105 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 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 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 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 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.

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.

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.

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 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.

The application relates to the technical field of underwater search and rescue robots, and discloses an underwater search and rescue robot which comprises a robot body, search assemblies are fixedly connected to the robot body, a front arc transparent cover is fixedly connected to one end of the robot body, a rear arc transparent cover is fixedly connected to the other end of the robot body, and the front arc transparent cover and the rear arc transparent cover cover the outer sides of the search assemblies. The fixed seat is driven to rotate by the second waterproof motor, so as to drive the cleaning brush to rotate, the cleaning brush is in contact with the front arc transparent cover and the rear arc transparent cover, then the connecting rod is driven to rotate by the first waterproof motor, so as to drive the connecting seat, the second waterproof motor and the fixed seat to rotate, the cleaning brush is further driven to rotate, and the front arc transparent cover and the rear arc transparent cover are cleaned.

The present application relates to a multi-machine cooperative mapping method based on hierarchical boundary point detection algorithm and electronic equipment, the method comprises the following steps: constructing a centralized system by multiple mobile robots equipped with laser radar and depth camera, each robot uses Gmapping algorithm for local mapping and positioning; the system uses map fusion technology based on feature point matching, extracts the features of the local map and calculates the transformation matrix to unify the local map of each robot to the global coordinate system; using the cooperative exploration strategy based on the front point, combined with the multi-machine task allocation algorithm, the efficient cooperative coverage of indoor unknown environment is realized. Through the multi-machine centralized cooperative architecture and multi-source sensor fusion technology, the present application solves the problem of low efficiency and limited coverage range of single robot mapping, improves the integrity and real-time performance of mapping in complex indoor environment, and can be widely applied to indoor autonomous navigation robots, intelligent warehouse inspection systems, indoor rescue robots, building intelligent security and other fields.

The invention discloses a wind power tower tube mother machine wall-climbing robot detection method, which comprises the following steps of: carrying a GPS (Global Positioning System) on a son-mother machine wall-climbing robot, controlling a son machine and a mother machine to be at the same height of a wind power tower tube through height parameters, and controlling positions of the son machine and the mother machine on a circle where the same height of the wind power tower tube is located to be on a diameter line through IMUs (Inertial Measurement Units) mounted on the son machine and the mother machine; in addition, the son machine and the mother machine are both provided with small winches, the son machine and the mother machine are connected through safety ropes on the winches, a moment is given to the winches in the moving process of the robot, and the ropes are in a tensioned state. When one of the son machine and the mother machine breaks down, the other one serves as a rescue robot, and the faulty robot is sent down; the invention provides a child-mother machine wall-climbing robot detection scheme and a synchronous walking strategy. A control strategy of the safety rope of the wall-climbing robot is provided; a strategy of mutual safety anchor points of the master and the slave is provided; the invention provides a scheme that the son and mother machines serve as rescue robots for each other.

The invention relates to the technical field of fire rescue robots, in particular to a fire rescue robot with a forcible entry function, which comprises a crawler chassis and a rotating base rotationally arranged at the center of the top of the crawler chassis, a power assembly is rotationally arranged at the top of the rotating base, and a supporting arm is vertically rotationally arranged at the top of the rotating base; the swing end of the supporting arm is rotationally connected with a first swing arm. The end, away from the supporting arm, of the first swing arm is rotationally provided with a second swing arm. Wherein the butt joint part comprises a rotary butt joint piece, the position of the butt joint part is adjusted through rotation of the first swing arm and the second swing arm, the power assembly serves as a power source of the crawler chassis, the first swing arm and the second swing arm, and the problem that a traditional fire-fighting robot is single in function and cannot adjust and replace rescue facilities according to the actual situation of a fire scene is solved. According to the robot, different rescue facilities are installed and connected with the butt joint part in a butt joint mode, the different rescue facilities are driven to be used, and therefore the multifunctional rescue effect of the robot is achieved.

The invention discloses a task planning and power consumption control method and system for an earthquake search and rescue robot, and relates to the related field of robot control technology.The method comprises the steps that attribute information of the earthquake search and rescue robot, environment data of an area to be searched and rescued and information of a communication site and a charging site are collected, and robot nodes, task nodes and key area nodes are established; constructing a space-time diagram, and taking the estimated power consumption of the robot moving between the nodes and the environmental risk of the region to be searched and rescued as the edge weight between the nodes; inputting the space-time diagram into a pre-trained space-time prediction model, and outputting a robot operation state, task point search and rescue difficulty, key area dynamic information and a change trend of estimated power consumption in a period of time in the future; and according to a prediction result output by the space-time prediction model, taking minimization of power consumption and search and rescue difficulty as a combined target, and applying an optimization algorithm to adjust task planning of the search and rescue robot. The problem of response lag of an existing robot control method is solved, and the control efficiency and the task planning accuracy are improved.

1. Name of the product in this design: Rescue Robot (Disaster Field Sharp Hook Lock-Tire Composite Drive). 2. Purpose of this design: For disaster relief in various terrains. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. The name of the design product: amphibious all-terrain multifunctional intelligent rescue robot. 2. The use of the design product: the design product is used for detection, rescue and transportation in amphibious all-terrain environment. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

This invention discloses a ski resort rescue and transport robot with leveling adjustment function, belonging to the field of rescue robot technology. The aim is to propose a ski resort rescue and transport robot with leveling adjustment function to solve the problems of low transfer efficiency, inability to adapt to sloping road conditions, insufficient shock absorption and cushioning effect, and the risk of secondary injury in existing technologies. The invention includes: a moving unit; a shock-absorbing and balancing unit disposed on the moving unit, the shock-absorbing and balancing unit including at least a stretcher tray, a shock-absorbing mechanism, and a balancing mechanism, which adjusts the forward and backward tilt of the stretcher tray and provides shock absorption; a stretcher; and a stretcher fixing unit, which drags the stretcher to the stretcher tray and fixes it in place. This invention reduces road bumps and lowers the risk of secondary injury through the shock-absorbing mechanism; and adapts to changes in terrain slope through the balancing mechanism, maintaining horizontal transport of the injured person.

