CN108820198A - Multifunctional rescue robot based on eight-rotary wing aircraft - Google Patents
Multifunctional rescue robot based on eight-rotary wing aircraft Download PDFInfo
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- CN108820198A CN108820198A CN201810751817.0A CN201810751817A CN108820198A CN 108820198 A CN108820198 A CN 108820198A CN 201810751817 A CN201810751817 A CN 201810751817A CN 108820198 A CN108820198 A CN 108820198A
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- control
- casing
- arm
- communication device
- rotary wing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
- B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/50—On board measures aiming to increase energy efficiency
Abstract
The present invention provides a kind of multifunctional rescue robot based on eight-rotary wing aircraft, including：Casing is provided with annular solar panel at the top bump of the casing, and there are two install cabin for the bottom setting of the casing；Protective cover, the protective cover are uniformly arranged on around the casing around the upper and lower surface of the propeller；Two seven shaft mechanical arms are separately positioned in two installation cabins of the bottom of shell, the first communication device are provided on each seven shaft mechanicals arm, and first communication device is connected to the airborne electric cabinet；The bottom of the casing is arranged in around the seven shaft mechanicals arm for support plate, the support plate；Control device, including control cabinet, control arm, the helmet and antenna.According to the technical solution of the present invention, disaster scene environment can be explored, additionally it is possible to provide emergency relief goods and materials for personnel to be rescued, effectively extend gold rescue time.
Description
Technical field
The present invention relates to the correlative technology fields of rescue robot, are based on eight-rotary wing aircraft in particular to one kind
Multifunctional rescue robot.
Background technique
Disaster accident caused by earthquake caused by the Nature, flood, landslide etc., it is not only raw to socio-economic development and people
Life property safety, which is brought, to be seriously affected, while also causing significant impact to social stability.Reinforce the emergency pipe to emergency event
Reason carries out emergency management and rescue work, is of great significance for economic development and social stability.Such disaster after the accident,
Site environment is often more severe, so that rescue personnel is difficult to search and rescue into the scene of the accident at the first time, is easy so that searching
It rescues personnel and loses gold rescue time, increase the harmfulness of accident, how timely and effectively to understand the scene of the accident, determine captive
Position for determining that search and rescue scheme, to carry out rescue work most important, therefore when rescue personnel not yet enters scene, needs to borrow
Some equipment are helped to detect the scene of the accident, in recent years, along with the development of technology, since aircraft is not taken off
The limitation in land place, can VTOL, hovering, can flight flexible to any one direction the features such as, answer it extensively
For reconnaissance probe field, corresponding product and technology are emerged in multitude, and are entered disaster scene using the aircraft of above-mentioned technology and are carried out
Operation can explore the environment to disaster scene in time and transfer back in rescue personnel's hand in time, but cannot be introduced into the mankind
In the case where work, existing rescue flight device can do nothing to help carrying relief goods, find the first time of personnel to be rescued not
Relief goods can be provided for personnel to be rescued, still be easy to lose gold rescue time.
Summary of the invention
The present invention is based at least one above-mentioned technical problem, proposes a kind of new based on the more of eight-rotary wing aircraft
Function rescue robot, convenient for control, survival ability is stronger, can not only explore to disaster scene environment, additionally it is possible to
In the case that rescue personnel cannot be introduced into disaster scene progress rescue work, emergency relief goods and materials are provided for personnel to be rescued, effectively
Extend gold rescue time.
Inventor has found after studying the problem of rescue aid of existing disaster scene, existing major part disaster
The rescue aid at scene only realizes being explored to site environment for task, although the rescue work for rescue personnel provides
Foundation, but certain measure cannot be taken in the first time for finding personnel to be rescued, it seem unapproachable in rescue personnel
Relief goods are provided for personnel to be rescued in disaster environment, are easy to miss optimal gold rescue time, therefore complete the present invention.
