CN108555937B - Personnel that fall rescue robot with artifical intelligence - Google Patents
Personnel that fall rescue robot with artifical intelligence Download PDFInfo
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- CN108555937B CN108555937B CN201810657917.7A CN201810657917A CN108555937B CN 108555937 B CN108555937 B CN 108555937B CN 201810657917 A CN201810657917 A CN 201810657917A CN 108555937 B CN108555937 B CN 108555937B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention provides a falling personnel rescue robot with artificial intelligence, which comprises a ground motion platform, a supporting and rotating mechanism, a deflection telescopic mechanism, a personnel catcher and a controller. The intelligent robot is simple in structure, low in cost, flexible and convenient to use, capable of achieving all-around and active rescue and capable of effectively solving the problem of secondary injury of falling personnel.
Description
Technical Field
The invention relates to the technical field of intelligence of high-rise building safety rescue equipment design, in particular to a rescue robot capable of intelligently controlling high-altitude falling personnel.
Background
The society develops and progresses at a high speed, the work and life rhythm of people is accelerated, the life pressure in all aspects is increased continuously, when the pressure cannot be effectively released, some people can choose to live gently, and the building skipping is the most common mode and the most difficult to rescue. At present, when a building is in a light life, a rescue method is to dissuade and dredge the emotion of people who want to jump the building, and after emotion control, rescue is performed by sudden impact. The other mode is that the fire-fighting air cushion is arranged right below the building-jumping personnel, and because the fire-fighting air cushion is large in size, slow in inflation speed and incapable of moving quickly after inflation, when the building-jumping personnel move in front of the building or jump from the high building to the vertical, the building-jumping personnel encounter strong transverse airflow and are likely to fall out of the fire-fighting air cushion. The higher the floor is, the lower the probability of falling on the air cushion is, when the rescued people fall from the building with more than 10 floors, the success rate of the fire-fighting air cushion rescue is very little, the probability of the rescue success is almost zero, and the falling people are not dead, namely residual.
High-rise fire rescue is also a worldwide problem. When a fire disaster happens to a high-rise building, the corridor is swallowed by dense smoke, people often try to jump down from a window or an accessible platform, even if the people survive and are prevented from being difficult, the people can be always wasted, and the consequences are not imaginable; and a long time is often needed for waiting for the firefighters to rescue, so that the best escape time is missed.
The accident of falling frequently happens at high place. According to statistics of a building department, 807 people die after a house municipal engineering production safety accident 692 occurs nationwide in 2017; among them, the accident of falling from high place is most likely to cause 331 casualties in the last year, accounting for 47.83% of the total. And a high fall accident 126 occurred in 2018, months 1-5. And the rescue of the accident of falling from high place is very difficult.
Disclosure of Invention
The invention aims to: the intelligent robot can effectively rescue people falling from a building, people escaping from a fire disaster and people possibly falling after an accident, and effectively solve the problem of secondary damage of the falling people.
The technical scheme of the invention is as follows:
a falling personnel rescue robot with artificial intelligence comprises a ground motion platform, a supporting and rotating mechanism, a deflection telescopic mechanism, a personnel catcher and a controller;
the supporting and rotating mechanism is arranged on the ground motion platform and comprises a supporting and rotating upright post and a speed reducing motor arranged in the supporting and rotating upright post;
the deflection telescopic mechanism is arranged at the top of the support rotating upright post; the deflection telescopic mechanism comprises a base and a support arm group; the support arm group comprises a group of support arms with end parts connected in sequence and a group of telescopic devices, and two ends of each telescopic device are respectively connected with the middle parts of adjacent support arms; the base is connected with a speed reducing motor; one end of the support arm group is connected with the base, and the other end of the support arm group is connected with the personnel catcher;
the controller is connected with the speed reducing motor and the telescopic device.
