162 results about "Rescue robot" patented technology

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 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 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 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 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 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 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.

1. The name of the design product: rescue robot (WHX-FXT-02). 2. The use of the design product: can be remotely controlled, quickly reach the trapped personnel, and implement rescue for the drowning or trapped personnel. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The utility model belongs to the technical field of lifesaving in water, and particularly relates to a water rescue robot which comprises a control panel, a supporting platform, a floating and sinking mechanism and a power mechanism. Wherein a supporting plane is arranged at the top of the supporting platform, and a floating channel and a settling cavity are sequentially arranged in the supporting platform from top to bottom; the control panel is configured to control the floating and sinking mechanism to enter and exit air in the floating channel and / or enter and exit water in the settling cavity so as to control the supporting platform to float or settle in water; the control panel is further configured to control the power mechanism to drive the supporting platform to move in water until the supporting plane abuts against the target object. The floating and sinking mechanism drives the supporting platform to float or sink in water, and meanwhile, the floating and sinking mechanism is matched with the power mechanism to directly move the supporting platform to the position below the target object, so that the target object is supported through the supporting platform, the target object does not need to grab the supporting platform, and the target object can be used even if the target object is a non-biological object.

The invention discloses a police robot with a door and window quick forcible entry rescue function, and relates to the technical field of police rescue robots, the police robot comprises a rescue robot, an auxiliary mechanism comprises a positive and negative motor, two semi-circular grooves and a clamp, a cable is wound on a winding wheel, one end of the cable is connected with a detonator, and the other end of the cable is connected with a power source. A V-shaped groove is formed in the surface of each first rectangular block in advance, a V-shaped explosive groove cover is arranged in each V-shaped groove, flexible explosive is arranged in each V-shaped explosive groove cover, a communicating hole is formed in the inner wall of each V-shaped groove in advance, and an electric switch is arranged on the periphery of the winding wheel. By means of the technical scheme, the application range of the police rescue robot can be expanded, the function of quickly breaking and dismantling a door and window with the basic thickness and made of simple materials is achieved, a metal door structure with the thick thickness and made of complex materials can be broken and dismantled, and therefore the use efficiency of the police rescue robot is improved.

The utility model provides an anti-terrorist obstacle crossing rescue robot, and relates to the technical field of rescue robot equipment. Comprising a supporting transverse plate, a fixing frame is mounted at the top of the supporting transverse plate, an auxiliary rescue mechanism, a visual sensor, the fixing frame and a second driving motor are arranged, so that it is guaranteed that the whole equipment can automatically move, and a first electric telescopic rod and the supporting transverse plate are positioned and mounted through cooperation of a mounting bottom plate and a third positioning bolt; the visual sensor is rotationally connected with the limiting frame through the connecting shaft, the outer side of the limiting frame is provided with a fourth positioning bolt used in cooperation with limiting of the visual sensor, the overall visual sensor subjected to angle adjustment is subjected to limiting installation treatment through the fourth positioning bolt, and the monitoring range in actual use is widened; therefore, the height, direction and angle of the auxiliary rescue mechanism can be conveniently adjusted, different use scenes are met, the number of times of manual auxiliary field operation is reduced, and the labor intensity of workers is reduced.

The invention relates to the technical field of robots, and discloses a double-arm humanoid emergency rescue robot with high trafficability and flexible operation capability, and the robot has the capability of sensing the grabbing force in real time through fingertip torque, joint torque and a touch sensing unit. The optimal grabbing force giving consideration to safety and tasks is calculated through a grabbing force optimization function, accurate closed-loop force control is achieved, meanwhile, vibration and tangential force signals can be analyzed in real time, slippage symptoms can be intelligently judged based on a Bayesian fusion strategy, dynamic force increasing is achieved through an increment adjustment strategy, and the stability of the system is improved. Therefore, reliable grabbing is achieved on complex surfaces such as rainwater, ice and snow and greasy dirt, and task failure caused by material sliding or operation instability is effectively prevented. Meanwhile, benefited from an admittance control algorithm, the dexterous hand can adjust the position and posture according to the force deviation through a virtual dynamic model, compliant force interaction with the environment is achieved, and the dexterous hand is perfectly competent for fine rescue tasks such as valve rotation, interface operation and entanglement shearing.

The invention provides a multi-mode forest fire detection and cooperative rescue robot, and belongs to the technical field of fire fighting, the robot comprises a machine body module, track driving modules, a mechanical arm module, an image acquisition module and a supporting module, the track driving modules are arranged at the two ends of the machine body module, and the mechanical arm module is arranged on the machine body module; the mechanical arm module comprises a large mechanical arm and a small mechanical arm, the mechanical arm module is fixedly arranged at the upper end of the machine body module, the image acquisition module is fixedly installed at the front end of the machine body module, the supporting module comprises a hydraulic rod, and the supporting module penetrates through the machine body module and is fixedly connected with the machine body module. The multi-mode forest fire detection and cooperative rescue robot can adapt to the disaster environment, has efficient search and rescue capacity, and guarantees the safety of fire fighters and victims to the maximum extent.