In view of this, the invention proposes a kind of new multifunctional rescue robots based on eight-rotary wing aircraft, including
Eight rotor fuselages, eight gyroplane are evenly arranged with multiple propellers with it, and the eight rotors fuselage is internally provided with airborne
Electric cabinet, the multifunctional rescue robot based on eight-rotary wing aircraft include：The eight rotors fuselage is arranged in casing
The middle position of outer surface, the cabinet top is raised, is provided with annular solar panel at the top bump of the casing,
The annular solar panel is connected to the power supply device of the eight-rotary wing aircraft, and the power supply device includes chargeable
Pond, there are two install cabin for the bottom setting of the casing；Protective cover, the protective cover are equal around the upper and lower surface of the propeller
It is even to be arranged around the casing；Two seven shaft mechanical arms are separately positioned in two installation cabins of the bottom of shell, often
The first communication device is provided on a seven shaft mechanicals arm, first communication device is connected to described airborne automatically controlled
Case；The bottom of the casing is arranged in around the seven shaft mechanicals arm for support plate, the support plate；Control device, including control
Case processed, control arm, the helmet and antenna are provided with foldable support plate, the control hand on the inner wall of the control cabinet bottom plate
The both ends of the support plate are arranged in arm, and the control arm includes two seven axis armstrong's patent arms, and every seven axis is manual
Each joint of mechanical arm is provided with angular transducer, and for the angle in each joint of real-time measurement, the antenna setting exists
On the lateral wall of the control cabinet, it is provided with brain wave collector and the second communication device on the helmet, is adopted for basis
The brain wave information remote collected controls the movement of the eight rotors fuselage.
In the technical scheme, the outer surface of eight rotor fuselages is arranged in casing, enhances the crashworthiness of eight rotor fuselages
Can, the annular solar panel of cabinet top setting is connected to power supply device, can be power supply device supply using new energy
Power supply, convenient for increasing cruising ability；Propeller is vertically disposed with protective cover, it is therefore prevented that foreign matter causes propeller close to propeller
Damage and foreign matter itself damage；Two seven shaft mechanical arms are separately positioned in two installation cabins of bottom of shell, so that
Seven shaft mechanical arms can be installed in cabin in retraction when not in use, the resistance that aircraft is subject to be reduced, convenient for aircraft
It fast moves, wherein the seven shaft mechanicals arm can be any multi-axis mechanical arm except seven axis, be not limited only to seven shaft mechanicals
Arm；The support plate for being circumferentially positioned at bottom of shell is a kind of flexible bracket, provides buffering, can be effectively reduced flight
The impulse force that eight rotor fuselages itself are subject to when device lands；Brain wave collector and second is provided on the helmet in control cabinet to lead to
Device is interrogated, enables rescue personnel to control aircraft by the collected brain wave of brain wave collector and is moved in disaster scene
Dynamic and exploration, the control arm being arranged inside control cabinet include two seven axis armstrong's patent arms, every seven axis armstrong's patent arm
The angular transducer of joint setting, the angle change that will test in real time pass through the antenna transmission in control cabinet to seven shaft mechanicals
Arm controls the supply that seven shaft mechanical arms carry out relief goods will pass through control arm, wherein the seven axis armstrong's patent
Arm can be any multiaxis armstrong's patent arm except seven axis, be not limited only to seven axis armstrong's patent arms.
In the above-mentioned technical solutions, it is preferable that further include：The bottom of the casing is arranged in LED light, is connected to described
Power supply device and the airborne electric cabinet；Synchronous camera head is arranged between two seven shaft mechanicals arms by holder and is leaned on
Preceding position, the Synchronous camera head are connected to first communication device；Multiple sensors are uniformly arranged on the casing
Side, each sensor are all connected to the airborne electric cabinet；Auxiliary landing device, including parachute cabin, umbrella hatchcover
And parachute, the parachute cabin are arranged in the middle position of the annular solar panel, in the parachute cabin
Be provided with ejection elastic, the parachute is arranged between the ejection elastic and the umbrella hatchcover, the umbrella hatchcover with it is described
Electronics buckle is provided at the bayonet in parachute cabin, the electronics buckle is connected to the sensor；Electricity self-checking unit, if
It sets in the eight rotors fuselage interior, the electricity self-checking unit includes battery capacity detector, the battery capacity detector
Input port be connected to the power supply device；Stand-by power unit, including fuel tank, petrol engine and generator, the fuel tank
The bottom of the casing is set, the petrol engine and the generator are arranged at the inside of the eight rotors fuselage,
The output end of the fuel tank is connected to the input terminal of the gasoline engine generator, and the output end of the gasoline engine generator is connected to described
Electricity self-checking unit and the generator, the generator are connected to the power device of the eight rotors fuselage, the power dress
It sets including motor and driver；Voice device, including the first microphone and the first loudspeaker, the first microphone setting exist
The front of the Synchronous camera head is arranged in the side of the Synchronous camera head, first loudspeaker, and the voice device connects
It is connected to first communication device.