As an improvement, the ground motion platform is a movable trolley or a light truck; the movable trolley can comprise a trolley body provided with four wheels, a driving device connected with the wheels and a movable supporting upright post arranged on the trolley body; the light truck is a common truck, the intelligent robot is powered by the truck, and the intelligent robot adopts a general standard vehicle electrical interface.
As another improvement, the telescopic device is a hydraulic telescopic device, a pneumatic telescopic device, an electromechanical transmission device or an electromechanical sliding device.
As another improvement, the personnel catcher is a catcher which is woven by flexible materials and has an open top, a sensor is arranged at the opening, and an automatic contraction lock catch group is arranged in the middle of the catcher.
As another improvement, the device further comprises an automatic tracking high-definition camera, wherein the automatic tracking high-definition camera is arranged on the ground motion platform or the deflection telescopic mechanism through a holder; the automatic tracking high-definition camera and the holder are respectively connected with the controller.
As another improvement, the device also comprises a distance meter which is arranged on the ground motion platform or the deflection telescopic mechanism; the range finder is connected with the controller.
As another improvement, the wind speed sensor is also included, and is arranged on the ground motion platform or the deflection telescopic mechanism; the wind speed sensor is connected with the controller.
Has the advantages that: the intelligent robot is simple in structure, low in cost, flexible and convenient to use, capable of achieving all-around and active rescue and capable of effectively solving the problem of secondary injury of falling personnel.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent robot.
Fig. 2 is a top view of the intelligent robot.
FIG. 3 is a schematic diagram of a human trap.
Fig. 4 is a diagram of an initial positioning location determination method.
FIG. 5 is a diagram of a method for predicting a trajectory of a fall curve.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will describe the specific implementation of the present invention in conjunction with a typical rescue process. It should be apparent that the drawings in the following description are only preferred embodiments of the invention, and that other drawings and embodiments can be derived from those drawings by a person skilled in the art without inventive effort.
Falling personnel rescue robot with artificial intelligence includes ground motion platform 1, support rotary mechanism 2, deflection telescopic machanism 3, personnel trapper 4, controller 5, automatic tracking high definition digtal camera 6, distancer 7, air velocity transducer 8.
The ground motion platform 1 is a moving trolley or a light truck; the movable trolley comprises a trolley body, a front wheel steering device, a rear wheel steering device, a driving device and a movable supporting upright post arranged on the trolley body, wherein the front wheel steering device is connected with a front wheel and used for steering the front wheel; the light truck is a common truck, the intelligent robot is powered by the truck, and the intelligent robot adopts a general standard vehicle electrical interface.
The supporting and rotating mechanism 2 is arranged on the ground motion platform 1 and comprises a supporting and rotating upright post 21 and a speed reducing motor 22 arranged in the supporting and rotating upright post 21;
the deflection telescopic mechanism 3 is arranged at the top of the support rotating upright post 21; the deflecting and telescoping mechanism 3 comprises a base 31 and a support arm group 32; the supporting arm group 32 comprises a group of supporting arms 33 and a group of telescopic devices 34, wherein the end parts of the supporting arms 33 are sequentially connected, and two ends of each telescopic device 34 are respectively connected with the middle parts of the adjacent supporting arms 33; the base 31 is connected with the speed reducing motor 22; one end of the support arm group 32 is connected with the base 31, and the other end is connected with the personnel catcher 4; the telescoping device 34 is a hydraulic telescoping device, a pneumatic telescoping device, an electromechanical transmission device, or an electromechanical sliding device.
The personnel catcher 4 is a catcher which is woven by flexible materials and has an open top, a sensor is arranged at the opening, and the middle part of the catcher 4 is provided with an automatic contraction lock catch group 41.
The controller 5 is connected with the speed reducing motor 22, the telescopic device 34, the automatic tracking high-definition camera 6, the range finder 7, the wind speed sensor 8 and the sensor.
The automatic tracking high-definition camera 6 is arranged on the ground motion platform 1 or the deflection telescopic mechanism 3 through a holder.