The utility model discloses a rescue robot which comprises a robot body, a multi-shaft driving arm and a clamping jaw assembly. The multi-axis driving arms are mounted on the two sides of the machine body in pairs, and each multi-axis driving arm is provided with a movable end moving at least in the first direction; the clamping jaw assemblies are installed at the movable ends of the multi-axis driving arms in a one-to-one correspondence mode and comprise a first clamp, a second clamp and an opening and closing mechanism, the opening and closing mechanism is arranged between the first clamp and the second clamp, the second clamp is arranged on the side close to the machine body, and the opening and closing mechanism is arranged on the side close to the machine body. The opening and closing mechanism drives the first clamp and the second clamp to rotate to be folded or unfolded. The first clamp and the second clamp are driven to be opened and closed through the opening and closing mechanism of the clamping jaw assemblies, the single clamping jaw can clamp and carry obstacles, then the second clamp moves to an avoiding position, the clamping jaw assemblies are displaced in cooperation with the multi-shaft driving arm, the two clamping jaw assemblies are made to be close to each other and combined into one, and the clamping efficiency is improved. And a double-claw clamping structure consisting of the two first clamps is switched.

This invention provides a UWB life signal micro-motion identification and positioning method for mine rescue robots, belonging to the field of micro-motion identification and positioning technology, and is used for mine rescue robots. The method includes: acquiring echo signals transmitted and received by UWB radar in a mine environment, and generating a reflection path template based on a three-dimensional structural model of the mine roadway characterizing the mine environment; performing parallel time-domain and frequency-domain processing on the echo signals to generate a preprocessed time-domain signal and a time-frequency energy distribution map; calculating a spectral concentration based on the time-frequency energy distribution map, and setting a time-domain energy weight and a frequency-domain energy weight based on the spectral concentration to generate a dynamic weight function; and performing a ternary collaborative optimization process, using the dynamic weight function as the evaluation criterion.

The invention discloses an earthquake rescue robot capable of conveniently carrying materials, relates to the technical field of earthquake rescue robots, and solves the problem that an existing earthquake rescue robot can only detect trapped persons and cannot convey materials to the trapped persons. An earthquake rescue robot capable of conveniently carrying materials comprises a vehicle body, crawler wheels are installed on the front end face and the rear end face of the vehicle body, a storage device is movably installed on one side of the upper end face of the vehicle body, a rotating seat is rotationally connected to the other side of the upper end face of the vehicle body, and a thermal imager and a life detector are installed on the upper end face of the rotating seat. A shell is further installed on the upper end face of the vehicle body, a camera is installed on the inner side of the shell, and a feeding mechanism is installed on one side of the surface of the vehicle body through a rotating mechanism. The material conveying device can penetrate through a narrow gap, materials can be conveyed to trapped persons conveniently, the carrying amount of the materials can be increased, and the using effect is improved.

1. The name of the design product: rescue robot. 2. The use of the design product: the design product is used for rescue at dangerous accident site. 3. The design points of the design product: in shape. 4. The picture or photo that can best show the design points: perspective view.

The utility model belongs to the technical field of water rescue robots, and particularly discloses a rapid inflation rescue unmanned boat. The unmanned boat mainly comprises a boat body, a battery base, an electronic cabin, propellers and other structures, the outer contour of the boat body is of a U-shaped structure, the battery base and the electronic cabin are arranged in an area defined by the rear side of the boat body, and a battery pack is arranged on the battery base; the electronic cabin is connected with the rear end of the battery base; the top of the electronic cabin is also provided with an air supplementing pump, a high-pressure gas cylinder and a high-pressure hose gas circuit; the unmanned boat can be folded, stored and carried when not inflated for use, a certain occupied space is saved, the unmanned boat is easy to transport and transfer, the air chambers of the boat body are inflated by adopting a high-pressure air bottle inflation mode and an air supplementing pump air supplementing mode when the unmanned boat needs to be used in water, automatic and rapid inflation can be achieved, the water surface bearing capacity of the boat body is kept, and the unmanned boat is convenient to use. And the laying efficiency is effectively improved.

The invention discloses a rescue robot path planning method and system based on sound source localization, and relates to the related field of robot path planning technology.The method comprises the steps that rescue environment audio data in a stereo format is collected in real time; analyzing acoustic features of the rescue environment audio data by adopting a pre-trained sound source localization model, and outputting sound event types and position data contained in the audio; determining a rescue target according to an output result of the pre-trained sound source localization model, and fusing data acquired by the rescue unmanned aerial vehicle to obtain an environment model of the rescue area; and based on the rescue target position information and the rescue area environment model, a secondary optimization path planning algorithm is adopted to formulate a rescue route of the rescue robot, and dynamic obstacle avoidance in the advancing process of the robot is realized through a dynamic window method. The problem that the rescue robot path planning precision is insufficient in a vision-limited post-disaster environment is solved, the method for determining the position information of the rescue target from the auditory perspective is expanded, and the robot path planning efficiency is improved.

