Following type air-ground cooperative intelligent rescue robot

Abstract

The utility model relates to the technical field of disaster rescue, in particular to a follow-up type air-ground cooperative intelligent rescue robot which comprises a spherical robot, a storage bin used for containing first-aid materials and equipment is formed in the spherical robot, and the spherical robot is provided with a moving ball used for controlling the spherical robot to move in a matched mode. A balance motion steering engine device is arranged in the motion ball body, and an unmanned aerial vehicle cabin internally provided with an unmanned aerial vehicle is arranged at the top end of the spherical robot. Movement of the spherical robot is controlled by changing internal weight distribution, the moving wheel is arranged to assist the robot in movement, flexibility of the robot in movement is improved, dynamic conditions and surrounding environments of rescue workers are observed and captured through the camera vision module, and rescue efficiency is improved. Therefore, the robot is guaranteed to carry out personal service on rescue workers during disaster rescue, the situation of a disaster site is captured and shot through the unmanned aerial vehicle, rapid deployment and support are provided, and the rescue efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of disaster relief technology, and in particular to a followable air-ground collaborative intelligent rescue robot. Background Technology

[0002] A disaster is a general term for things that can have a destructive impact on humans and the environment on which they depend for survival. It does not indicate the degree of the disaster, but usually refers to a localized area. It can expand and develop into a catastrophe. In the process of disaster relief, it is usually necessary to use appropriate rescue vehicles as an aid.

[0003] The existing disaster relief vehicles have the following problems:

[0004] Because the terrain changes to some extent after a disaster, rescuers cannot conduct search and rescue operations in the original terrain environment. Existing rescue vehicles are driven by rescuers and carry rescue supplies, but they cannot assist rescuers in observing the terrain. In addition, the vehicles are large and have poor maneuverability, making it impossible to quickly supply rescue supplies to trapped people in need of rescue or to rescuers who are already carrying out rescue work. Utility Model Content

[0005] The purpose of this invention is to solve the problems of existing technologies that cannot assist search and rescue personnel in observing terrain and lack flexibility, and to propose a followable air-ground collaborative intelligent rescue robot.

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

[0007] A followable air-ground collaborative intelligent rescue robot includes a spherical robot with a storage compartment for placing emergency supplies and equipment. A motion sphere for controlling the movement of the spherical robot is installed at the lower end of the robot. A balancing motion servo device is installed inside the motion sphere. A drone cabin is located at the top of the spherical robot, and a drone is installed inside the drone cabin.

[0008] Preferably, the spherical robot is fixedly provided with four balancing supports at its bottom, and the bottom of each balancing support is provided with omnidirectional wheels. The front end of the spherical robot is provided with at least three circumferentially distributed camera vision modules, and the moving sphere is electrically connected to the camera vision modules.

[0009] Preferably, the balancing motion servo device includes:

[0010] A mounting plate for mounting the movable wheels, which move against the bottom of the moving sphere;

[0011] A drive assembly mounted on the mounting plate and located on one side of the moving wheel, the drive assembly being used to drive the moving wheel in operation;

[0012] A mounting bracket installed on the mounting plate for mounting the servo motor;

[0013] A robotic arm driven to rotate by the servo motor and used to mount a counterweight, the counterweight being used to change the position of the robot's center of gravity;

[0014] A gyroscope mounted on the top of the servo motor is used to sense the tilt angle of the servo motor and the speed of the angle change.

[0015] An abutment plate is mounted on the mounting bracket, and the abutment plate moves to abut against the middle of the inner cavity of the moving ball.

[0016] Preferably, the gyroscope is equipped with a linear accelerometer and an angular accelerometer.

[0017] Preferably, the unmanned aerial vehicle (UAV) cabin is equipped with an internal platform for parking the UAV, and the spherical robot is equipped with a display screen for receiving disaster site data transmitted by the UAV.