The distance measuring instrument 7 is arranged on the ground motion platform 1 or the deflection telescopic mechanism 3.
The wind speed sensor 8 is arranged on the ground motion platform 1 or the deflection telescopic mechanism 3.
The working principle of the intelligent robot is as follows:
(1) before the falling personnel is prepared for rescue, an operator controls the intelligent robot to move below the falling personnel through a controller (such as a remote control operation terminal or an intelligent terminal) and opens a movable supporting upright column to enhance the stability;
(2) the method comprises the following steps that an operator inputs human body parameters such as height and weight of a falling person and meteorological parameters, controls a tracking camera and a range finder to complete image capture and locking of the falling person, determines the initial positioning position of the person catcher according to parameters such as pitching and deflection angles of the camera and the distance measured by the range finder, and enters a rescue response state;
the initial positioning position determining method is shown in figure 4, wherein the original point of a space coordinate system of the rescue robot is a point A, and the position of falling personnel is a point B; the distance between the point A and the point B is L, the height of the point B is H, the height H of a falling person is determined by the distance L and the camera elevation angle theta, and H is L cos theta; in order to ensure the maximum bearing of the deflection telescopic mechanism, when the rescue robot is in place, the rescue robot is positioned right in front of and below falling personnel as much as possible, and the horizontal deflection angle of the camera is 0 degree as much as possible.
(3) Once the falling personnel fall from the initial position, the robot automatically carries out real-time tracking, the high-definition camera identifies and locks the falling personnel through image comparison, calculates the falling curve of the falling personnel while the falling personnel fall from the initial position, calculates, tracks and corrects the falling curve in real time, controls the deflection telescopic mechanism to drive the personnel catcher to move from the initial position to the position below the predicted trajectory of the falling curve of the falling personnel and keeps the predicted trajectory, so that the falling personnel can accurately fall into the personnel catcher 4, and active rescue is realized;
a falling curve prediction track method, as shown in figure 5, wherein the falling track of a falling person can be regarded as the very low horizontal projectile motion of the initial velocity V0; taking a vertical plane as a coordinate system, x as a horizontal coordinate, y as a vertical coordinate, and a trajectory equation as follows:
wherein, K1And K2Respectively a weight influence factor and a wind influence factor, and is approximately 1 when the height is lower than 30 meters; in thatWhen the height exceeds 30 meters, the height is obtained through experiments; in actual work, K is obtained through experiments before the equipment is put into use1And K2。
The intelligent robot can realize all-round rescue: the structure can rotate 360 degrees through a speed reducing motor arranged in the supporting rotating stand column, and the deflection telescopic mechanism 3 is driven to realize pitching motion, deflection and length expansion of-15 degrees to 85 degrees by taking the horizontal plane as a reference through a telescopic device arranged in the deflection telescopic mechanism, such as a hydraulic telescopic device, a pneumatic telescopic device, an electromechanical transmission device and an electromechanical sliding device, so that the effective rescue control area is enlarged.
(4) When the sensor of personnel trapper opening part detected that the personnel that fall entered into completely, the hasp group of control trapper middle section is automatic shrink step by step promptly, when weakening the personnel that fall tenesmus speed, ensures that the personnel that fall can not escape from the trapper once more, avoids secondary damage.
(5) After the personnel catcher (4) finishes the catching of falling personnel, the system controls the deflection telescopic mechanism (3) to move the personnel catcher (4) to the ground, the locking group is opened, and the rescue of the falling personnel is finished.
(6) The rescue control surface of the intelligent robot has the limited characteristic that two or more rescue control surfaces can form a larger rescue surface, so that the purpose of multi-person and multi-point rescue is achieved.
The present invention will be described in more detail with reference to a specific example.