In the technical scheme, the LED light that bottom of shell is arranged in is a kind of LED light of high intensity, can at night or
Lack and provides illumination under the rescue environment of illumination；Synchronous camera head is arranged by the construction that holder copys organization of human body at two seven
Forward position between shaft mechanical arm, the viewing mode for enabling the Synchronous camera head to imitate human eye carry out real-time photography,
It is remotely operated convenient for rescue personnel according to the image that Synchronous camera head is shot；The surrounding edge position of casing is evenly arranged with
Sensor, the sensor include laser sensor and ultrasonic sensor, around eight rotor fuselage of acquisition that can be real-time quick
Obstacle information, pass through the airborne effective avoiding barrier of electric cabinet of connection；The auxiliary device for being connected to sensor includes landing
Umbrella umbrella cabin, umbrella hatchcover and parachute make it possible to when sensor detects that accidental falling occurs for eight rotor fuselages itself, open
Electronics buckle is forced to stop whole propellers, to assist the landing of eight rotor fuselages, be had by parachute by ejection elastic pop-up
The damage that is subject to when effect reduces by eight rotor fuselage accidental fallings, wherein force to stop whole propellers can be turned off propeller with
The electrical connection of power supply device；Stand-by power unit is connected to the electricity self-checking unit that eight rotor fuselage interiors are arranged in and energy supply dress
It sets, it can be when detecting that power supply device energy supply is insufficient, control stand-by power unit provides power so as to aircraft forced landing；
The bottom of eight rotor fuselages, including the first microphone and the first loudspeaker is arranged in voice device, can be filled by the first communication
It sets and is interacted with personnel to be rescued.
In the above-mentioned technical solutions, it is preferable that remote-control handle, second microphone, second are additionally provided in the control cabinet
The folding lid of the control cabinet is arranged in loudspeaker, display screen, Control card, radiator fan and battery, the display screen
On inner wall, second loudspeaker is arranged on the inner wall of the control cabinet inside cover, the remote-control handle, second Mike
Wind and the battery, which are arranged on the plate inner wall of the control cabinet, is connected to the control snap-gauge, on the Control card
It is provided with third communication device and analog-to-digital conversion module, the input port of the analog-to-digital conversion module is connected to the control arm,
The delivery outlet of the analog-to-digital conversion module is connected to the third communication device, and the radiator fan is arranged in the control cabinet
The side of side cover.
In the technical scheme, the remote-control handle in control cabinet enables rescue personnel directly to manipulate by remote-control handle
The movement of eight rotor fuselages；Second microphone and the second loudspeaker can by be provided with the Control card of third communication device with
Voice device interacts, and treats the personnel of rescuing convenient for rescue personnel and sues and labours；Display screen can be connected to casing by controlling snap-gauge
The Synchronous camera head of bottom, the environment of disaster scene is shown, facilitates plan rescue route；Radiator fan is convenient for maintenance control
Operating temperature in case processed prevents the temperature in control cabinet excessively high, causes unnecessary loss.
In the above-mentioned technical solutions, it is preferable that first communication device and the second communication device include first wireless
Module and the first SIM card, wherein first wireless module uses 2.4GHZ wireless technology and 5.8GHZ wireless technology, it is described
2.4GHZ wireless technology is for controlling signal transmission, and the 5.8GHZ wireless technology is for carrying out image transmitting, the first SIM
Card includes 4Gsim card and 5Gsim card.
In the above-mentioned technical solutions, it is preferable that the third communication device includes the second wireless module and the second SIM card,
Wherein second wireless module uses 2.4GHZ wireless technology and 5.8GHZ wireless technology, and the 2.4GHZ wireless technology is used for
Control signal transmission, the 5.8GHZ wireless technology for carrying out image transmitting, second SIM card include 4Gsim card with
5Gsim card.
In the technical scheme, using the first wireless module, the second wireless module and 4Gsim card, make it possible to certain
The movement of eight rotor fuselages of control and the rescue movement of seven shaft mechanical arms in range；Using 5Gsim card, make it possible to relatively wide
The not movement of the eight rotor fuselage of control of Caton and the rescue of seven shaft mechanical arms movement as far as possible, prevents behaviour in range
Make unnecessary loss caused by command reception failure.
