CN112077855A - Simulated rolling-ground flying spider rescue robot capable of detecting life - Google Patents
Simulated rolling-ground flying spider rescue robot capable of detecting life Download PDFInfo
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Abstract
The invention provides a simulated rolling-ground flying spider rescue robot capable of detecting life, wherein the number of mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged at two sides of a mechanical trunk, each mechanical leg comprises a base joint, a thigh joint and a tail joint, the head end of the base joint is arranged on the mechanical trunk through the base joint, the head end of the thigh joint is connected with the tail end of the base joint through the thigh joint, ankle joints are arranged between the head end of the tail joint and the tail end of the thigh joint, the number of rolling shells is 2, each rolling shell is of a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shells are respectively arranged at the head end and the tail end of the connecting. The device can stably move and detect by depending on the form of the spider in narrow gaps, complex and variable environments with huge wind and sand and high temperature, and can quickly move by depending on roller type forms in sections such as flat ground, downhill and the like, so that the restriction of robot rescue is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a simulated rolling-ground flying spider rescue robot capable of detecting life.
Background
For extreme environment rescue situations, people are helped to achieve rescue tasks by means of small and exquisite robots, common robots such as crawler-type robots, roller-type robots and flying type robots (unmanned aerial vehicles) are stable and heavy, energy consumption is high, roller-type robots are high in speed but not suitable for complex sections, the unmanned aerial vehicles cannot fly for too long time due to high energy consumption, and the rescue modes have certain limitation in practical application.
Disclosure of Invention
The device overcomes the defects in the prior art, the existing rescue method has larger limitation and energy consumption, the simulated rolling-ground flying spider rescue robot capable of detecting life is provided, the device can stably move and detect in the environment with narrow gaps, complexity and changeability and huge wind and sand by depending on the form of the spider, and can rapidly move in the sections such as flat ground, downhill and the like by depending on the form of a roller, so that the limitation of robot rescue is reduced, and the device has small volume and is convenient to carry.
The purpose of the invention is realized by the following technical scheme.
A simulated rolling-ground flying spider rescue robot capable of detecting life comprises a mechanical trunk, mechanical legs and a rolling shell,
the number of the mechanical leg parts is 4, 6 or 8, the mechanical leg parts are divided into two groups which are uniformly arranged at two sides of the mechanical trunk, the mechanical leg parts comprise a base section, a thigh section and a tail section, the head end of the base section is arranged on the mechanical trunk through the base joint, the head end of the thigh section is connected with the tail end of the base section through the thigh joint, an ankle joint is arranged between the head end of the tail section and the tail end of the thigh section,
the number of the rolling shells is 2, the rolling shells are of a hollow hemispherical structure, a through hole is formed in the middle of the mechanical body, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shells are respectively arranged at the head end and the tail end of the connecting device.
The connecting device comprises a first telescopic rod, a second telescopic rod and a bidirectional telescopic motor, the bidirectional telescopic motor is embedded in the through hole, two telescopic shafts of the bidirectional telescopic motor are respectively located at the upper end and the lower end of the mechanical trunk, the first telescopic rod and the second telescopic rod are respectively fixed on the telescopic shafts, and the tail ends of the first telescopic rod and the second telescopic rod are fixed in the middle of the inner wall of the rolling shell.
The first telescopic rod and the second telescopic rod are both of a structure formed by sleeving 2-4 sections of hollow pipes.
The mechanical trunk is further provided with an infrared sensor, a distance measuring sensor, a gyroscope, a signal transmitting and receiving device and a power supply device, the infrared sensor, the distance measuring sensor and a signal output end of the gyroscope are connected with a signal input end of the signal transmitting and receiving device, a signal transmitting end of the signal transmitting and receiving device transmits signals to a signal receiving end of the remote control device, a signal transmitting end of the remote control device is connected with a signal receiving end of the signal transmitting and receiving device, and a signal output end of the signal transmitting and receiving device is connected with a bidirectional telescopic motor, a base joint, a thigh joint and an ankle joint respectively.
And a miniature camera for observing road conditions is also arranged on the rolling shell above the mechanical trunk.