After receiving a fire alarm of a person about to fall or a high-rise building, the mobile rescue intelligent robot platform rapidly moves to the position below the building where the person is located, the rescue personnel firstly operate the high-definition camera to capture images of the falling person, record parameters such as sex, height, weight, wind direction and wind speed of the person and lock images of the person, the camera controls the pitching deflection angle of the holder to be recorded into a control system, then the distance measuring instrument on the control console is operated to measure the distance between the light life personnel or the disaster-stricken escape personnel and the mobile rescue platform, after the height of the falling person is calculated according to the pitching deflection angle and the distance measurement value of the camera control holder, the control console drives the deflection telescopic mechanism to lift the personnel catcher and move to the initial positioning position below the falling personnel for standby, and the high-definition camera automatically tracked keeps continuous locking on the falling personnel. This work can be done in an artificial intelligence manner;
when falling personnel jump away or fall away from a floor, a falling parabolic curve of the personnel can be calculated according to an image recognition algorithm, the real-time falling speed V1 and the distance from the side face of the building are obtained, and the deflection telescopic mechanism is controlled to carry out horizontal position adjustment under the control of a system, so that the central position of the inlet of the catcher is ensured to be always coincident with the falling curve of the personnel;
when a sensor at the opening of the personnel catcher detects that falling personnel enters, the intelligent robot immediately controls the deflection telescopic mechanism to descend synchronously, the descending speed is lower than the real-time speed of the falling personnel entering the inlet of the catcher, and meanwhile, the locking groups are controlled to automatically contract step by step, so that the falling speed of the falling personnel is reduced to 1 m/s, the falling personnel can not escape from the catcher again, and secondary damage is avoided;
after the personnel completely enter the catcher, the system controls the deflection telescopic mechanism to move the personnel catcher to a safe position away from the ground, and the lock catch group is opened to complete the rescue of the personnel.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (2)
1. The utility model provides a personnel rescue robot falls with artifical intelligence which characterized in that: comprises a ground motion platform (1), a supporting and rotating mechanism (2), a deflection and stretching mechanism (3), a personnel catcher (4) and a controller (5);
the supporting and rotating mechanism (2) is arranged on the ground moving platform (1) and comprises a supporting and rotating upright post (21) and a speed reducing motor (22) arranged in the supporting and rotating upright post (21);
the deflection telescopic mechanism (3) is arranged at the top of the support rotating upright post (21); the deflection telescopic mechanism (3) comprises a base (31) and a support arm group (32); the supporting arm group (32) comprises a group of supporting arms (33) with end parts connected in sequence and a group of telescopic devices (34), and two ends of each telescopic device (34) are respectively connected with the middle parts of the adjacent supporting arms (33); the base (31) is connected with a speed reducing motor (22); one end of the support arm group (32) is connected with the base (31), and the other end of the support arm group is connected with the personnel catcher (4);
the personnel catcher (4) is woven by flexible materials and is provided with an opening at the top, a sensor is arranged at the opening, and the middle part of the personnel catcher (4) is provided with an automatic contraction lock catch group (41);
the controller (5) is connected with the speed reducing motor (22) and the telescopic device (34);
the automatic tracking high-definition camera (6) is arranged on the ground motion platform (1) or the deflection telescopic mechanism (3) through a holder; the automatic tracking high-definition camera (6) and the holder are respectively connected with the controller (5);
the device also comprises a distance meter (7), wherein the distance meter (7) is arranged on the ground motion platform (1) or the deflection telescopic mechanism (3); the distance measuring instrument (7) is connected with the controller (5);
the wind speed sensor (8) is arranged on the ground motion platform (1) or the deflection telescopic mechanism (3); the wind speed sensor (8) is connected with the controller (5);
the ground motion platform (1) is a moving trolley which comprises a trolley body provided with four wheels, a driving device connected with the wheels and a movable supporting upright post arranged on the trolley body;