In the above-mentioned technical solutions, it is preferable that further include alarm device, the alarm device is connected to the electricity self-test dress
It sets, for being sounded an alarm in low battery.
In the technical scheme, alarm device reminds rescue personnel according to the information about power that electricity self-checking unit detects in real time
Note that the problem of convenient for discovery not enough power supply in time.
In the above-mentioned technical solutions, it is preferable that the one of every seven shaft mechanicals arm and the seven axis armstrong's patent arm
End is provided with gripper, and the gripper includes the gripper of three mechanical fingers.
In the technical scheme, the gripper of three fingers is light-weight, small in size, flexible movements, and stability is good, convenient for real
The function of existing low-load manipulator.
It is provided while completing the exploration of disaster scene environment using eight rotor fuselages by above technical scheme
A kind of aircraft being provided with two seven shaft mechanical arms controls seven axis robots by the control arm being arranged in control cabinet
Arm movement controls the movement of eight rotor fuselages by remote controler and the helmet, while exploration on the spot, realizes relief goods
It is transmitted to the purpose used in the unapproachable disaster environment of rescue personnel for personnel to be rescued, additionally it is possible to by being arranged in aircraft
On voice device and Synchronous camera head and the second loudspeaker, second microphone and the display screen that are arranged in control cabinet it is wireless
The purpose of the real-time interaction of rescue personnel and personnel to be rescued is realized in connection, is conducive to rescue personnel and is implemented rescue.
Detailed description of the invention
Fig. 1 shows the structure of the multifunctional rescue robot based on eight-rotary wing aircraft of embodiment according to the present invention
Schematic diagram；
Fig. 2 shows the side overlooking structure diagrams according to multifunctional rescue robot shown in fig. 1；
Fig. 3 shows the side structure schematic diagram according to multifunctional rescue robot shown in fig. 1；
Fig. 4 shows the positive overlooking structure diagram according to multifunctional rescue robot shown in fig. 1；
Fig. 5 shows the present invention looks up structural representation according to multifunctional rescue robot shown in fig. 1；
Fig. 6 shows the structural schematic diagram that auxiliary landing device is opened according to multifunctional rescue robot shown in fig. 1；
Fig. 7 shows the side overlooking structure diagram of the control cabinet of embodiment according to the present invention；
Fig. 8 shows the structure schematic diagram of the control cabinet of embodiment according to the present invention；
Fig. 9 shows the side perspective structural schematic diagram of the control cabinet of embodiment according to the present invention；
Figure 10 shows the back side perspective structure schematic diagram of the control cabinet of embodiment according to the present invention；
Figure 11 shows the side structure schematic diagram of the helmet of embodiment according to the present invention；
Figure 12 shows the overlooking structure diagram of the helmet of embodiment according to the present invention；
Figure 13 shows the side overlooking structure diagram of the helmet of embodiment according to the present invention；
Figure 14 shows the workflow schematic diagram of the airborne electric cabinet of embodiment according to the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The embodiment of the present invention is further detailed below in conjunction with Fig. 1 to Figure 14.
As shown in figs. 1 to 14, a kind of multifunctional rescue robot based on eight-rotary wing aircraft, including eight gyroplanes
Body, eight gyroplane are evenly arranged with multiple propellers 101 with it, in the technical scheme, are arranged with eight gyroplanes
Propeller 101 is eight, is uniformly arranged on the whole body of eight rotor fuselages；The eight rotors fuselage is internally provided with airborne electric cabinet
102, the multifunctional rescue robot based on eight-rotary wing aircraft includes：The eight rotors fuselage is arranged in casing 103
The middle position of outer surface, 103 top of casing is raised, is provided with annular solar energy at the top bump of the casing 103
Solar panel 104, the annular solar panel 104 are connected to the power supply device 105 of the eight-rotary wing aircraft, the energy supply
Device 105 includes chargeable battery, and there are two install cabin for the bottom setting of the casing 103；Protective cover 106, the protective cover 106
Upper and lower surface around the propeller 101 is uniformly arranged on around the casing 103；Two seven shaft mechanical arms 107, respectively
It is arranged in two installation cabins of 103 bottom of casing, is provided with the first communication on each seven shaft mechanicals arm 107
Device（It is not shown in the figure）, first communication device is connected to the airborne electric cabinet 102；Support plate 108, the support plate
108 the bottom of the casing 103 is arranged in around the seven shaft mechanicals arm 107；Control device, including control cabinet 109, control
Arm, the helmet 110 and antenna 111 are provided with foldable support plate 112, the control on the inner wall of 109 bottom plate of control cabinet
The both ends of the support plate 112 are arranged in arm, and the control arm includes two seven axis armstrong's patent arms 113, described in every
Each joint of seven axis armstrong's patent arms 113 is provided with angular transducer 120（It is not shown in the figure）, each for real-time measurement
The angle in joint, the antenna 111 are arranged on the lateral wall of the control cabinet 109, are provided with brain wave on the helmet 110
Acquisition device 114 and the second communication device 115, for controlling the eight rotors fuselage according to collected brain wave information remote
Movement.
