270 results about "Rescue robot" patented technology

The invention discloses a rescue robot path planning method and system under industrial vision assistance, and relates to the field related to industrial vision, and the method comprises the steps: collecting three-dimensional space data of a rescue environment in real time, generating a dynamic environment point cloud data set, and constructing a three-dimensional semantic map of a rescue area; thermal imaging data updated in real time are called, path analysis is carried out in combination with the three-dimensional semantic map, and a path planning strategy set is obtained; and predicting the motion track of the dynamic obstacle based on the local dynamic obstacle avoidance strategy, optimizing the global path planning strategy according to obstacle prediction track data, and generating a motion control instruction of the rescue robot. The technical problem of poor real-time performance and adaptability of path planning caused by insufficient perception of environment dynamic information in path planning of an existing rescue robot is solved, the strong perception capability depending on industrial vision is achieved, the environment dynamic information is accurately captured in real time, and the real-time performance of path planning is improved. And the real-time response speed of path planning and the adaptability to a dynamic environment are improved.

The invention discloses a rescue method and system of a rescue robot for exploration, and relates to the technical field of underground space rescue, and the method comprises the following steps: obtaining multi-path acoustic echo data of a karst cave and motion track data of the robot, and constructing a three-dimensional point cloud model according to the multi-path acoustic echo data and the motion track data of the robot; and identifying unmatched data in the multi-path acoustic echo data and the robot motion trail data, and taking an area where the unmatched data is located as an abnormal area. According to the method, the spatial resolution of signal acquisition is enhanced through the multi-microphone array, robust acoustic fingerprints are extracted in combination with a noise reduction algorithm and short-time Fourier transform, high-confidence human body sound source signals are screened out by using a feature template matching mechanism, accurate extraction and recognition of human body acoustic features in a karst cave complex noise environment are realized, and the accuracy of human body acoustic feature recognition is improved. The problem of misjudgment caused by confusion of sound source features and environmental noise in a traditional method is effectively solved.

The invention provides a rescue robot autonomous identification and positioning system and method based on industrial vision, and relates to the technical field of robots, and the system comprises a cooperative scanning module which is used for constructing a robot coordinate map; the data fusion module is used for establishing a data fusion frame with a unified time sequence to obtain multi-modal image data; the human body recognition module is used for mapping the thermal imaging image to a visible light image and executing human body local recognition to obtain human body structure features; the target marking module is used for determining a rescue target and marking the rescue target in the robot coordinate map; and the path planning module is used for performing path planning, constructing an updated path and performing rescue through the rescue robot. According to the method and the device, the technical problem of relatively low rescue efficiency caused by difficulty in accurately positioning the rescue target due to shielding and interference in a complex environment in the prior art can be solved, and the precision of positioning the rescue target is improved by combining industrial vision, so that the rescue efficiency is improved.

The invention relates to a mechanical arm tail end variable load dynamics self-diagnosis and compensation method in a quick change form. The mechanical arm tail end variable load dynamics self-diagnosis and compensation method is technically characterized in that a dynamics model is established based on iterative least square online identification; load parameter identification under variable working conditions is carried out based on Jacobian matrix mapping; establishing a hybrid dynamic model including connecting rod rigid body dynamics, connecting rod error compensation dynamics and load dynamics; establishing a variable load dynamical model; when the load at the tail end of the mechanical arm is changed, robot joints are controlled by updating parameters in the hybrid dynamic model; on-line identification and compensation are carried out by collecting sensor data in real time. The method can effectively improve the accuracy and robustness of dynamic representation of the robot when facing various uncertain factors such as connecting rod deformation, variable load and measurement noise, improves the safety and reliability of physical man-machine interaction of the robot, and can be widely applied to the fields of industrial automation, medical operation assistance and rescue robots.

The invention discloses a path planning method for a mine rescue robot, relates to the field of path planning of an intelligent algorithm, plans an optimal path of the mine rescue robot on a rasterized map, and aims to solve the problems of low search efficiency, multiple turning times, path redundancy and easiness in falling into a local optimal solution in the initial stage of iteration. The method comprises the following steps: establishing a grid map environment model; changing a heuristic function of a pseudo-random probability ACS algorithm to obtain an initial path; performing non-uniform distribution on initial pheromones through the initial path, and performing iteration; obtaining a neighborhood search mechanism according to a map environment, and selecting path nodes to form a path; smoothing each path successfully reaching the end point; a pheromone reward and punishment mechanism is added, and arrangement of pheromones is changed; and next iteration is carried out to obtain a final optimal path. The method is suitable for path planning in the fields of Internet of Things, cloud computing and the like, and an innovative solution is provided for path planning of the mine rescue robot.

