller through CAN to control the movement of the 6 wheel hub motors and 6 steering motors. The STM32 control board communicates with the ultrasonic radar through the TTL serial port to obtain obstacle distance information. In addition, the chassis control module is also responsible for communicating with the disinfection module to control the spray.

[0033] The multi-purpose emergency robot of the utility model has the following advantages in view of the above structural setting:

[0034] (1) Integration of multi-purpose operational capabilities of robots for emergency epidemic prevention tasks

[0035] In response to the diverse needs under emergency epidemic prevention conditions and the single function problem of existing products, it is proposed to use modular technology, based on the modular structure and functional reconfigurability of robots, integrate network transmission modules, group control modules, contactless material transportation modules, and scheduling modules, make the chassis universal, and unify the electrical interface. The multifunctional module can be quickly replaced in different scenarios, has strong adaptability to tasks and environments, and solves the problem of slow response of single-function epidemic prevention robots under emergency conditions. In the future, more modular functions can be developed to achieve more functions, providing unlimited possibilities for enriching functions and intelligent epidemic prevention.

[0036] (2) Unmanned rapid task response based on natural interactive control of 5G interconnection

[0037] In response to the need for rapid deployment of epidemic prevention forces during emergency periods, it is proposed to utilize the advantages of 5G network transmission, such as high speed, low latency, high capacity, and response time of less than 20 milliseconds, to collect multi-channel laser radars, multi-channel high-definition 4K videos, and utilize the access and real-time processing of multiple sensors such as multi-channel infrared radars to transmit the surrounding scenes to the driver, so as to solve the problem of human-machine separation deployment under epidemic prevention and control, and solve the pain points of multimodal information transmission of mobile robots in complex environments. Based on interactive technologies such as face recognition, gesture recognition, and voice recognition, rapid interaction and task response between humans and robots can be achieved, overcoming obstacles to human-machine interaction, avoiding cumbersome control processes, and improving the convenience of operation. At the same time, interactive technology is combined with tracking and autonomous navigation technology to achieve tasks such as face recognition and mask detection, reducing the heavy workload of manual work.

[0038] (3) Multi-robot collaboration in open areas based on intelligent scheduling

[0039] In order to better coordinate the execution of tasks by humans and machines in response to the large number of epidemic prevention and control tasks, the present invention proposes an unmanned rapid task response based on artificial intelligence scheduling. Based on the artificial intelligence scheduling system, task type rules can be preset, preset task types can be implemented, tasks can be prioritized, tasks can be intelligently issued, and scheduling can be performed to achieve multi-robot collaborative tasks such as patrolling for epidemic prevention, shouting commands, and completing disinfection operations in formation.

[0040] The above embodiments and drawings do not limit the product form and style of the present utility model. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present utility model.

Claims

1. A multi-purpose emergency robot, comprising a mobile chassis of the robot and a chassis control module installed on the mobile chassis to realize the control work of the robot, a chassis navigation module to realize the mobile navigation of the robot, a mobile module controlled by the chassis control module to realize the movement of the robot, and a safety protection module to realize the mobile safety protection of the robot, characterized in that: It also includes a traction transport module, a drone and airport module, a disinfection module, an environmental sensing module and / or a human-computer interaction module modularly mounted on a mobile chassis. The mobile chassis is provided with a quick-disassembly frame structure that is convenient for module assembly and adjustment.

2. A multi-purpose emergency robot as claimed in claim 1, characterized in that: The mobile module includes a left wheel group and a right wheel group corresponding to both sides of the mobile chassis and a swing mechanism respectively connected to the left wheel group and the right wheel group, the left wheel group and the right wheel group respectively include a rotating shaft connected to the side of the frame of the mobile chassis, a middle bridge steering hinge, an intermediate connecting rod, a forearm connecting rod, a rear swing group forearm, a rear swing group rear arm, a first hub motor, a second hub motor and a third hub motor, the lower end of the middle bridge steering hinge, one end of the intermediate connecting rod and one end of the forearm connecting rod are fixedly connected as a whole and rotatably sleeved on the rotating shaft, the other end of the forearm connecting rod is provided with a front steering joint, the first hub motor is installed on the front steering joint through a walking wheel bracket, and the front of the rear swing group The arm and one end of the rear arm of the rear swing group are fixedly connected together, and the other end of the intermediate connecting rod is rotatably mounted on the same axis. The other end of the front arm of the rear swing group is provided with a fixed joint, and the second wheel hub motor is installed on the fixed joint through a walking wheel bracket. The other end of the rear arm of the rear swing group is provided with a rear steering joint, and the third wheel hub motor is installed on the rear steering joint through a walking wheel bracket. The swing mechanism includes a central axis rotating connecting rod whose middle part is rotatably mounted on the frame of the mobile chassis through a rotating shaft assembly and two driving connecting rods whose one end is hinged to the two ends of the central axis rotating connecting rod respectively, and the other ends of the two driving connecting rods are respectively hinged to the upper ends of the central bridge steering hinges of the corresponding left wheel group or right wheel group.