Thigh festival central authorities have seted up the thigh festival spout be provided with thigh festival slide structure on the thigh festival spout the structural thigh festival slide that is provided with of thigh festival, the two-way flexible motor setting of thigh festival is in the cavity inner chamber of thigh festival, the output shaft of the two-way flexible motor of thigh festival links to each other with HDpower digital steering wheel be provided with the unmanned aerial vehicle rotor on the HDpower digital steering wheel.
The tail section is characterized in that a tail section sliding groove is formed in the center of the tail section, a tail section sliding way structure is arranged on the tail section sliding groove, a tail section sliding plate is arranged on the tail section sliding way structure, a tail section bidirectional telescopic motor is arranged in a hollow inner cavity of the tail section, and an output shaft of the tail section bidirectional telescopic motor is connected with an underwater propeller.
The length of the base joint is 9-15cm, and the base joint adopts a two-degree-of-freedom steering engine.
The length of the thigh joint is 10-20cm, the length of the tail joint is 2-4cm, and the thigh joint and the ankle joint adopt single-degree-of-freedom steering engines.
The number of the mechanical legs is 6.
The invention has the beneficial effects that: when the device is in a downhill environment or an environment with large wind and sand, the rolling shell is closed through contraction of the telescopic rod, and the mechanical leg is retracted in the rolling shell, so that the device can roll downhill or roll along the direction of wind, and energy consumption is reduced; when the device is on the flat ground, the rolling shell is opened through the extension of the telescopic rod, the mechanical leg extends out, and the mechanical trunk moves through the coordinated motion of the mechanical leg; the device can adjust the posture of the robot by utilizing the base joints and the bone joints of the leg structure, and extend the legs and the ground level to form a hexagonal six-axis unmanned aerial vehicle shape which can be free of ground obstacles and can enter a flight mode, so that the device has a better visual field and has better effects on search and rescue actions, entertainment, detection, high body crossing and the like; the device can also adjust the posture of the robot by utilizing the base joints and the bone joints of the leg structures, extend the legs, enable the six-leg base joints to be horizontal, correspondingly adjust the angles of the base joints, the thigh joints and the tail joints to enable the structures at two sides to be symmetrical and enable the six tail joints to be parallel, then adjust the tail joint structure, enable the underwater propeller to extend out of the tail joint by the tail joint bidirectional telescopic motor to form an underwater diving mode, and the mode can be used for crossing rivers, searching and catching in water, monitoring in water and the like; this device is to comparing robot in the past, it is more nimble more high-efficient, this device has the sound combination, automatic search, quick travel, detect advantages such as dangerous situation, the spider removes the form stable, make the device can the steady removal, and this device can be at narrow and small gap, it is complicated changeable, sand blown by wind is huge, rely on the spider form to steadily remove and detect under the environment of high temperature, can rely on the roll form to carry out quick travel in sections such as level land downhill path, the restriction of robot rescue has been reduced, can detect whether dangerous in rescuer place ahead road, and this device is small portable.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of a stock segment in the present invention;
FIG. 3 is a schematic structural view of a tail section of the present invention;
FIG. 4 is a schematic view of the upper and lower housings of the present invention;
FIG. 5 is a schematic view of the upper and lower housings of the present invention;
FIG. 6 is a schematic view of the flight state of the present invention;
FIG. 7 is a signal transmission block diagram of the present invention;
FIG. 8 is a schematic structural view of a rolling housing according to a sixth embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a control box according to a sixth embodiment of the present invention;
FIG. 10 is a schematic view of the narrow space exploration route scheme of the present invention;
FIG. 11 is a schematic view of the closed large space exploration route scheme of the present invention;
FIG. 12 is a schematic view of a closed large space obstacle crossing detection route scheme of the present invention;
FIG. 13 is a schematic view of the small space attached large space exploration route scheme of the present invention;
FIG. 14 is a schematic view of the large space attached large space exploration route scheme of the present invention;
in the figure: 1 is the machinery truck, 2 is the basic festival, 3 is the thigh festival, 4 is the tail festival, 5 is the basic joint, 6 is the thigh joint, 7 is the ankle joint, 8 is the roll casing, 9 is first telescopic link, 10 is the second telescopic link, 11 is two-way flexible motor, 12 is the unmanned aerial vehicle rotor, 13 is HDpower digital steering wheel, 14 is the two-way flexible motor of thigh festival, 15 is thigh festival slide structure, 16 is the screw under water, 17 is tail festival slide structure, 18 is the two-way flexible motor of tail festival, 21 is the radar antenna, 22 is the flexible motor of antenna, 23 is the radar host computer, 24 is the control box, 25 is the receiving antenna, 26 is the articulated elements, 27 is the LCD screen for receiving antenna groove 28.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
The technical solution of the present invention is further illustrated by the following specific examples.