The invention relates to the technical field of rescue robots, and discloses a wired and wireless combined coal mine rescue robot which comprises a robot body, a driving mechanism is arranged on one side of the robot body, a connecting frame is arranged on one side of the driving mechanism, and a swing mechanism is arranged on one side of the connecting frame. The swing mechanism comprises a fixing arm, the fixing arm is fixedly connected to the outer side of the connecting frame, a long groove is fixedly connected to the side, away from the connecting frame, of the fixing arm, and a protruding block is slidably connected to the inner wall of the long groove. According to the coal mine rescue robot based on wired and wireless combination, through the arranged swing mechanism, under continuous rotation of a supporting shaft, a rack can be driven to do left-right reciprocating motion, then a swing frame can do reciprocating swing, gravel obstacles on a road can be swung and cleared away in the running process of the robot body, and the safety of the robot body is improved. And the running smoothness is guaranteed, the coal mine rescue work can be further carried out conveniently, and the flexible performance of the device is enhanced.

This invention relates to the field of rescue communication technology, and discloses a remote interaction system and method for mine disaster scenarios. The method receives and separates mixed multipath signals in real time, extracts the instantaneous phase difference and signal amplitude envelope between the main signal and the reflected signal, assesses the risk of instantaneous phase collapse, and generates an early warning. Subsequently, a feedback controller generates a pre-interference signal following the principle of minimum disturbance based on the early warning information, and injects it into the transmission link through a fast modulator. This performs microsecond-level adversarial adjustment on the main signal, actively disrupting the coherent cancellation conditions that could lead to complete communication interruption. This invention achieves proactive defense against zero-signal black holes, effectively preventing rescue robots from losing control due to instantaneous disconnection of commands and video data without interrupting the communication link, significantly improving the reliability of communication and operational safety in mine disaster rescue.

The present application relates to life-saving appliance technical field, specifically be a kind of water rescue robot with obstacle avoidance function, including robot body, still include: obstacle detection module, the obstacle detection module fixed installation in the front side of robot body;Two float, two float symmetric distribution in the left and right sides of robot body;Obstacle avoidance adjusting mechanism, the obstacle avoidance adjusting mechanism is connected between robot body and each float.This application is by setting obstacle detection module, two float and obstacle avoidance adjusting mechanism, in conventional operating state, two float can be flexibly deployed, with robot body keep appropriate spacing, effectively expand overall profile size, significantly improve its in complex water environment navigation stability.When obstacle detection module identifies the surrounding reef, floating object and other obstacles, obstacle avoidance adjusting mechanism drives two float to robot body and approaches or self-adapting adjustment spacing, to avoid obstacles, ensure that rescue operation efficiently, safely advance.

The invention discloses an auxiliary rescue robot, and relates to the field of rescue auxiliary robots, the auxiliary rescue robot comprises a rescue robot dog main body, the outer surface of the rescue robot dog main body is fixedly connected with a connecting box, the connecting box is provided with a connecting mechanism, and the connecting end of the connecting mechanism is fixedly connected with a mounting block. The supporting plate forms a wide protection surface for shielding, the supporting column is driven to move downwards, the telescopic rod and the second spring are compressed, the supporting column is prevented from being bent, the first spring is also compressed for buffering, and damage of impact force to the rescue robot dog body is reduced. Meanwhile, the supporting disc makes contact with the ground to provide stable supporting. And moreover, when the supporting column descends, the pull rope is pulled to start the pull delay switch, then the telescopic driving piece pushes the connecting block to be separated from the connecting box, and the rescue robot dog body can escape from the lower portion of the supporting plate in time. The series of design effectively prevents heavy objects from smashing the robot, reduces damage to the robot due to dangerous cases, prolongs the service life, and reduces the rescue cost.

The utility model discloses a fire-extinguishing rescue robot and a high-altitude fire-extinguishing rescue device, the fire-extinguishing rescue robot comprises a machine body, a fire-extinguishing assembly and a locking assembly, the fire-extinguishing assembly is arranged on the machine body and is used for spraying a fire extinguishing agent towards a position to be extinguished during working; the locking assembly and the fire extinguishing assembly are arranged adjacently, the locking assembly can be switched between a locking state and an unlocking state, and when the machine body is loaded, the locking assembly is in the locking state; when the machine body is carried to a preset position, the locking assembly is in an unlocking state. The fire-fighting and rescue robot can be ensured to be better in stability in the conveying process, and can cooperate with the unmanned aerial vehicle to carry out fire-fighting and rescue in various high-altitude places, so that the fire-fighting and rescue efficiency and collaboration are improved.

1. Name of the designed product: rescue robot (programmable). 2. Use of the designed product: robot for disaster rescue, search and rescue of the wounded, carrying heavy objects and assisting search and rescue personnel. 3. Design points of the designed product: in shape. 4. Picture or photo that best shows the design points: perspective view 1.