The invention belongs to the field of path planning, and particularly relates to a rescue robot multi-constraint path planning method based on a Voronoi diagram. Comprising the following steps: constructing a Voronoi graph: constructing the Voronoi graph according to a known global two-dimensional grid map; initial path / trajectory searching: constructing an initial feasible path from a starting point to an end point in the Voronoi diagram by using an A * algorithm, and fitting the path by using a cubic spline curve to obtain an initial trajectory; and constructing an optimization function: constructing a proper trajectory optimization function according to task requirements. And trajectory optimization: optimizing the initial trajectory by taking a control point of the initial trajectory as a variable to be optimized and taking a minimum optimization function as an optimization target. The advantages of the Voronoi diagram and the optimization algorithm are fused, and compared with a traditional global path planning method, the method has the advantages of being high in time efficiency, robustness and flexibility, and is a solution suitable for a global path planning task in a large-scale and complex environment.

Provided is a bionic rescue robot fish, including a fish body skeleton, a fish head skeleton, a fishtail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism and a buoyancy adjusting mechanism. The fish body skeleton is movably connected to the fish head skeleton. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are arranged on the fish head skeleton. Bionic fish skin is attached to surfaces of the fish body skeleton and the fish head skeleton in a sealing manner. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are each communicated with a control unit. The rescue mechanism can release a lifesaving airbag, and the buoyancy adjusting mechanism can change the volume of fish belly part.

The invention discloses a mine disaster rescue robot based on multi-modal sensing and intelligent recognition and a mine disaster monitoring method, and relates to the technical field of mine disaster rescue robots. The mine disaster rescue robot based on multi-modal sensing and intelligent recognition mainly comprises an image processing and edge calculation unit, a UWB positioning module, an inertial measurement unit, a laser radar, a binocular depth camera, a thermal imager, a sound sensor, a gas sensor, an RGB camera, a motion control unit and a power supply system. According to the mine disaster rescue robot and the mine disaster monitoring method based on the multi-mode perception and intelligent identification, the positioning precision and the autonomous navigation capability of the rescue robot in a complex mine environment can be improved, and the accuracy and the real-time performance of state judgment of trapped workers are improved.

The intelligent fire rescue robot capable of climbing the stairs comprises a tracked robot body, the tracked robot body comprises a body driving wheel, a shell and a bottom plate, a driving mechanism of the tracked robot body is installed on the rear portion of the robot, and two swing mechanisms are symmetrically installed on the front portion of the robot. A steering engine of each swinging mechanism is mounted below the adjacent bottom plate; each swinging mechanism comprises a steering engine, a swinging driving shaft, a swinging plate, a swinging driven wheel, a swinging crawler belt and a core-missing wheel; one end of the swinging driving shaft is connected with a driving steering engine shaft at the output end of the steering engine through a coupler, and the other end of the swinging driving shaft sequentially penetrates through a connecting plate connected with the bottom plate and the center-missing wheel and is connected with the swinging plate through a flange coupler; the upper space of the bottom plate is divided into two parts, one part is used for installing the stretching platform, and the other part is used for installing the detection execution module and the water storage tank. The system has better adaptability to complex terrains, and can realize the integration of discovery, fire extinguishment and search and rescue.

The invention discloses a catastrophe rescue robot digital twin control method and system, and belongs to the technical field of robot intelligent control. Comprising a virtual-real mapping module which processes the body state of a robot and catastrophe scene point cloud data in real time, and constructs and synchronously updates a digital twinborn body containing a terrain elevation map at a cloud end; the hierarchical decision-making module is used for making a decision in the digital twinborn body by utilizing a hierarchical reinforcement learning model, and outputting a wheel-leg movement mode and an excavation arm cooperation instruction by a high-level strategy network according to the terrain complexity; and the safety deduction module introduces a safety reinforcement learning mechanism, deduces and verifies the generated action instruction in the virtual environment, and restrains the dangerous action by controlling a barrier function. According to the method, the decision risk of the heavy robot in the unstructured catastrophic terrain can be reduced, the stability of motion control is improved, and a high-safety control strategy is provided for various complex obstacle crossing actions based on simulation prediction.