Example one
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
The device is a mechanical device of a simulation spider, and the mechanical legs uniformly arranged on two sides of the mechanical trunk drive the mechanical trunk to move, so that the purposes of automatic searching and rescuing are achieved.
Example two
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
Connecting device includes first telescopic link, second telescopic link and two-way flexible motor, and two-way flexible motor inlays the dress in the through-hole, and two telescopic shafts of two-way flexible motor are located the upper and lower both ends of machinery truck respectively, and the miniature flexible motor of 6V that two-way flexible motor model was produced for Dongguan city giant worker intelligence science and technology limited company fixes first telescopic link and second telescopic link respectively on the telescopic shaft, and the tail end of first telescopic link and second telescopic link is fixed at the inner wall middle part of rolling casing.
The first telescopic rod and the second telescopic rod are both in a structure formed by sleeving 2-4 sections of hollow pipes.
When the device is in a downhill environment or an environment with large wind and sand, the rolling shell is closed through the contraction of the telescopic rod, and the mechanical leg is accommodated in the rolling shell, so that the device can roll downhill or roll along the direction of wind, and the energy consumption is reduced; when the device is on the flat ground, the rolling shell is opened through the extension of the telescopic rod, the mechanical leg is extended out, and the mechanical trunk moves through the coordinated motion of the mechanical leg.
EXAMPLE III
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
Connecting device includes first telescopic link, second telescopic link and two-way flexible motor, and two-way flexible motor inlays the dress in the through-hole, and two telescopic shafts of two-way flexible motor are located the upper and lower both ends of machinery truck respectively, and the miniature flexible motor of 6V that two-way flexible motor model was produced for Dongguan city giant worker intelligence science and technology limited company fixes first telescopic link and second telescopic link respectively on the telescopic shaft, and the tail end of first telescopic link and second telescopic link is fixed at the inner wall middle part of rolling casing.
The first telescopic rod and the second telescopic rod are both in a structure formed by sleeving 2-4 sections of hollow pipes.
The thigh section sliding groove is formed in the center of the thigh section 3, a thigh section sliding groove structure 15 is arranged on the thigh section sliding groove, a thigh section sliding plate is arranged on the thigh section sliding groove structure 15, a thigh section bidirectional telescopic motor 14 is arranged in a hollow inner cavity of the thigh section 3, an output shaft of the thigh section bidirectional telescopic motor 14 is connected with the HDpower digital steering engine 13, and an unmanned aerial vehicle rotor wing 12 is arranged on the HDpower digital steering engine 13.
Thigh festival central authorities department has thigh festival slide structure, rely on the slide to slide certain distance relatively with the structural outer casing of thigh festival slide, then outwards drive HDpower digital steering wheel and the unmanned aerial vehicle rotor that links to each other with it by the two-way flexible motor of thigh festival, utilize the base joint of shank structure, the bone joint, the adjustment robot gesture, it becomes six unmanned aerial vehicle forms of hexagon with ground level to extend the shank, this form can be invisibly ground obstacle, and get into flight mode, have a better field of vision, move to search for and rescue, the amusement, detect, stride across high body etc. and all have better effect.
Example four
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
Connecting device includes first telescopic link, second telescopic link and two-way flexible motor, and two-way flexible motor inlays the dress in the through-hole, and two telescopic shafts of two-way flexible motor are located the upper and lower both ends of machinery truck respectively, and the miniature flexible motor of 6V that two-way flexible motor model was produced for Dongguan city giant worker intelligence science and technology limited company fixes first telescopic link and second telescopic link respectively on the telescopic shaft, and the tail end of first telescopic link and second telescopic link is fixed at the inner wall middle part of rolling casing.
The first telescopic rod and the second telescopic rod are both in a structure formed by sleeving 2-4 sections of hollow pipes.