[0018] Preferably, the unmanned aerial vehicle cabin is equipped with an automatically opening and closing door.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] This invention uses a gyroscope to determine whether the balancing motion servo device is in a balanced state. At this point, the servo, through a robotic arm and counterweight, changes the center of gravity of the balancing motion servo device, thereby controlling its position on the moving sphere. Braking is achieved using the friction between the moving wheels and the moving sphere. A camera vision module observes and captures the movement trajectory of rescue personnel, enabling automatic following. This makes the spherical robot more targeted in providing disaster relief services to affected people, helping to improve rescue efficiency. Furthermore, it utilizes drones to capture and photograph the disaster site, displaying the footage on a screen, allowing rescue personnel to clearly observe the specific details of the disaster and the exact location of affected people. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This utility model Figure 1 Exploded view in the image;

[0023] Figure 3 This utility model Figure 1 Sectional view in;

[0024] Figure 4 This is a schematic diagram of the balance motion servo device in this utility model;

[0025] In the diagram: 1. Spherical robot; 2. Moving sphere; 3. Storage compartment; 4. Unmanned aerial vehicle (UAV) cabin; 5. Camera vision module; 6. Gyroscope; 7. Counterweight; 8. Servo motor; 9. Moving wheel; 10. Drive assembly; 11. UAV cabin platform; 12. UAV; 13. Mounting plate; 14. Mounting bracket; 15. Contact plate; 16. Robotic arm; 17. Display screen. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] Reference Figures 1-4 A followable air-ground collaborative intelligent rescue robot includes a spherical robot 1. Four balancing supports are fixedly mounted on the bottom of the spherical robot 1, and omnidirectional wheels are fitted to the bottom of each support. The balancing supports and omnidirectional wheels provide resistance and support to the spherical robot 1, ensuring its stability during movement. At least three circumferentially distributed camera vision modules 5 are mounted on the front of the spherical robot 1. A storage compartment 3 for storing emergency supplies and equipment is provided on the spherical robot 1. The storage compartment 3 is a cylindrical cabin structure with an opening at one end. (See details below.) Figure 3 The spherical robot 1 is equipped with a motion sphere 2 at its lower end for controlling the movement of the spherical robot. The motion sphere 2 is electrically connected to the camera vision module 5. It should be noted that the motion sphere 2 has an internal cavity for housing and installing a balance motion servo device. The camera vision module 5 observes and captures the dynamics of the rescuers and the surrounding environment and reacts accordingly. The activity data of the rescuers is transmitted to the balance motion servo device, which enables the robot to always follow the rescuers and avoid obstacles.

[0028] A further implementation method is as follows: the balancing motion servo device includes a moving wheel 9, a mounting plate 13, a drive assembly 10, a mounting bracket 14, a servo motor 8, a counterweight 7, a robotic arm 16, a gyroscope 6, and a contact plate 15, with each component arranged as follows:

[0029] Mounting plate 13 is used to mount the movable wheel 9, which moves against the bottom of the inner side of the moving sphere 2. Drive assembly 10 is mounted on mounting plate 13 and located to one side of the movable wheel 9. It should be noted that drive assembly 10 consists of a power module and a motor. The power module provides energy for the motor, and the movable wheel 9 is driven by the motor. Mounting bracket 14 is mounted on mounting plate 13 and used to mount servo motor 8. Robotic arm 16 is driven to rotate by servo motor 8 and is used to mount counterweight 7. Adjusting the position of counterweight 7 changes the center of gravity of the balance motion servo device. Gyroscope 6 is mounted on the top of servo motor 8. It should be noted that gyroscope 6 is equipped with a linear acceleration sensor and an angular acceleration sensor, which are used to sense the robot's tilt. The tilt angle and the speed of angle change are controlled by a corresponding control system between the gyroscope 6 and the motor used to drive the moving wheel 9. The gyroscope 6 is used to determine whether the balance motion servo device has lost its balance, and the mechanical arm 16 drives the counterweight 7 to rotate, thereby changing the original weight configuration of the balance motion servo device. In turn, the effect of gravity is used to correct the balance motion servo device, so that the balance motion servo device is always in a relatively balanced state. The contact plate 15 is installed on the mounting bracket 14. The contact plate 15 is movable and abuts against the middle position of the mounting cavity of the moving ball 2. The diameter of the contact plate 15 is consistent with the maximum diameter of the inner cavity of the moving ball 2, so that the balance motion servo device is restricted by the contact of the moving ball 2, thereby ensuring that the balance motion servo device cannot make horizontal position deviation.