The invention discloses an under-mine environment accurate positioning system based on a UWB technology, and relates to the technical field of data processing and positioning, an underground area is divided into a safe area and a dangerous area by obtaining the structure risk value of each sub-area and combining the structure risk value and the position information of the corresponding sub-area, and the safe area and the dangerous area are accurately positioned. A plurality of rescue robots are arranged in the underground area; acquiring position information of the mobile tag, displaying the position information on an electronic map, generating an air quality coefficient, and dividing the plurality of sub-regions into risk regions and safety regions according to the air quality coefficient; and sending inquiry information to the miner, acquiring a corresponding safety coefficient, and if the acquired safety coefficient is lower than a safety threshold value, planning a support path to the miner for the rescue robot, so that the rescue robot rescues the miner along the support path. After the miner is found according to the position information of the miner, the miner is rescued through guidance of the rescue robot, and the miner is prevented from getting lost and being lost.

The invention discloses an intelligent unmanned vehicle system for a rescue task scene, relates to laser radar mapping, automatic driving and target detection and recognition, and belongs to the technical field of embedded artificial intelligence. The invention aims to solve the problems that an existing automatic rescue robot cannot meet the navigation requirement of a complex environment rescue scene task, cannot make a decision in real time, does not have a man-machine interaction function and the like. According to the technical key points, the laser radar mapping module is used for sensing environment information and converting the environment information into map data; the path planning module is used for calculating an optimal cost path between the starting point and the target point according to the obtained map data, generating motion data and outputting the motion data to the system; the target detection module is used for acquiring image data through a depth camera, identifying a to-be-detected target, generating three-dimensional coordinate data of the target and outputting the three-dimensional coordinate data to the system; and the voice interaction module is used for acquiring an external voice instruction in man-machine interaction and controlling a robot system to make decisions in real time. According to the invention, a set of automatic robot embedded software which can automatically navigate and automatically scan the surrounding environment to identify the target after reaching the target point is developed, and the robot can flexibly adjust the decision when facing a complex environment due to the automatic design carrying artificial intelligence; and the strain capacity of the unmanned robot system for uncertain environmental factors is improved.

The invention relates to the technical field of path planning, in particular to a rescue robot path planning method and system.In the rescue robot path planning method, a continuous structure chain is constructed in a connection chain with a space closing condition, and a two-way rapid extension tree is called to complete path chain closing recognition; the method comprises the following steps of: extracting a response delay amount and an obstacle density value between a task node and a path node, screening out an effective path group with time response and obstacle avoidance capabilities in a time interval for simultaneously limiting path use, and constructing a mapping structure between a path segment and the task node; the multi-target ant colony algorithm is called to perform inter-group scoring and weight evaluation, which is beneficial to control the resource repetition rate and distance constraint in a path task matching structure, improve the global coordination of path allocation, perform blocking judgment on the path node state, execute mapping replacement operation, and improve the path allocation efficiency. A dependency conflict structure in a task target node can be positioned and eliminated, and the continuity of path execution and the integrity of task logic are enhanced.

The invention discloses a complex terrain adaptability control system for a rescue robot, and belongs to the technical field of robots. According to the invention, full-closed-loop control is realized through the instruction layer, the hardware layer, the control layer and the monitoring layer. The control layer takes a posture adjusting module as a core, is linked with a PID (Proportion Integration Differentiation) and an impedance controller, and is combined with forward / reverse kinematics and suspension detection to realize accurate correction of a joint angle; the hardware layer feeds back attitude, joint movement and contact force data in real time by means of multiple sensors; meanwhile, a whole vehicle kinetic equation is established based on a spiral theory and a virtual work principle to deduce a contact force component, and a sliding rate is defined to quantify traction characteristics. According to the invention, through fusion of multi-module cooperation and mechanical modeling, organic unification of attitude control, force control flexibility and traction performance monitoring is systematically realized, and a complete attitude-force-traction cooperative control system is constructed.

The invention discloses an intelligent fireproof rescue robot and a rescue system, and belongs to the technical field of fire rescue equipment. The rescue robot comprises a main body part, and a driving mechanism, a moving mechanism and a fire extinguishing mechanism are connected to the main body part; the intelligent reconnaissance mechanism comprises a reconnaissance device and a storage cabin; the reconnaissance device is connected with the rescue robot in a split manner and can be independently and movably controlled; the storage cabin is used for placing the reconnaissance device; and the rescue mechanism comprises a rescue mechanical arm and a rescue cabin, and the end of the rescue mechanical arm is connected with a rescue manipulator. Under the cooperative control effect of the control system, the rescue system is connected and communicated through a 5G network, when a mine fire occurs and after the ground command center receives an alarm, the site of the mine fire can be determined in time and monitored in real time, and an instruction whether to start or not is given to the rescue robot through the communication base station; the robot is started to carry out rapid intelligent rescue work, rescue is efficient, and the safety coefficient is high.