The thigh section sliding groove is formed in the center of the thigh section 3, a thigh section sliding groove structure 15 is arranged on the thigh section sliding groove, a thigh section sliding plate is arranged on the thigh section sliding groove structure 15, a thigh section bidirectional telescopic motor 14 is arranged in a hollow inner cavity of the thigh section 3, an output shaft of the thigh section bidirectional telescopic motor 14 is connected with the HDpower digital steering engine 13, and an unmanned aerial vehicle rotor wing 12 is arranged on the HDpower digital steering engine 13.
The center of the tail section 4 is provided with a tail section sliding groove, the tail section sliding groove is provided with a tail section sliding rail structure 17, the tail section sliding rail structure 17 is provided with a tail section sliding plate, a tail section bidirectional telescopic motor 18 is arranged in the hollow inner cavity of the tail section 4, and the output shaft of the tail section bidirectional telescopic motor 18 is connected with an underwater propeller 16.
The center of the tail section is provided with a tail section slideway structure, the rolling shell is brought to two sides, then the tail section bidirectional telescopic motor drives the underwater propeller to extend out of the tail section, the base joint and the bone joint of the leg structure are utilized to adjust the posture of the robot, the legs are extended, the six-leg base section is horizontal, the corresponding angles of the base section, the thigh section and the tail section are adjusted to enable the structures of the two sides to be symmetrical, the six tail sections are parallel, then the tail section structure is adjusted, the tail section bidirectional telescopic motor extends the underwater propeller out of the tail section to form an underwater diving mode, and the underwater diving mode can be used for crossing rivers, underwater fishing, underwater monitoring and other scenes.
EXAMPLE five
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
Connecting device includes first telescopic link, second telescopic link and two-way flexible motor, and two-way flexible motor inlays the dress in the through-hole, and two telescopic shafts of two-way flexible motor are located the upper and lower both ends of machinery truck respectively, and the miniature flexible motor of 6V that two-way flexible motor model was produced for Dongguan city giant worker intelligence science and technology limited company fixes first telescopic link and second telescopic link respectively on the telescopic shaft, and the tail end of first telescopic link and second telescopic link is fixed at the inner wall middle part of rolling casing.
The first telescopic rod and the second telescopic rod are both in a structure formed by sleeving 2-4 sections of hollow pipes.
The thigh section sliding groove is formed in the center of the thigh section 3, a thigh section sliding groove structure 15 is arranged on the thigh section sliding groove, a thigh section sliding plate is arranged on the thigh section sliding groove structure 15, a thigh section bidirectional telescopic motor 14 is arranged in a hollow inner cavity of the thigh section 3, an output shaft of the thigh section bidirectional telescopic motor 14 is connected with the HDpower digital steering engine 13, and an unmanned aerial vehicle rotor wing 12 is arranged on the HDpower digital steering engine 13.
The center of the tail section 4 is provided with a tail section sliding groove, the tail section sliding groove is provided with a tail section sliding rail structure 17, the tail section sliding rail structure 17 is provided with a tail section sliding plate, a tail section bidirectional telescopic motor 18 is arranged in the hollow inner cavity of the tail section 4, and the output shaft of the tail section bidirectional telescopic motor 18 is connected with an underwater propeller 16.
The mechanical trunk is made of fireproof vacuum plate materials, the upper shell structure and the lower shell structure are made of fireproof vacuum materials, the main control part is provided with aluminized film fireproof coatings on a base joint, a thigh joint, a tail joint, a base joint, a thigh joint, a tail joint and sensors of the whole robot device, and the mechanical trunk is also provided with a gas sensor NO sensor, a CO sensor and an SO sensor2Sensor, SO3Sensor, CH4Sensor, O2The sensor can be applied to a fire scene, a scene is detected before the underground tunnel and the cave enter, and rescue personnel and geological exploration personnel adopt the robot to explore the path to detect whether vital signs exist or not and whether harmful gas exists or not before entering the next scene when carrying out rescue and exploration, so that whether personnel enter or not is determined.
