CN210963674U - Fire rescue robot based on sound navigation - Google Patents

Abstract

The utility model provides a fire rescue robot based on sound navigation, include: the sound collection device is arranged on a back vertical face back plate of the material bin, the material bin is fixedly arranged above the frame, the sound collection device is electrically connected with the position positioning system, the position positioning system is electrically connected with the navigation controller, the position positioning system and the navigation controller are both arranged in the frame, and the navigation controller is connected to the robot power mechanism; the utility model discloses simple structure, control is simple and convenient, and the rescue is efficient, and is integrated nimble, and the robot is light and by being close of rescue personnel, finally reachs by the rescue personnel position, and walking speed is fast, and the rescue is efficient, reduces fireman's operation risk, and the stable performance can adapt to different fire scene, flexible operation, and the delivery of instrument and goods and materials under the different disaster condition is accomplished to the manipulator of adjustment not unidimensional and structure.

Description

Fire rescue robot based on sound navigation

Technical Field

The utility model relates to a fire-fighting robot technical field especially relates to a fire rescue robot based on sound navigation.

Background

With the rapid development of social economy, civil buildings, markets, petroleum, chemical engineering, tunnels, subways and the like are continuously increased, the hidden dangers of oil gas and toxic gas leakage explosion, tunnel, subway collapse and the like are continuously increased, accidents occur occasionally, and the disasters have the characteristics of strong burst property, complex disposal process, huge harm, difficult prevention and control and the like. When facing to the harmful environment such as high temperature, dark, poisonous and dense smoke, the fire fighter not only can not accomplish the task but also can increase the casualties in vain without having corresponding equipment to rush into the scene.

The fire-fighting robot is one of special robots, gradually enters various industries to help practitioners solve various problems, and plays a role in putting a great deal of weight in fire extinguishing and emergency rescue. The fire-fighting robot can enter accident sites such as inflammable, explosive, toxic, anoxic and dense smoke to perform data acquisition, processing and feedback, can assist in obtaining more site information, and field commanders can make scientific judgment and reasonable decision on disaster conditions in time according to the feedback information. The fire fighting and rescue capacity and efficiency of fire officers and soldiers are improved, the number of times that firemen enter a dangerous area is reduced, and the life safety of related personnel is effectively guaranteed.

At present, most of domestic and foreign fire-fighting robots focus on fire extinguishing and fire detection of water-spraying foam, but the site environment is complex, specific targets are difficult to search in visibility, the control is also mostly in a remote control mode, the efficiency is relatively low, and therefore a robot capable of searching and rescuing in a complex environment is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a overcome above-mentioned problem or solve a fire rescue robot based on sound navigation of above-mentioned problem at least partially to solve the problem of breathing out the people position in the location under the low condition of visibility.

In order to achieve the above object, the technical solution of the present invention is specifically realized as follows:

the utility model provides a fire control rescue robot based on sound navigation, including frame and main track, main track symmetry sets up in the frame both sides, all is provided with the swing arm track with the main track both ends of one side, and four swing arm tracks are used for the robot to stride across the barrier, and the front portion of frame is provided with the rotary mechanism that is used for installing the arm, and rotary mechanism's side is provided with the camera, still includes:

the sound collection device is arranged on a back vertical face back plate of the material bin, the material bin is fixedly arranged above the frame, the sound collection device is electrically connected with the position positioning system, the position positioning system is electrically connected with the navigation controller, the position positioning system and the navigation controller are both arranged in the frame, and the navigation controller is connected to the robot power mechanism;

the sound collection device is fixedly mounted on the material bin through the supporting stand column, the top end array of the supporting stand column is provided with supporting ribs, the supporting ribs are connected with the supporting stand column through round flange bolts, the end portion of each supporting rib is fixedly mounted with a sound sensor through a bolt, and the sound sensors transmit data to the position positioning system through data lines.

The supporting upright posts and the supporting umbrella ribs are both hollow structures.

The supporting umbrella ribs are vertical to each other, and the plane formed by the four supporting umbrella ribs is horizontal.

The four sound sensors have the same acquisition precision.

The mechanical arm is connected with the rack through the rotating mechanism.

Still be provided with camera, flue gas detection and sensor on the frame, the camera is used for visual operation, and the flue gas detects and the sensor is used for visibility's detection.