The invention relates to the technical field of robots, and particularly discloses a fire rescue robot which comprises a rescue isolation hood. A search and rescue mechanism is jointly installed between the inner walls of the two sides of the rescue isolation hood, the search and rescue mechanism is located in the rescue isolation hood, a detection mechanism is installed on one side of the top end of the rescue isolation hood, and a fire extinguishing mechanism is installed on the other side of the top end of the rescue isolation hood; the search and rescue mechanism comprises a fixing frame, a limiting groove, an adjusting mechanism, a driver, a protection cover, a through opening and a transmission belt. Driving of the driver is matched with synchronous transmission of the transmission belt, the two adjusting mechanisms can be driven at the same time to adjust the positions of the two adjusting mechanisms, the two adjusting mechanisms can automatically grab trapped persons, especially persons who are unconscious or cannot move autonomously, and the trapped persons are safely transferred into the rescue isolation hood; by means of the design, the rescue robot can directly execute rescue tasks, and therefore the use flexibility and the automation degree of the rescue robot are improved.

The invention discloses an agent path planning method based on dual-archive multi-target Harris eagle optimization. The method comprises the following steps: firstly, constructing a three-dimensional environment model and defining a multi-target optimization problem; then, the paths are coded, populations are initialized, and a double-archive mechanism of convergence archives and diversity archives is introduced innovatively; in iterative optimization, dynamically switching a global exploration stage and a local development stage according to an improved nonlinear energy model, respectively guiding search by utilizing double archives, and enhancing the optimization capability in combination with Levy flight, Cauchy variation and a simulated annealing mechanism; and finally, selecting a path from the Pareto optimal solution set, smoothing and verifying the path, and outputting the path. According to the invention, through the dual-archive cooperation strategy and the improved Harris eagle optimization algorithm, the convergence speed and the diversity of solution sets are effectively balanced, the quality, efficiency and robustness of path planning in a complex constraint environment are significantly improved, and the method can be widely applied to autonomous navigation tasks of intelligent agents such as unmanned aerial vehicles, automatic guided vehicles and rescue robots.

The invention provides a mine rescue flying variable-structure robot and a detection method thereof. The mine rescue flying variable-structure robot comprises a machine body frame, a transmission module, an energy module, a navigation module, a task mounting interface and an anti-explosion safety assembly. The robot adopts an intrinsically safe explosion-proof design and is provided with electronic element explosion-proof components; the transmission module comprises a wheel-wing integrated driving mechanism, a dual-mode switchable transmission system and an intelligent switching control unit, the wheel-wing integrated driving mechanism comprises a multi-rotor wing arm and a propeller in a flight mode, the wheel-wing integrated driving mechanism is folded to form a wheel flange in a moving mode, and automatic mode switching is achieved through an intelligent control algorithm; the navigation module is a multi-mode navigation module and integrates ultra wide band, inertial navigation and mine radio pulse signal positioning; the task mounting interface carries an extensible environment sensor module to detect various complex terrains. Innovation is carried out on the basis of single-mode operation of traditional rescue equipment, land-air dual-mode detection rescue is achieved, and the detection efficiency of the underground post-disaster environment is remarkably improved.

The invention relates to a model predictive control-based motion control method for a coal mine rescue robot formation. The method comprises the steps that a coal mine rescue robot queue is provided, formation information of the coal mine rescue robot queue is configured, and a navigation controller controls the driving state of a navigator until the navigator reaches a target position corresponding to an expected navigation path; when the followers are controlled to follow the navigator, the formation controller generates following control information based on a model prediction control method at least based on the navigation posture information of the navigator, the following posture information of the followers and the expected formation state of the current followers, so that the followers run under the following control information and follow the navigator. According to the method, uncertainty and emergencies in the underground coal mine environment are effectively handled, efficient and cooperative motion control and obstacle avoidance of the coal mine rescue robot formation are achieved, and the execution efficiency and safety of rescue tasks are improved.