EXAMPLE six
A life-detectable simulated rolling-ground flying spider rescue robot comprises a mechanical trunk 1, mechanical legs and a rolling shell 8,
the number of the mechanical legs is 4, 6 or 8, the mechanical legs are divided into two groups which are uniformly arranged on two sides of a mechanical trunk 1, the mechanical legs comprise a base section 2, a thigh section 3 and a tail section 4, the head end of the base section 1 is arranged on the mechanical trunk 1 through a base joint 5, the length of the base section 2 is 9-15cm, the base joint 5 adopts a mini two-degree-of-freedom pan-tilt steering engine, the head end of the thigh section 3 is connected with the tail end of the base section 2 through a thigh joint 6, an ankle joint 7 is arranged between the head end of the tail section 4 and the tail end of the thigh section 3, the length of the thigh section 3 is 10-20cm, the length of the tail section 4 is 2-4cm, and the thigh joint 6 and the ankle joint 7 adopt a 4.7 gGN-check single-,
the quantity of the rolling shell is 2, the rolling shell adopts a hollow hemispherical structure, a through hole is formed in the middle of the mechanical trunk, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shell is respectively arranged at the head end and the tail end of the connecting device.
Connecting device includes first telescopic link, second telescopic link and two-way flexible motor, and two-way flexible motor inlays the dress in the through-hole, and two telescopic shafts of two-way flexible motor are located the upper and lower both ends of machinery truck respectively, and the miniature flexible motor of 6V that two-way flexible motor model was produced for Dongguan city giant worker intelligence science and technology limited company fixes first telescopic link and second telescopic link respectively on the telescopic shaft, and the tail end of first telescopic link and second telescopic link is fixed at the inner wall middle part of rolling casing.
The first telescopic rod and the second telescopic rod are both in a structure formed by sleeving 2-4 sections of hollow pipes.
The thigh section sliding groove is formed in the center of the thigh section 3, a thigh section sliding groove structure 15 is arranged on the thigh section sliding groove, a thigh section sliding plate is arranged on the thigh section sliding groove structure 15, a thigh section bidirectional telescopic motor 14 is arranged in a hollow inner cavity of the thigh section 3, an output shaft of the thigh section bidirectional telescopic motor 14 is connected with the HDpower digital steering engine 13, and an unmanned aerial vehicle rotor wing 12 is arranged on the HDpower digital steering engine 13.
The center of the tail section 4 is provided with a tail section sliding groove, the tail section sliding groove is provided with a tail section sliding rail structure 17, the tail section sliding rail structure 17 is provided with a tail section sliding plate, a tail section bidirectional telescopic motor 18 is arranged in the hollow inner cavity of the tail section 4, and the output shaft of the tail section bidirectional telescopic motor 18 is connected with an underwater propeller 16.
The mechanical trunk is made of fireproof vacuum plate materials, the upper shell structure and the lower shell structure are made of fireproof vacuum materials, the base joints, the hip joints, the tail joints and the sensors of the whole robot device are all coated with aluminum film fireproof paint, the mechanical trunk is also provided with a gas sensor NO sensor, a CO sensor, an SO2 sensor, an SO3 sensor, a CH4 sensor and an O2 sensor, SO that the mechanical trunk can be applied to fire scenes, underground tunnels and caverns before entering, rescue workers and geological exploration workers can rescue and adopt the robot to detect whether vital signs exist before entering the next scene during exploration, whether harmful gas exists or not, and whether personnel enter the scene is determined.
The mechanical trunk is also provided with a GY-MCU90640 infrared sensor, an ATK-VL53LOX distance measuring sensor, an MPU9250 gyroscope, a wireless timing signal transmitting device, a wireless receiving device and a power supply device, signal output ends of the infrared sensor, the distance measuring sensor and the gyroscope are connected with a signal input end of the signal transmitting and receiving device, a signal transmitting end of the signal transmitting and receiving device transmits a signal to a signal receiving end of a remote control device, the signal transmitting end of the remote control device is connected with the signal receiving end of the signal transmitting and receiving device, signal output ends of the signal transmitting and receiving device are respectively connected with a bidirectional telescopic motor, a base joint, a hip joint and an ankle joint, and the power supply device provides energy support for the infrared sensor, the distance measuring sensor, the gyroscope, the signal transmitting and receiving device and the like.
And the rolling shell arranged above the mechanical trunk is also provided with a super-long distance transmission miniature camera for observing road conditions.