Further as shown in Figure 11 to Figure 13, the brain wave collector 114 being arranged on the helmet 110 is sensed including brain wave
Device 120, amplifier and signal processor, brain wave sensor 120 are uniformly arranged on 110 two sides of the helmet, the input terminal of amplifier
It is connected to the output end of the brain wave sensor 120, the output end of amplifier is connected to the input terminal of signal processor, signal
The output end of processor is connected to the second communication device 115, and can will test brain wave processing is computer language, by the
The transmission of two communication devices 115, to realize the control to eight rotor fuselages, the side of the helmet 110 also passes through shaft 116 and is provided with
Transparent display screen 117, the transparent display screen 117 are connected to the second communication device 115, monitor operation knot in real time convenient for rescue personnel
Fruit.
Further as shown in figure 14, the airborne electric cabinet 102 of eight rotor fuselage interiors setting includes three-axis gyroscope, three axis
Accelerometer, magnetic sensor 120, GPS, sonar altimeter, tachometer and microcomputer, for obtaining eight rotor fuselages
The information such as posture, speed, position needed for flight；Three-axis gyroscope, three axis accelerometer, magnetic sensor 120 and GPS can
With by wavelet transformation, i.e., data can directly be read by the spatial information detected being converted to computer, itself is detected
Malfunction monitoring information be transferred to microcomputer, to judge whether aircraft itself occurs chance failure；Microcomputer
Strapdown Inertial Navigation System is formed with three-axis gyroscope and three axis accelerometer, it can be according to the ring around collected eight rotors fuselage
Border information carries out 3D modeling and path prediction, realizes the normal flight of aircraft and evading rapidly for barrier.
In the above-mentioned technical solutions, it is preferable that further include：The bottom of the casing 103 is arranged in LED light 118, connection
In the power supply device 105 and the airborne electric cabinet 102；Synchronous camera head 119 is arranged by holder in two seven axis
Forward position between mechanical arm 107, the Synchronous camera head 119 are connected to first communication device；Multiple sensors
120, it is uniformly arranged on the side of the casing 103, each sensor 120 is all connected to the airborne electric cabinet 102；It is auxiliary
Landing-gear 121, including parachute cabin, umbrella hatchcover and parachute are helped, the parachute cabin setting is in the annular sun
Can solar panel 104 middle position, ejection elastic is provided in the parachute cabin, the parachute is arranged in the ejection
Between elastic and the umbrella hatchcover, electronics buckle, the electricity are provided at the bayonet in the umbrella hatchcover and the parachute cabin
Subcard button is connected to the sensor 120；Electricity self-checking unit（It is not shown in the figure）, it is arranged in the eight rotors fuselage interior,
The electricity self-checking unit includes battery capacity detector, and the input port of the battery capacity detector is connected to the energy supply dress
Set 105；The casing 103 is arranged in stand-by power unit 122, including fuel tank, petrol engine and generator, the fuel tank
Bottom, the petrol engine and the generator are arranged at the inside of the eight rotors fuselage, the output end of the fuel tank
It is connected to the input terminal of the gasoline engine generator, the output end of the gasoline engine generator is connected to the electricity self-checking unit and institute
Generator is stated, the generator is connected to the power device of the eight rotors fuselage, and the power device includes motor and drive
Dynamic device；Voice device, including the first microphone 123 and the first loudspeaker 124, the setting of the first microphone 123 is described same
The side of camera 119 is walked, the front of the Synchronous camera head 119, the voice device is arranged in first loudspeaker 124
It is connected to first communication device.