The utility model provides a fire rescue robot based on sound navigation, beneficial effect lies in:

1. the fire rescue robot has a simple structure and is easy and convenient to control; the frame mainly comprises a main track and swing arm tracks arranged at two ends, sound signals are collected through a sound collector, the position information of rescued people is located through a position locating system, the approaching and obstacle avoidance of specified targets are completed through the mutual matching motion of the main track and the swing arm tracks, the swing arm tracks are symmetrically distributed at the two ends, steps and crossing and walking on rubble are achieved through swing arms, the rescue robot is enabled to easily approach rescued people, and the rescued people finally reach the positions of the rescued people.

2. The fire rescue robot has high rescue efficiency; the robot is controlled to walk by adopting a digital design, a position positioning system and a navigation controller, the walking speed is high, the rescue efficiency is high, the operation risk of firemen is reduced, and the performance is stable.

3. The integration is flexible; the fire rescue assisting robot can adapt to different fire scenes and is flexible to operate, tools and materials in different disaster situations can be delivered by adjusting the mechanical arms with different sizes and structures, and the robot is multifunctional and has high practical value.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of an overall structure provided by an embodiment of the present invention.

Fig. 2 is a whole three-dimensional axis measuring and indicating diagram provided by the embodiment of the present invention.

Fig. 3 is a schematic structural view of a sound collection device according to an embodiment of the present invention.

In the figure: 1. a frame; 2. a main track; 3. a swing arm crawler; 4. a material bin; 5. a sound collection device; 51. Supporting the upright post; 52. supporting the umbrella ribs; 53. a sound sensor; 6. a rotation mechanism; 7. mechanical arm 8, mechanical arm; 9. a camera is provided.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1-3 show a fire rescue robot based on sound navigation provided by an embodiment of the present invention, referring to fig. 1-3, a fire rescue robot based on sound navigation provided by an embodiment of the present invention comprises a frame 1 and main tracks 2, the main tracks 2 are symmetrically arranged on both sides of the frame 1, two main tracks 2 realize walking and steering of the robot through differential motion, swing arm tracks 3 are arranged at both ends of the main tracks 2 on the same side, the swing arm tracks 3 can swing up and down around the ends of the main tracks 2, four swing arm tracks 3 realize walking and crossing on steps or rubble piles through torque and clutch control, a rotating mechanism 6 for installing a mechanical arm 7 is arranged at the front portion of the frame 1, a camera 9 is arranged at the side of the rotating mechanism 6, a manipulator 8 is installed at the end point of the mechanical arm 7, a material bin 4 and a sound collecting device 5 are further included, the material cabin 4 is arranged right above the frame 1, and the sound collection device 5 is arranged on a back vertical face back plate of the material cabin 4;

wherein, sound collection system 5 is through supporting upright 51 fixed mounting on goods and materials storehouse 4, the top array of supporting upright 51 is provided with support rib 52, support rib 52 is connected with supporting upright 51 through the round flange bolt, the tip of each support rib 52 has sound sensor 53 through bolt fixed mounting, sound sensor 53 passes through the data line with data transfer to the position positioning system in, the position positioning system sets up inside frame 1, the position positioning system is used for detecting the positional information of main track 2, the swing arm track 3 and the cooperation location of sound collection device 5 of four different positions main track 2 position, the position positioning system passes through the positional information of sound collection device 5 discernment rescued personnel for the dolly, frame 1 and the cooperation location of sound collection device 5 rescued personnel, carry out navigation and rescue and fire control assistance.

As shown in fig. 3, the supporting upright 51 and the supporting rib 52 both have hollow structures, so that the transmission line of the acoustic sensor 53 can be hidden and prevented from being damaged in a complex environment.

As shown in fig. 1 and 2, the robot arm 7 is connected to the frame via a rotating mechanism 6, and the robot arm 8 can take out tools or supplies from the supply bin 4 by rotating to deliver the tools or supplies to firefighters or rescuers.

The cable and the shell are made of fireproof and flame-retardant materials, so that the cable can be fireproof and flame-retardant.

As shown in fig. 1, the frame 1 is further provided with a camera 9, a smoke detection and sensor, and the like, and the camera 9 and the smoke detection device cooperate with positioning information to search for people.