Be provided with radar antenna 21 on roll casing 8, radar antenna 21 adopts extending structure, radar antenna 21's top is run through outside roll casing 8 stretches out roll casing 8, radar antenna 21's tail end links to each other with the flexible motor 22 of antenna, be used for stretching out and the shrink of control radar antenna 21, radar antenna 21 passes through the wire and links to each other with radar host 23 that sets up on machinery truck 1, be provided with LCD screen 28 on the control box 24, LCD screen 28 can show each detected signal's numerical value, receive antenna groove 27 has been seted up in control box 24 one side, link to each other receive antenna 25 and control box 24 through articulated elements 26 in receiving antenna groove 27. The electric measuring wave transmitted by the radar penetrates through a certain medium and then is reflected and received by a receiver arranged in the radar, the echo signal is rapidly subjected to signal analysis, and the respiration, heartbeat and activity of the survivor wounded are found out, so that the existence of the survivor wounded is detected.
The principle of the life detection mode in the device is as follows:
an oscillation source in a transmitter generates an L-waveband local oscillation signal, one path of the L-waveband local oscillation signal is transmitted out through an antenna through a circulator after power amplification, and the other path of the L-waveband local oscillation signal is transmitted to a receiving system after being properly slowed down to serve as a reference interference signal of coherent mixing (in order to improve the sensitivity of the system, the oscillation source adopts a low-phase noise source)
Echo signals are received by two antennas, sent to a low noise amplifier after being received by a circulator, the amplified signals are sent to a mixer to be mixed with a reference signal in a coherent mode, Doppler frequency shift signals, namely life activity signals, are obtained through wave detection, and are sent to a signal processor to be processed, and life parameters are extracted. The spider robot is used as a signal and is amplified by a signal amplifier and then transmitted to a control box used by a controller, a computer in the control box analyzes, judges and displays a signal waveform, and a judgment result is output, so that when the spider robot is detected, the controller can know whether life bodies exist at the position and around the position of the spider robot in a certain range, and meanwhile, the spider robot (mentioned in a fire mode) is provided with a plurality of toxic gas detection devices, temperature oxygen detection devices and the like, so that the controller (rescuers) can know the environment condition to be rescued. Thereby the search and rescue speed and the search and rescue safety are effectively improved, and the method has the following advantages:
1. a high-stability and low-phase-noise emission signal source;
2. the microwave low-noise amplifier is used as a pre-stage amplifier to reduce the front-end noise of the receiver, and a full-coherent receiving circuit is adopted to obtain the maximum processing benefit, so that the sensitivity is improved;
3. radar clutter signal processing: a clutter cancellation subsystem is carried out before receiving signals by adopting a clutter cancellation processing technology such as Huey-Ruchuang, and the system is controlled by a microprocessor;
4. radar antenna self-jitter interference suppression: by adopting a self-adaptive signal processing technology, self-jitter interference can be reduced, and the signal-to-noise ratio is improved;
5. signal correlation processing techniques: in order to reduce background noise and related personnel walking interference signals, a double-antenna life detection system can be adopted, two mutually independent antenna channels are switched by a single-pole double-throw switch at the frequency of 100-200HZ, the frequency of the two channels is far higher than the frequency of heart and breath, so that the interval between the two channels is considered to have no influence, and the signals of the two antenna channels are subjected to correlation processing, so that the heartbeat and breath signals with strong correlation can be enhanced, and the interference noise signals are reduced.