1. The name of this design product: rescue robot. 2. Purpose of this design product: A robot used for monitoring emergency rescue in tunnels. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture. 5. The bottom surface is difficult to see or cannot be seen during use, so the top view is omitted.

The invention relates to the technical field of fire-fighting robots, and discloses a fire rescue robot anti-collision structure based on visual feedback. High-pressure water flushing protection mechanisms are arranged on the two sides of the fire-fighting robot. The high-pressure water flushing protection mechanism comprises a U-shaped pipe, control equipment and a plurality of high-pressure nozzles; the fire-fighting robot is further provided with induction equipment. The sensing device monitors the surrounding environment in real time, when obstacles in the advancing direction are detected, high-pressure water flow is sprayed out in advance through the high-pressure spray head for buffering, and surrounding residual fire is extinguished. The high-pressure water flushing protection mechanism can be rotatably stored, a U-shaped pipe of the high-pressure water flushing protection mechanism is composed of a curved pipe and a rotatable straight pipe, and the conversion between a buffering mode and a fire extinguishing mode is achieved by switching a high-pressure spray head and a diffusion spray head. And an anti-collision fence structure is arranged on the periphery and is linked with the spray head to form a water cushion effect to enhance buffering. According to the robot, collision is actively prevented through visual feedback, multi-mode water spraying and anti-collision fence linkage are combined, and the anti-collision capacity and the fire extinguishing efficiency of the robot are remarkably improved.

This utility model provides a salvage plate structure for an active water rescue robot, belonging to the technical field of water rescue equipment. It includes a split salvage plate, with a grid plate at the top and a support frame at the bottom. Each support frame has a receiving interface on both the left and right sides at its front end. Each receiving interface has a plug-in block on the side furthest from the salvage plate. The receiving interface and the plug-in block are connected and fixed by bolts. A connecting component is provided on the side of the plug-in block furthest from the salvage plate. A protective strip is provided on the side of the connecting component furthest from the salvage plate. This utility model connects the salvage plate to the protective strip through the connecting component, thereby fixing the protective strip to the front end of the salvage plate. When rescuing a person who has fallen into the water, the protective strip will contact the person first, thus avoiding initial contact between the person and the salvage plate and preventing secondary injury to the person.

This invention discloses a remotely operated heavy-duty rescue robot system with automatic loading and unloading capabilities. It includes an electrically controlled arm, a hydraulic arm, and a tool magazine. The tool magazine includes a slide fixed to the vehicle body, a tooling bracket that moves along the slide, and an adjusting hydraulic rod hinged between the vehicle body and the tooling bracket. The tool magazine includes several large-load and small-load operating heads placed on the tooling bracket. Both the large-load and small-load operating heads are equipped with quick-change connectors (first docking parts). The electrically controlled arm and the hydraulic arm are each equipped with quick-change connectors (second docking parts). The electrically controlled arm engages with the small-load operating head, and the hydraulic arm engages with the large-load operating head. The electrically controlled arm and the hydraulic arm are controlled via a remote control console for operation and quick-change of operating heads. Through the coordinated operation of both arms and automatic loading and unloading, this system changes the traditional fixed rescue mode of robots, enabling the robot to make reasonable adjustments according to different situations during a rescue operation, thereby significantly improving the success rate of rescues.

The utility model provides a special hook claw for a line throwing device for a rescue robot, which comprises a first mounting column, an automatic pop-up mechanism and a hook claw contraction mechanism, the outer surface of the first mounting column is transversely and fixedly connected with a plurality of mounting sheets, and the outer end of each mounting sheet is rotatably connected with a hook claw. According to the special hook claw for the line throwing device for the rescue robot, the automatic pop-up mechanism and the hook claw retracting mechanism are arranged, the hook claws of the device are rotationally connected to the outer surface of the first mounting column, when the special hook claw is not used, the multiple hook claws can be retracted, the sliding block is pushed downwards after the hook claws are retracted, and the rotating disc is rotated; the clamping buckles of the rotating disc are clamped into the transverse sliding grooves, at the moment, under limiting of the clamping blocks, the hooking claws cannot be opened and are kept in a folded state all the time, in the state, the hooking claws are relatively small in size and convenient to store and transport, when the hooking claws need to be used, only the rotating disc needs to be rotated reversely, and the overall use is convenient. Therefore, the practicability of the hook claw is improved.

The application discloses a rescue method and system of a rescue robot for exploration, and relates to the technical field of underground space rescue, and comprises the following steps: acquiring multi-path acoustic echo data and robot motion trajectory data of a karst cave, and constructing a three-dimensional point cloud model based on the data; identifying unmatched data in the multi-path acoustic echo data and the robot motion trajectory data, and taking a region where the unmatched data is located as an abnormal region. The application enhances the spatial resolution of signal collection through a multi-microphone array, extracts robust acoustic fingerprints by combining a noise reduction algorithm and a short-time Fourier transform, and screens out human body sound source signals with high confidence by using a feature template matching mechanism, so that accurate extraction and identification of human body acoustic characteristics in a complex noise environment of a karst cave are realized, and the misjudgment problem caused by confusion of sound source characteristics and environmental noise in a traditional method is effectively solved.

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