In the technical scheme, electricity self-checking unit can be the battery capacity detector with change-over switch, work as battery
When coulometric detector detects that power supply device 105 can not be energized by chargeable battery and annular solar panel 104, open standby
It with power device 122, realizes oil electric mixed dynamic, aircraft is energized by fuel tank, realize emergency landing, reduce and fly
The breakage that row device may cause from falling from high altitude.
Further as shown in Figure 9 and Figure 10, remote-control handle 125, second microphone are additionally provided in the control cabinet 109
126, the second loudspeaker 127, display screen 128, Control card 129, radiator fan 130 and battery 131, the display screen 128
It is arranged on the inner wall of the folding lid 132 of the control cabinet 109, second loudspeaker 127 is arranged in the control cabinet 109
On the inner wall of side cover, the remote-control handle 125, the second microphone 126 and the battery 131 are arranged at the control
It is connected to the control snap-gauge on the plate inner wall of case 109, is provided with third communication device and modulus on the Control card 129
Conversion module, the input port of the analog-to-digital conversion module are connected to the control arm, the delivery outlet of the analog-to-digital conversion module
It is connected to the third communication device, the side of 109 inside cover of control cabinet is arranged in the radiator fan 130.
In the technical scheme, battery 131 is remote-control handle 125, second microphone 126, the second loudspeaker 127, shows
The operation of display screen 128, Control card 129 and radiator fan 130 provides electric energy, wherein 119 side of Synchronous camera head is arranged in
Voice device can remove the noise that the rotation of itself propeller 101 generates by the filter of setting, lock into danger convenient for not hearing
The spoken sounds of personnel to be rescued under dangerous environment.
In the above-mentioned technical solutions, it is preferable that first communication device and the second communication device 115 are including the first nothing
Wire module and the first SIM card, wherein first wireless module uses 2.4GHZ wireless technology and 5.8GHZ wireless technology, it is described
2.4GHZ wireless technology is for controlling signal transmission, and the 5.8GHZ wireless technology is for carrying out image transmitting, the first SIM
Card includes 4Gsim card and 5Gsim card.
In the above-mentioned technical solutions, it is preferable that the third communication device includes the second wireless module and the second SIM card,
Wherein second wireless module uses 2.4GHZ wireless technology and 5.8GHZ wireless technology, and the 2.4GHZ wireless technology is used for
Control signal transmission, the 5.8GHZ wireless technology for carrying out image transmitting, second SIM card include 4Gsim card with
5Gsim card.
In the technical scheme, the first communication device, the second communication device 115 and third communication device can be realized low coverage
Transmission from the control instruction with overlength distance improves the operability of aircraft.
In the above-mentioned technical solutions, it is preferable that further include alarm device（It is not shown in the figure）, the alarm device is connected to described
Electricity self-checking unit, for being sounded an alarm in low battery.
In the technical scheme, alarm device is connected to electricity self-checking unit, can be in the electricity for detecting power supply device 105
Lower than giving a warning in 20 percent situation below, rescue personnel is reminded to carry out electricity supplement, or in feasible region
It uses.
In the above-mentioned technical solutions, it is preferable that every seven shaft mechanicals arm 107 and the seven axis armstrong's patent arm
113 one end is provided with gripper 133, and the gripper 133 includes the gripper 133 of three mechanical fingers.
In the technical scheme, which includes motor, shaft coupling, screw rod, sliding block, gripper shell, probe, letter
Number 120, three connecting rods of sensor, three fingers, three fixing axles and three switch sensors 120, can be according to sensing
The information that device 120 receives realizes crawl task under the driving of motor and shaft coupling.