when the falling personnel rescue robot with artificial intelligence works, the following steps are adopted:
(1) before the falling personnel are prepared for rescue, an operator controls the rescue robot to move below the falling personnel through the controller and opens the movable support upright post to enhance the stability;
(2) the method comprises the steps that an operator inputs height, weight and meteorological parameters of falling personnel, controls an automatic tracking high-definition camera and a range finder to finish image capture and locking of the falling personnel, determines the initial positioning position of a personnel catcher according to the pitching and deflection angles of the automatic tracking high-definition camera and the distance measured by the range finder, and enters a rescue response state;
the initial positioning position determining method comprises the following steps: the original point of a space coordinate system of the rescue robot is a point A, and the position of a falling person is a point B; the distance between the point A and the point B is L, the height of the point B is H, the height H of a falling person is determined by the distance measurement L and the elevation angle theta of the automatic tracking high-definition camera, and H = L sin theta; determining the initial positioning position of the personnel catcher according to the pitching and deflection angles of the automatic tracking high-definition camera and the distance parameters measured by the range finder;
(3) once falling personnel fall away from an initial position, the rescue robot automatically carries out real-time tracking, the automatic tracking high-definition camera identifies and locks the falling personnel through image comparison, calculates a falling curve of the falling personnel while falling away from the initial position, calculates, tracks and corrects the falling curve in real time, controls the deflection telescopic mechanism to drive the personnel catcher to move from the initial positioning position to the position below a predicted trajectory of the falling curve of the falling personnel and keeps the predicted trajectory, so that the falling personnel can accurately fall into the personnel catcher, and active rescue is realized;
the falling curve trajectory prediction method comprises the following steps: the falling track of the falling personnel can be regarded as the very low horizontal projectile motion of the initial speed V0; taking a vertical plane as a coordinate system, x as a horizontal coordinate, y as a vertical coordinate, and a trajectory equation as follows:
wherein, K1And K2Respectively a weight influence factor and a wind influence factor;
(4) when a sensor at the opening of the personnel catcher detects that falling personnel completely enters, the lock catch group in the middle of the personnel catcher is controlled to automatically contract step by step, the falling speed of the falling personnel is reduced, meanwhile, the falling personnel can not escape from the personnel catcher again, and secondary damage is avoided;
(5) after the personnel catcher finishes the personnel that fall and catches, the system control deflection telescopic machanism moves the personnel catcher to ground, opens the hasp group, accomplishes the personnel that fall and rescues.
2. The falling personnel rescue robot with artificial intelligence of claim 1, wherein: the telescopic device (34) is a hydraulic telescopic device, a pneumatic telescopic device and an electromechanical transmission device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810657917.7A CN108555937B (en) | 2018-06-25 | 2018-06-25 | Personnel that fall rescue robot with artifical intelligence |
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| CN201810657917.7A CN108555937B (en) | 2018-06-25 | 2018-06-25 | Personnel that fall rescue robot with artifical intelligence |
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| CN108555937A CN108555937A (en) | 2018-09-21 |
| CN108555937B true CN108555937B (en) | 2021-04-30 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2144399C1 (en) * | 1999-03-18 | 2000-01-20 | Куваев Владимир Яковлевич | Apparatus for rescue of people from high-rise buildings |
| DE10207709A1 (en) * | 2002-02-22 | 2003-09-04 | Walter Mutter | Folding jump sheet or net for rescuing persons, e.g. trapped by building fires, is mounted on hydraulically deployable mast on vehicle an deployed to application position in folded state |
| US20060090961A1 (en) * | 2004-11-02 | 2006-05-04 | John Rexroad | Safety net system |
| CN203634673U (en) * | 2014-01-08 | 2014-06-11 | 王永斌 | High-altitude anti-falling rescue vehicle |
| CN205127177U (en) * | 2015-10-23 | 2016-04-06 | 刘传义 | High altitude rescue car communication command system |
| CN107376141B (en) * | 2017-09-11 | 2022-05-10 | 安徽理工大学 | Self-moving type fire-fighting lifesaving air cushion |
| CN208323407U (en) * | 2018-06-25 | 2019-01-04 | 江苏沃德渥机电科技有限公司 | A kind of personnel rescuing robot that falls with artificial intelligence |
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