The utility model discloses an automatic fire extinguishing device for an expressway tunnel rescue robot, which comprises an industrial robot, a fire extinguisher and an upper computer, the fire extinguisher is fixed at the lower part of a support frame, and a quick change device is connected between the upper surface of the support frame and the tail end of the industrial robot; the quick-change device comprises a quick-change main disc and a quick-change tool disc; the quick-change main disc is fixed at the tail end of the industrial robot through a connecting flange; the quick-change tool disc is fixed on the supporting plate, and the quick-change main disc and the quick-change tool disc are connected or disconnected through a piston type steel ball locking structure; an actuating mechanism cylinder is mounted below the supporting plate and is provided with a push rod, a cylinder air inlet / outlet and a magnetic switch sensor for sensing actuating signals of the actuating mechanism cylinder; the push rod is connected with a pressing handle at the top of the fire extinguisher, and the upper computer controls the opening and closing start-stop state of the actuating mechanism air cylinder according to actuating signals, obtained by the magnetic switch sensor, of the actuating mechanism air cylinder.

The invention relates to a voice recognition method and device of a rescue robot and the rescue robot. The method comprises the following steps: acquiring to-be-identified audio data; performing preliminary filtering on the to-be-identified audio data by using a Wiener filter to obtain audio data after preliminary filtering; on the basis of a comparison result between the feature value of the audio data after the preliminary filtering and a preset environmental noise feature corresponding to the current scene, determining noise in the audio data after the preliminary filtering; and eliminating noise in the preliminarily filtered audio data to obtain de-noised audio data, and identifying target voice information in the de-noised audio data. By adopting the method, the problem that the voice recognition accuracy is not high due to the fact that the noise of the surrounding environment cannot be accurately filtered by an existing voice recognition method of the rescue robot can be solved.

The carrying rescue robot executing mechanism comprises a bottom plate, a winch, a folding stretcher and a U-shaped rotary guide frame, the rotary guide frame and the winch are arranged at the front end and the rear end of the bottom plate respectively, the bottom of the rotary guide frame is hinged to the bottom plate, and a second telescopic device is hinged between the rear side of the rotary guide frame and the bottom plate. The folding stretcher is slidably mounted on the rotary guide frame, and the winch is used for pulling the folding stretcher to slide; and a telescopic driving mechanism for driving the folding stretcher to move telescopically is also arranged on the rotary guide frame. The method further comprises the steps of the control method from S1 to S13. The rescue robot can be matched with different rescue robot bodies so as to be suitable for rescue operation under different road conditions. A folding stretcher structure is adopted, a multi-telescopic-connecting-rod structure is decoupled into two three-connecting-rod mechanisms, the structure is simple and compact, the needed space range during working is small, meanwhile, rescue operation is conducted by controlling the length of the connecting rods, and the control difficulty is greatly reduced.

The invention relates to the technical field of event-driven control, in particular to an event-driven control method for a rescue robot, which comprises the following steps of: extracting event triggering conditions, triggering time sequence data and state parameters based on identification and serial number management of various events in a rescue environment; event type classification, spatial region partitioning and triggering probability modeling are carried out in combination with an SPFA algorithm, the corresponding relation between an event and a response state can be accurately mapped in the space-time dimension, the structural expression and state scheduling capability of a complex environment is enhanced, path optimization is carried out in combination with weights, and the path optimization efficiency is improved. Quantitative allocation of response resources and quantitative evaluation of response execution efficiency can be realized, a response path cost model is constructed by adopting a Dijkstra algorithm, and a mapping relation between path suitability and a triggering probability is compared, so that dynamic screening of an optimal path can be realized under an environment constraint condition; and the execution accuracy of the response path and the task completion collaboration are improved.

The invention discloses a fire safety rescue fire extinguishing intelligent robot which comprises a vehicle body, all-terrain tracks, walking assemblies, an environment sensing module, a spraying device and a door breaking device, the all-terrain tracks are installed on the two sides of the vehicle body, and the walking assemblies are arranged at the bottom of the vehicle body in a liftable mode so that walking modes can be switched according to different road conditions; the environment sensing module and the door opening device are arranged at the head and tail ends of the vehicle body. The spraying device is rotatably arranged at the top of the vehicle body, a plurality of spraying ends of the spraying device are arranged at intervals in the circumferential direction of the rotating axis, and each spraying end can independently swing up and down and is communicated with a pressure container in which different types of fire extinguishing agents are stored. The optimal walking mode can be switched according to different roads, and the advancing time of the robot is shortened; different fire sources can be quickly treated through the spraying device, in addition, a rescue channel can be quickly opened up through the door breaking device, and therefore the treatment capacity in the complex and changeable fire scene environment is improved.