In actual application process, in the case where encountering rescue personnel and cannot be introduced into disaster scene and rescue, rescue
The eight rotor fuselages that the personnel of helping can carry a certain amount of relief goods by remote control control fly into disaster scene and are surveyed on the spot
Visit, also may be selected in and be worn on the head the helmet, by by the collected brain wave information of brain wave collector by means of second
Communication device is transferred to eight rotor fuselages, come control carry a certain amount of relief goods eight rotor fuselages enter disaster scene carry out
Exploration；When aircraft discovery disaster scene has personnel to be rescued, in the case of this kind, if an only rescue personnel flies in operation
Device then can choose using the helmet and control the movement of aircraft, vacates both hands and is controlled with eight gyroplanes by control arm
Seven shaft mechanical arms relief goods are sent in personnel's hand to be rescued in conjunction with the movement of aircraft, if there is two or two or more
Rescue people in operation aircraft, can also be by the movement of remote control control aircraft, another rescue personnel passes through control hand
Arm controls seven shaft mechanical arms with eight gyroplanes, and relief goods are sent in personnel's hand to be rescued, in aircraft by two people cooperation
Relief goods are sent to when rescuing in personnel's hand, rescue personnel can pass through second microphone, the second loudspeaker and voice device
Interactive voice is carried out with personnel to be rescued, can be some rescue plans, is also possible to some urgent measures of saving oneself, to enhance
The physical strength of personnel to be rescued and desire of seeking survival, extend gold rescue time.
While above-described embodiment aircraft carries out relief goods supply, in multiple sensors and airborne electric cabinet three
Axis gyroscope, three axis accelerometer, magnetic sensor, GPS, sonar altimeter, tachometer and microcomputer maintain in real time
The normal operation and faults itself of aircraft detect, if detect that aircraft breaks down, control auxiliary landing device is opened
Parachute, assisting in flying device safe falling；Electricity self-checking unit in real time detects power supply device, if detecting functional device
When energy supply is insufficient, it can promptly switch to stand-by power unit and carry out fuel tank energy supply, assisting in flying device carries out emergency landing, maximum
The damage that the reduction aircraft of limit is subject to.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, and technical solution of the present invention proposes a kind of new
Multifunctional rescue robot based on eight-rotary wing aircraft, the bottom of the aircraft are provided with two seven shaft mechanical arms, pass through
The control arm being arranged in control cabinet controls seven shaft mechanical arm actions, controls eight rotor fuselages by remote controler and the helmet
It is mobile, while exploration on the spot, realize relief goods are transmitted in the unapproachable disaster environment of rescue personnel supply to
The purpose that the personnel of rescuing use, additionally it is possible to by the way that voice device on board the aircraft and Synchronous camera head is arranged and is arranged in control cabinet
The wireless connection of interior the second loudspeaker, second microphone and display screen realizes the real-time interaction of rescue personnel and personnel to be rescued
Purpose, be conducive to rescue personnel implement rescue, and aircraft eight rotor fuselage outer surfaces setting casing effectively increase
The survival ability of the aircraft.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of multifunctional rescue robot based on eight-rotary wing aircraft, including eight rotor fuselages, with eight gyroplane
Multiple propellers are evenly arranged with, the eight rotors fuselage is internally provided with airborne electric cabinet, which is characterized in that described to be based on eight
The multifunctional rescue robot of rotor craft includes：
The outer surface of the eight rotors fuselage, the middle position protrusion of the cabinet top, the top of the casing is arranged in casing
Portion's high spot is provided with annular solar panel, and the annular solar panel is connected to the confession of the eight-rotary wing aircraft
Energy device, the power supply device includes chargeable battery, and there are two install cabin for the bottom setting of the casing；
Protective cover, the protective cover are uniformly arranged on around the casing around the upper and lower surface of the propeller；
Two seven shaft mechanical arms are separately positioned in two installation cabins of the bottom of shell, each seven axis robot
The first communication device is provided on arm, first communication device is connected to the airborne electric cabinet；
The bottom of the casing is arranged in around the seven shaft mechanicals arm for support plate, the support plate；
Control device, including control cabinet, control arm, the helmet and antenna are provided with and can be rolled on the inner wall of the control cabinet bottom plate
The both ends of the support plate are arranged in folded support plate, the control arm, and the control arm includes two seven axis armstrong's patents
Each joint of arm, every seven axis armstrong's patent arm is provided with angular transducer, for each joint of real-time measurement
Angle, the antenna are arranged on the lateral wall of the control cabinet, are provided with brain wave collector and second on the helmet
Communication device, for controlling the movement of the eight rotors fuselage according to collected brain wave information remote.