3. A multi-purpose emergency robot as claimed in claim 1 or 2, characterized in that: The drone and airport module includes a carrying platform arranged on a mobile chassis, a drone landing airport and a drone fixedly installed on the carrying platform; and / or, the drone and airport module includes a carrying platform carried on a mobile chassis through a quickly detachable installation connection structure, a drone landing airport and a drone fixedly installed on the carrying platform.

4. A multi-purpose emergency robot as claimed in claim 1 or 2, characterized in that: The traction transport module is a cargo bucket truck connected to the rear of the mobile chassis via a traction joint.

5. A multi-purpose emergency robot as claimed in claim 1 or 2, characterized in that: The disinfection module includes a water storage tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly arranged on a mobile chassis, a liquid level sensor and a water pump are arranged in the water storage tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer, and the water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it; And / or, the disinfection module is an integrated module, which is carried on a mobile chassis through a quickly detachable mounting and connecting structure, and the integrated module includes a water tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly that are fixedly installed or detachably installed on the mobile chassis. A liquid level sensor and a water pump are provided in the water tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, and the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer. The water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it.

6. A multi-purpose emergency robot as claimed in claim 3, characterized in that: The disinfection module includes a water storage tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly arranged on a mobile chassis, a liquid level sensor and a water pump are arranged in the water storage tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer, and the water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it; And / or, the disinfection module is an integrated module, which is carried on a mobile chassis through a quickly detachable mounting and connecting structure, and the integrated module includes a water tank, an ultrasonic sterilizer, an electronic control unit and a mist outlet pipe assembly that are fixedly installed or detachably installed on the mobile chassis. A liquid level sensor and a water pump are provided in the water tank, the water outlet end of the water pump is connected to the ultrasonic sterilizer, and the mist outlet inlet of the mist outlet pipe assembly is connected to the ultrasonic sterilizer. The water pump, liquid level sensor and ultrasonic sterilizer are connected to the electronic control unit and controlled by it.

7. A multi-purpose emergency robot as claimed in claim 1 or 2, characterized in that: The safety protection module includes a one-touch alarm button, an audio-visual warning unit, a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device installed on the mobile chassis; and / or, the environmental sensing module includes a temperature and humidity sensing unit, an odor sensing unit and a visual device; and / or, the human-computer interaction module includes a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera; and / or, the chassis navigation module includes a laser radar and an ultrasonic radar.

8. A multi-purpose emergency robot as claimed in claim 3, characterized in that: The safety protection module includes a one-touch alarm button, an audio-visual warning unit, a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device installed on the mobile chassis; and / or, the environmental sensing module includes a temperature and humidity sensing unit, an odor sensing unit and a visual device; and / or, the human-computer interaction module includes a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera; and / or, the chassis navigation module includes a laser radar and an ultrasonic radar.

9. A multi-purpose emergency robot as claimed in claim 5, characterized in that: The safety protection module includes a one-touch alarm button, an audio-visual warning unit, a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device installed on the mobile chassis; and / or, the environmental sensing module includes a temperature and humidity sensing unit, an odor sensing unit and a visual device; and / or, the human-computer interaction module includes a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera; and / or, the chassis navigation module includes a laser radar and an ultrasonic radar.

10. A multi-purpose emergency robot as claimed in claim 6, characterized in that: The safety protection module includes a one-touch alarm button, an audio-visual warning unit, a laser radar, an ultrasonic radar, a flexible safety touch edge and an emergency stop device installed on the mobile chassis; and / or, the environmental sensing module includes a temperature and humidity sensing unit, an odor sensing unit and a visual device; and / or, the human-computer interaction module includes a display screen, a voice interaction unit, an infrared temperature measurement camera and a visible light camera; and / or, the chassis navigation module includes a laser radar and an ultrasonic radar.

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