The wireless communication part is used for acquiring information of the spider robot and surrounding environment by using an inertial sensor and other hardware equipment and then communicating through a wireless communication network;
1. the power supply mainly comprises a singlechip for power supply and a wireless module for power supply; the PC and the singlechip adopt RS232 bus to carry out serial port communication to transmit data;
2 VR's ATmega16L singlechip, as the master control chip, possess high-speed, low-power consumption, advantage such as safety. An ATmega16L singlechip is selected, and the high-speed execution and data processing speed of the singlechip can meet the requirements of a wireless communication system;
3. the hardware connection of the singlechip and the PC data transmission adopts a three-wire system, 3 pins (RXD, TXD and GND) of serial ports of the singlechip and the PC are respectively connected together, namely, a sending data line TXD of the PC and the singlechip is in cross connection with a receiving data RXD, and ground wires GND of the PC and the singlechip are directly connected;
4. the wireless transceiver adopts a CC1100 single-chip wireless transceiver, and the CC1100 module communicates with the single-chip microcomputer through a hardware SPI port of an ATmega16L single-chip microcomputer;
5. an ASM1117 voltage conversion chip is selected, so that the conversion between the main body voltage of the robot and the voltage of the single chip is realized;
the WiFi wireless communication system mainly comprises an industrial personal computer embedded in a robot, a remote control PC, a wireless network card and a wireless router (TL-WR 841N of TP-LINK). A centerless topology is employed. Wherein the remote control pc and the wireless router are distributed in the controller.
The principle of the image transmitting and receiving device in the device is as follows:
the rescue spider man body shell is provided with a miniature camera which is transmitted to a monitoring PC through an image transmitting and receiving device, wireless video transmission is adopted, the transmitting device transmits a video module type FOX-2500 with a small volume and a large transmission distance, and a wireless video module receiver FOX-02 is additionally provided with orientation of 20bd, so that the signal receiving capacity and the anti-interference capacity are enhanced;
the laser sensor adopts a GY-530 VL53L0X module, a power supply DC is 2.8-5V, the measuring distance is less than or equal to 2m, the accuracy is within a range of +/-3%, the distance measuring time is less than 30ms, the power consumption in a normal working mode is 20mW, the standby power consumption is only 5 muA, and the communication adopts an I2C communication mode. Analog I2C was used to enable communication for this module.
Automatic search mode: this mode does benefit to and uses manpower sparingly and carries out the automatic search of life detection automatically, has following advantage:
1. the automatic anti-collision protection is realized by that six laser sensors on the upper and lower sides of the periphery can distinguish the nearby obstacles with the distances from the upper, lower, front, rear, left and right, if the obstacles appear, the speed acceleration sensor is used for sensing the speed at the moment, the laser sensors are used for measuring the distance from the obstacles at the moment, and the model card chip stem32 is used for calculating whether the vehicle is suddenly stopped or decelerated at a small acceleration. Thereby controlling leg steering engines or flight steering engines;
2. when the robot is at a certain position, the robot detects front, back, left and right through the microwave sensor, a closed narrow space is possible, the narrow space means that the distance is small compared with the effective distance which can be detected in a life detection mode, at the moment, if the robot detects a life, the robot immediately transmits data to the main control computer and stays for monitoring, and if the robot does not detect the life, the robot immediately leaves the narrow space;
3. how the narrow space leaves: at the moment, the robot has a high probability of just entering a door, because a narrow space is detected immediately when the robot enters the door (the distance between the door entering direction and the opening door measured by the microwave sensor is automatically memorized, so that the influence of the opening distance of the inlet is ignored, and the robot leaves the door in a memorable way;
4. a large space, which is perceived as a large space by an entry door, divided into a large space with a small space, a large space with a large space, and a single closed large space, with respect to the effective range of the detection system. (1) A single closed large space, first a certain turning back door, at this time, automatically searching to make the boundary always be in a certain proper small value, taking the turning door as an example, when the front is judged to have an obstacle, the turning door turns right and continues to move along the boundary, the process is edge movement, the premise can be verified by whether the unidirectional distance mutation exists after moving for a circle, i.e. a single large space or a large space with auxiliary space if it is assumed that there is immediately no auxiliary space, the remaining undetected space in the large space should be detected, not leaving the original entrance, but analyzes the coordinates of the distance entrance at this time by the velocity distance analyzer and memorizes the analyzed position of the doorway, does not initiate the exit mode, and a preset value larger than the first preset distance value is set for moving along the edge for a new time, and if an obstacle is met right ahead, the obstacle is moved along the obstacle edge according to the moving direction of the edge at the moment. Finally, the obstacle crossing is carried out along the edge with a certain distance value according to the memorized door coordinate position. The direction of rotation is consistent when the vehicle leaves and when the vehicle enters;