2. the multifunctional rescue robot according to claim 1 based on eight-rotary wing aircraft, which is characterized in that also wrap
It includes：
The bottom of the casing is arranged in LED light, is connected to the power supply device and the airborne electric cabinet；
Position forward between two seven shaft mechanicals arms, the Synchronous camera are arranged in by holder for Synchronous camera head
Head is connected to first communication device；
Multiple sensors, are uniformly arranged on the side of the casing, and each sensor is all connected to the airborne electric cabinet；
Auxiliary landing device, including parachute cabin, umbrella hatchcover and parachute, parachute cabin setting the annular too
It is positive can solar panel middle position, be provided with ejection elastic in the parachute cabin, the parachute is arranged in the ejection
Between elastic and the umbrella hatchcover, electronics buckle, the electricity are provided at the bayonet in the umbrella hatchcover and the parachute cabin
Subcard button is connected to the sensor；
Electricity self-checking unit is arranged in the eight rotors fuselage interior, and the electricity self-checking unit includes battery capacity detector,
The input port of the battery capacity detector is connected to the power supply device；
The bottom of the casing, institute is arranged in stand-by power unit, including fuel tank, petrol engine and generator, the fuel tank
It states petrol engine and the generator is arranged at the inside of the eight rotors fuselage, the output end of the fuel tank is connected to institute
The input terminal of gasoline engine generator is stated, the output end of the gasoline engine generator is connected to the electricity self-checking unit and the power generation
Machine, the generator are connected to the power device of the eight rotors fuselage, and the power device includes motor and driver；
The Synchronous camera head is arranged in voice device, including the first microphone and the first loudspeaker, first microphone
The front of the Synchronous camera head is arranged in side, first loudspeaker, and the voice device is connected to first communication
Device.
3. the multifunctional rescue robot according to claim 1 based on eight-rotary wing aircraft, which is characterized in that the control
Remote-control handle, second microphone, the second loudspeaker, display screen, Control card, radiator fan and electric power storage are additionally provided in case processed
Pond, the display screen are arranged on the inner wall of the folding lid of the control cabinet, and second loudspeaker is arranged in the control cabinet
On the inner wall of inside cover, the remote-control handle, the second microphone and the battery are arranged at the bottom of the control cabinet
It is connected to the control snap-gauge on plate inner wall, third communication device and analog-to-digital conversion module, institute are provided on the Control card
The input port for stating analog-to-digital conversion module is connected to the control arm, and the delivery outlet of the analog-to-digital conversion module is connected to described
The side of the control cabinet inside cover is arranged in three communication devices, the radiator fan.
4. the multifunctional rescue robot according to claim 1 based on eight-rotary wing aircraft, which is characterized in that described
One communication device and the second communication device include the first wireless module and the first SIM card, wherein first wireless module is adopted
With 2.4GHZ wireless technology and 5.8GHZ wireless technology, the 2.4GHZ wireless technology is transmitted for controlling signal, described
For 5.8GHZ wireless technology for carrying out image transmitting, first SIM card includes 4Gsim card and 5Gsim card.
5. the multifunctional rescue robot according to claim 3 based on eight-rotary wing aircraft, which is characterized in that described
Three communication devices include the second wireless module and the second SIM card, wherein second wireless module uses 2.4GHZ wireless technology
With 5.8GHZ wireless technology, the 2.4GHZ wireless technology for control signal transmission, the 5.8GHZ wireless technology be used for into
Row image transmitting, second SIM card include 4Gsim card and 5Gsim card.
6. the multifunctional rescue robot according to claim 2 based on eight-rotary wing aircraft, which is characterized in that further include
Alarm device, the alarm device are connected to the electricity self-checking unit, for sounding an alarm in low battery.
7. the multifunctional rescue robot according to claim 1 based on eight-rotary wing aircraft, which is characterized in that every institute
The one end for stating seven shaft mechanical arms and the seven axis armstrong's patent arm is provided with gripper, and the gripper includes three machinery
The gripper of finger.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810751817.0A CN108820198A (en) | 2018-07-10 | 2018-07-10 | Multifunctional rescue robot based on eight-rotary wing aircraft |
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| CN201810751817.0A CN108820198A (en) | 2018-07-10 | 2018-07-10 | Multifunctional rescue robot based on eight-rotary wing aircraft |
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| CN111354166A (en) * | 2020-03-16 | 2020-06-30 | 山东省地矿工程集团有限公司地质环境工程分公司 | Goaf collapse alarm device |
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