The invention discloses a water rescue robot system with unmanned aerial vehicle mapping assistance and a method, and aims to solve the problems of poor rescue path planning and limited efficiency of a traditional water rescue robot. By integrating the unmanned aerial vehicle, dynamic monitoring and map updating of the rescue area environment are achieved; the unmanned aerial vehicle is provided with a high-precision sensor such as a camera and a laser radar, takes off regularly or as required to scan a water area in all directions, and collects environmental data; the data is processed through an algorithm to generate or update a digital map including obstacle positions, water depth information and the like, and the digital map is transmitted to the rescue robot in a wireless mode; the rescue robot automatically adjusts the rescue path and strategy according to the information, and efficient and safe rescue action is achieved; the method has the characteristics of real-time performance, autonomy, collaboration and the like, the rescue efficiency is remarkably improved, the safety is enhanced, the method is suitable for various complex water area environments, rapid and accurate sensing and efficient rescue decision making of the rescue area environment are achieved through an air-ground collaborative working mode, and the method has wide application prospects.

The utility model discloses a kind of robot head structure and rescue robot, it is related to robot technical field, and robot head structure includes support assembly and optical assembly, support assembly includes support mechanism, first movable piece and second movable piece, first movable piece and second movable piece are all rotationally connected support mechanism.Optical assembly includes first optical device and second optical device, first optical device is located at first movable piece, and second optical device is located at second movable piece.The bottom of support mechanism can be used to rotationally connect the fuselage of robot, first movable piece and second movable piece are all rotationally connected support mechanism, first optical device and second optical device are respectively rotationally connected first movable piece and second movable piece, so first optical device and second optical device can be respectively controlled by rotating first movable piece and second movable piece to partition, to adjust the working angle of first optical device and second optical device alone, reach the effect of fine control.

1. The name of the design product: water lifesaving robot. 2. The use of the design product: for water lifesaving robot. 3. The design points of the design product: in the combination of shape and pattern. 4. The picture or photo that best indicates the design points: perspective view.

The present invention discloses a high-temperature resistant fire-fighting and rescue robot, which relates to the technical field of high-temperature resistant robots and includes a housing. A top shell is fixedly connected to the top of the housing. A protective cover is rotatably connected to the top of the top shell. A fixing seat is arranged inside the housing at a position inside the top shell. An adjusting motor is arranged inside the fixing seat. One end of the output shaft of the adjusting motor is fixedly connected to a base. A first robotic arm is rotatably connected to the top of the base. The high-temperature resistant fire-fighting and rescue robot disclosed by the present invention, through the cooperation of the first robotic arm, the second robotic arm and the third robotic arm, enables the abutting block to support the ground to help the robot move on the stairs. By controlling the rotation of the first robotic arm, the second robotic arm and the third robotic arm by the robot, the doors and windows of the room are broken through by the saw blade, and the trapped people are rescued, achieving the effect of being able to cross floors and break through doors and windows to rescue the trapped people in the fire at the same time.

The present invention relates to a manned device for escaping the injured and a non-injury rescue robot, wherein the manned device for escaping the injured comprises: a support mechanism, a transmission mechanism and an electric pushing mechanism, wherein the transmission mechanism is arranged on the support mechanism and is slidably connected to the support mechanism; the electric pushing mechanism is connected to the transmission mechanism and is used to provide power for the sliding of the transmission mechanism. The manned device for escaping the injured of the present invention pushes the transmission mechanism to a position close to the rescued person through the electric pushing mechanism, and the rescued person is transmitted to the manned device for escaping the injured through the transmission mechanism. The manned device for escaping the injured can be used for a rescue robot, so that the rescue robot can not only travel and explore in a complex environment, but also has the function of moving the rescued object away from the dangerous environment.

The application provides a kind of based on supporting leg distribution optimization's multi-legged rescue robot motion control method and device, the based on supporting leg distribution optimization's multi-legged rescue robot motion control method includes: obtaining the centroid coordinate point of multi-legged rescue robot;In the case where the motion acceleration of the hydraulic device of multi-legged rescue robot is less than acceleration threshold value, determine the centroid coordinate point as the zero moment point of multi-legged rescue robot;Based on the vertical distance of the support area associated with the zero moment point and multiple supporting legs, determine the safety margin of multi-legged rescue robot, and in the case where the safety margin is kept maximum by adjusting the posture of mechanical arm and target supporting leg, obtain the adjustment increment of multi-legged rescue robot.The method of the application can adaptively adjust the posture of the robot according to the terrain, improve the automation degree and safety of multi-legged rescue robot in complex terrain.