(2) on the basis of (1), whether the space is attached can be judged after the initial edge moves for a circle, and the remaining two items, namely the large space attached and the small space attached can be judged. Firstly, considering the large attached space of the small space, when the first week meets the sudden change of the one-way distance, the attached space exists, at the moment, the left and right doors are rotated, the situation returns to the situation of the narrow spaces 2 and 3, after the door leaves from the space 3, the door still moves along the moving direction of the original large space moving along the edge, and finally, the detection and the leaving of the large space can be obtained from the space 4;
(3) the large space attached large space is left in the auxiliary space, when the auxiliary space is met during the first edgewise movement, the scheme is similar to the scheme of 4(2) large space and small space attached large space after entering, and then the scheme of 4 large space is carried out to complete the final detection scheme of the large space attached large space.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The present invention has been described in detail, but the above description is only a preferred embodiment of the present invention, and is not to be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. Can survey emulation of life rolls ground flying spider rescue robot, its characterized in that: comprises a mechanical trunk, mechanical legs and a rolling shell,
the number of the mechanical leg parts is 4, 6 or 8, the mechanical leg parts are divided into two groups which are uniformly arranged at two sides of the mechanical trunk, the mechanical leg parts comprise a base section, a thigh section and a tail section, the head end of the base section is arranged on the mechanical trunk through the base joint, the head end of the thigh section is connected with the tail end of the base section through the thigh joint, an ankle joint is arranged between the head end of the tail section and the tail end of the thigh section,
the number of the rolling shells is 2, the rolling shells are of a hollow hemispherical structure, a through hole is formed in the middle of the mechanical body, a connecting device penetrating through the through hole is arranged in the through hole, and the rolling shells are respectively arranged at the head end and the tail end of the connecting device.
2. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: the connecting device comprises a first telescopic rod, a second telescopic rod and a bidirectional telescopic motor, the bidirectional telescopic motor is embedded in the through hole, two telescopic shafts of the bidirectional telescopic motor are respectively located at the upper end and the lower end of the mechanical trunk, the first telescopic rod and the second telescopic rod are respectively fixed on the telescopic shafts, and the tail ends of the first telescopic rod and the second telescopic rod are fixed in the middle of the inner wall of the rolling shell.
3. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 2, wherein: the first telescopic rod and the second telescopic rod are both of a structure formed by sleeving 2-4 sections of hollow pipes.
4. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 2, wherein: the mechanical trunk is further provided with an infrared sensor, a distance measuring sensor, a gyroscope, a signal transmitting and receiving device and a power supply device, the infrared sensor, the distance measuring sensor and a signal output end of the gyroscope are connected with a signal input end of the signal transmitting and receiving device, a signal transmitting end of the signal transmitting and receiving device transmits signals to a signal receiving end of the remote control device, a signal transmitting end of the remote control device is connected with a signal receiving end of the signal transmitting and receiving device, and a signal output end of the signal transmitting and receiving device is connected with a bidirectional telescopic motor, a base joint, a thigh joint and an ankle joint respectively.
5. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 4, wherein: and a miniature camera for observing road conditions is also arranged on the rolling shell above the mechanical trunk.
6. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: thigh festival central authorities have seted up the thigh festival spout be provided with thigh festival slide structure on the thigh festival spout the structural thigh festival slide that is provided with of thigh festival, the two-way flexible motor setting of thigh festival is in the cavity inner chamber of thigh festival, the output shaft of the two-way flexible motor of thigh festival links to each other with HDpower digital steering wheel be provided with the unmanned aerial vehicle rotor on the HDpower digital steering wheel.
7. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: the tail section is characterized in that a tail section sliding groove is formed in the center of the tail section, a tail section sliding way structure is arranged on the tail section sliding groove, a tail section sliding plate is arranged on the tail section sliding way structure, a tail section bidirectional telescopic motor is arranged in a hollow inner cavity of the tail section, and an output shaft of the tail section bidirectional telescopic motor is connected with an underwater propeller.
8. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: the length of the base joint is 9-15cm, and the base joint adopts a two-degree-of-freedom steering engine.
9. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: the length of the thigh joint is 10-20cm, the length of the tail joint is 2-4cm, and the thigh joint and the ankle joint adopt single-degree-of-freedom steering engines.
10. The life-detectable simulated rolling-ground flying spider rescue robot as claimed in claim 1, wherein: the number of the mechanical legs is 6.
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