The supporting ribs 52 are preferably vertical and horizontal, the four sound sensors 53 have the same collection precision, the four sound sensors 53 process the received sound, the position of the sound source is determined by the time difference of the sound reaching different sound sensors 53 through a geometric method, the calculation amount and the hardware cost of the time difference of the sound source reaching the sound sensors 53 are low, the realization is easy, the robot cost is effectively reduced, the popularization of the robot in the market is convenient, the calculated sound source judgment is that the power mechanism drives the main crawler 2 and the swing arm crawler 3 to move towards the sound source direction, the sound sensors 53 continue to receive the sound wave signals, the real-time difference judgment is carried out, the robot moves towards the sound sensor 53 with the shortest receiving time, if the sound receiving time difference in the direction is shortened, the direction is adjusted, moving toward the sound sensor 53 where the time difference of the collected sound wave is the smallest.

The robot can freely change the structure and the size of the mechanical arm 8, is suitable for delivery and assistance of various tools and materials, the position positioning system is not only used for positioning the rescued people, accurate positioning is guaranteed, the distance between the trolley and the rescued people is monitored in real time, the walking control of the driving system of the frame 1 is controlled, the array sound sensor 53 adopts a high-precision sensor, the search and rescue range is wide, and the rescue efficiency is improved.

When the device works, the sound collection device 5 obtains and collects the sound of rescuers, the position of rescuers is identified and positioned according to the distance between the sound and the sound collection device, then the position information such as the distance, the azimuth angle, the elevation angle and the like of a sound source relative to a microphone array is calculated by substituting the position information into a formula of a positioning model, so that the positioning data such as the coordinate position, the posture and the like of the mobile robot are obtained, the positioning data and a control instruction are sent to a navigation controller arranged on the fire rescue robot through a WiFi network, the navigation controller controls a main crawler and a swing arm crawler to cross steps or a rubble road to approach the rescuers, tools or living goods and materials are delivered according to the instruction of the rescuers, when the autonomous navigation based on the sound positioning has problems, the peripheral situation is judged through the feedback of a camera, artificial visual intervention is carried out, and the visual, meanwhile, search and rescue can be carried out through the combined action of visual operation and a sound positioning system, dust is large, the position of a person to be rescued can be judged only through sound for a few times under the condition that the sight line is blocked, the person to be rescued can also directly find the person to be rescued through the position of the positioning robot, the person to be rescued can be effectively assisted in fire fighting and rescued, the life safety of the person to be rescued can also be guaranteed, and particularly under the dangerous environment.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (6)

1. The utility model provides a fire rescue robot based on sound navigation, includes frame (1) and main track (2), main track (2) symmetry sets up frame (1) both sides, with one side main track (2) both ends all are provided with swing arm track (3), four swing arm track (3) are used for the robot to stride across the barrier, the front portion of frame (1) is provided with rotary mechanism (6) that are used for installing arm (7), and the side of rotary mechanism (6) is provided with camera (9), its characterized in that still includes:

the device comprises a sound collection device (5), wherein the sound collection device (5) is installed on a rear vertical face back plate of a material bin (4), the material bin (4) is fixedly installed above a vehicle frame (1), the sound collection device (5) is electrically connected with a position positioning system, the position positioning system is electrically connected with a navigation controller, the position positioning system and the navigation controller are both arranged inside the vehicle frame (1), and the navigation controller is connected to a robot power mechanism;

the sound collection device (5) is fixedly mounted on the material bin (4) through a support upright post (51), support ribs (52) are arranged at the top end array of the support upright post (51), the support ribs (52) are connected with the support upright post (51) through round flange bolts, a sound sensor (53) is fixedly mounted at the end part of each support rib (52) through a bolt, and the sound sensors (53) transmit data to the position positioning system through data lines.

2. A fire rescue robot as claimed in claim 1, characterized in that the support post (51) and the support ribs (52) are both hollow structures.

3. A fire rescue robot as claimed in claim 2, characterized in that the supporting ribs (52) are perpendicular to each other and the plane formed by the four supporting ribs (52) is horizontal.

4. A fire rescue robot based on sound navigation as claimed in claim 1, characterized in that the four sound sensors (53) have the same acquisition accuracy.

5. A fire rescue robot as claimed in claim 1, characterised in that the robotic arm (7) is connected to the frame by a rotating mechanism (6).

6. A fire rescue robot as claimed in claim 1 and based on voice navigation, characterized in that the frame (1) is further provided with a camera (9) and a smoke detection and sensor, the camera (9) is used for visual operation, and the smoke detection and sensor is used for visibility detection.

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