[0030] The spherical robot 1 has a drone cabin 4 at its top, and a drone cabin platform 11 is set up in the drone cabin 4. A drone 12 for capturing and filming disaster scene conditions is parked on the drone cabin platform 11. The drone cabin 4 is equipped with a cabin door that can open and close automatically. It should be noted that the drone cabin 4 is equipped with at least two motors for driving the door to rotate and open, and the drone cabin 4 is equipped with a motor bracket for horizontally mounting the motors. The cabin door protects the drone 12 from external dust when it is not in use, which helps to extend the service life of the drone 12.

[0031] The functional principle of this utility model can be explained through the following operation methods:

[0032] Emergency supplies and equipment are placed in storage compartment 3. The camera vision module 5 is used to perceive the movement trajectory of the rescuers, and the servo motor 8 is used to control the robot to follow the movement trajectory of the rescuers.

[0033] The gyroscope 6 is equipped with linear and angular acceleration sensors to sense the tilt angle and speed of angle change of the balance motion servo device. When the balance motion servo device loses balance in the moving sphere 2, the servo 8 is activated. The servo 8 drives the counterweight 7 to rotate through the robotic arm 16, thereby changing the overall center of gravity of the balance motion servo device and correcting the position of the balance motion servo device in the moving sphere 2. When the robot stops working, the drive component 10 is activated to drive the moving wheel 9 to generate a rotational motion in the opposite direction to the moving sphere 2, thereby generating a large frictional resistance with the moving sphere 2, thereby achieving the braking operation of the spherical robot 1.

[0034] When drone 12 is needed for collaborative operation, the motor is started, which drives the cabin door to rotate and open. At this time, drone 12, which is parked on platform 11 inside the drone cabin, starts up and flies away from drone cabin 4. Drone 12 captures and photographs the situation at the disaster site, and receives the content captured by drone 12 on display screen 17 and converts it into images for rescue personnel to view.

[0035] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A followable air-ground collaborative intelligent rescue robot comprising a spherical robot (1), characterized in that, The ball-shaped robot (1) is provided with a storage bin (3) for placing first-aid materials and equipment, and a moving ball (2) is installed at the lower end of the ball-shaped robot (1) for controlling the movement of the ball-shaped robot, a balance movement rudder device is arranged in the moving ball (2), a drone cabin (4) is arranged at the top end of the ball-shaped robot (1), and a drone (12) is arranged in the drone cabin (4). A mounting disc (13) for mounting a moving wheel (9) is arranged, the moving wheel (9) is movably arranged at the inner bottom end of the moving ball (2); A driving assembly (10) is mounted on the mounting disc (13) and located on one side of the moving wheel (9), and the driving assembly (10) is used for driving the moving wheel (9) to work; An installation support (14) is mounted on the mounting disc (13) and used for mounting a rudder (8); A mechanical arm (16) is driven to rotate by the rudder (8) and used for mounting a counterweight (7), and the counterweight (7) is used for changing the gravity center position of the robot; A gyroscope (6) is mounted at the top end position of the rudder (8), and the gyroscope (6) is used for sensing the angle of inclination and the speed of angle change of the balance movement rudder device; A contact disc (15) is mounted on the installation support (14) and movably arranged at the middle end position in the inner cavity of the moving ball (2).

2. The followable intelligent rescue robot for air-ground cooperation according to claim 1, characterized in that, Four balance supports are fixedly arranged at the bottom end of the ball-shaped robot (1), universal wheels are arranged at the bottom end of the balance supports, at least three circumferentially distributed camera visual modules (5) are arranged at the front end of the ball-shaped robot (1), and the moving ball (2) is electrically connected with the camera visual module (5).

3. The followable intelligent rescue robot for air-ground cooperation according to claim 1, characterized in that, A linear acceleration sensor and an angular acceleration sensor are arranged on the gyroscope (6).

4. The followable intelligent rescue robot for air-ground cooperation according to claim 1, characterized in that, An inner platform (11) is arranged in the drone cabin (4), the inner platform (11) is used for parking the drone (12), and a display screen (17) is arranged on the ball-shaped robot (1) for receiving data transmitted by the drone (12).

5. The followable intelligent rescue robot for air-ground cooperation according to claim 1, characterized in that, An automatically openable and closable cabin door is arranged on the drone cabin (4).

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