CN111136672A - Police robot and control method thereof - Google Patents
Police robot and control method thereof Download PDFInfo
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- CN111136672A CN111136672A CN202010075739.4A CN202010075739A CN111136672A CN 111136672 A CN111136672 A CN 111136672A CN 202010075739 A CN202010075739 A CN 202010075739A CN 111136672 A CN111136672 A CN 111136672A
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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
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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Abstract
The invention relates to the technical field of artificial intelligence, in particular to a police robot and a control method thereof. The related control method comprises the steps that a control signal sent by an operator reaches a preset position, and a corresponding breaking-in tool is used for breaking-in action; after the forcible entry action is finished, the police robot judges the position of a person and adjusts the protection area of the held explosion-proof shield according to the monitoring signal of the infrared monitoring module. Has the advantages that: the police robot can clamp the forcible entry tool by using two mechanical arms to perform forcible entry tasks; meanwhile, the quick mounting joint for clamping the breaking-in tool adopts a ball pair connecting structure, so that the counter impact force of the breaking-in action can be effectively reduced, and the mechanical arm is prevented from being broken due to overlarge impact force.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a police robot and a control method thereof.
Background
In city anti-terrorism safety guarantee, the criminal of offending law can hide and avoid with the help of closed places such as resident's building more, needs the police service personnel to carry out the front to break a door under the special circumstances and attack the breakthrough, and the criminal who relates to the violent crime is easily at the broken door attack in-process, causes the threat to policeman's personal safety, along with the continuous development of intelligent robot technique, and it carries out this type of dangerous work to need a police robot to replace policeman at present urgently.
Therefore, the invention provides a police robot and a control method thereof aiming at the technical problems, the police robot travels through a crawler wheel, can use two mechanical arms to clamp an explosion-proof shield and a breaking-in tool, and carries out the breaking-in task through the breaking-in tool; meanwhile, the quick mounting joint for clamping the breaking-in tool adopts a ball pair connecting structure, so that the counter impact force of the breaking-in action can be effectively reduced, and the mechanical arm is prevented from being broken due to overlarge impact force; the police robot can also monitor the personnel distribution condition in the current sight range in real time through the infrared monitoring module provided by the police robot, and the explosion-proof shield is moved according to the personnel distribution condition so as to reduce the condition that surrounding police officers are injured due to attack by criminals.
Disclosure of Invention
In order to solve the problems in the prior art, a robot for a permanent police and a control method thereof are provided.
The specific technical scheme is as follows:
the invention includes a police robot comprising:
a main body, the main body comprising:
the communication module is in signal connection with a control terminal and is used for receiving a control signal remotely sent by the control terminal;
the infrared monitoring module is arranged on the outer surface of the head of the main body and used for monitoring the personnel distribution condition of the police robot in the current sight range and continuously forming a monitoring signal;
the central control module is respectively connected with the infrared monitoring module and the communication module and is used for forming a corresponding control instruction according to the control signal and the monitoring signal so as to control the action of the police robot;
the two crawler wheels are symmetrically arranged on the two legs of the main body, and each crawler wheel is rotatably connected with the bottom of the two legs of the main body;
the two mechanical arms are symmetrically arranged on two sides of the shoulder of the main body, and one end of each mechanical arm is rotatably connected with the shoulder of the main body;
two quick attach fittings for installing a break-in tool, each quick attach fitting comprising:
the electromagnetic element is fixed at one end of the mechanical arm, which is back to the main body, and is electrically connected with the central control module;
the ball head connecting rod comprises a ball head and a connecting rod which are connected, and the connecting rod is a magnet;
the bulb connecting seat comprises a spherical hinge and a clamp connection, the spherical hinge is used for connecting the bulb, and the clamp sleeve is arranged on a handle of the breaking-in tool.
Preferably, the ball joint is a hemispherical shell, and the ball head is clamped in the ball joint.
Preferably, each of the track wheels and each of the robot arms include a plurality of joints, each of the joints is connected to one of the plurality of driving motors, an input end of each of the plurality of driving motors is connected to an output end of the central control module, and the central control module outputs the control command to control working parameters of the plurality of driving motors so as to control the action of the police robot.
Preferably, one of the quick mounting joints is provided with a first image acquisition device, connected to the central control module, and configured to acquire a real-time image of the breaking-in tool before the breaking-in tool is gripped and gripped, and transmit the real-time image to the central control module.
Preferably, the central control module comprises:
the signal acquisition unit is used for acquiring the control signal and the monitoring signal;
the storage unit is used for pre-storing a reference image of the breaking-in tool;
the first judging unit is used for comparing the real-time image with the reference image, judging whether the current breaking-in tool is matched with the breaking-in tool corresponding to the control signal or not, and outputting a first judging result when the breaking-in tool is judged to be matched;
the first execution unit is connected with the first judgment unit and controls the electromagnetic element to be electrified according to the first judgment result, and the electromagnetic force generated by the electromagnetic element attracts the ball head connecting rod, so that the mechanical arm clamps the matched breaking and dismantling tool, and the breaking and dismantling tool is used for completing the breaking and dismantling action.
Preferably, the police robot further comprises a foldable explosion-proof shield arranged at one elbow of the mechanical arm, a state control motor of the explosion-proof shield is connected with the central control module, when the police robot starts the breaking action, the central control module enables the state control motor, so that the explosion-proof shield is folded, and after the police robot completes the breaking action, the explosion-proof shield is unfolded.
Preferably, the head of the main body further comprises a second image acquisition device connected to the communication module, and configured to acquire image information and/or video information within the current sight range of the police robot, and feed back the image information and/or video information to the control terminal through the communication module, so that an operator can issue a corresponding control signal to the police robot according to the image information and/or video information.
Preferably, a power module is further disposed in the main body, and is respectively connected to the infrared monitoring module, the central control module and the communication module, and configured to provide working voltage for the infrared monitoring module, the central control module and the communication module.
The invention also comprises a control method of the robot, which is applied to the police robot and specifically comprises the following steps:
step S1, an operator sends the control signal to the police robot through the control terminal so that the police robot reaches a preset position, and meanwhile, the police robot uses the corresponding breaking tool to perform breaking action;
step S2, after the forcible entry action is completed, the police robot adopts the infrared monitoring module to continuously monitor the personnel distribution condition in the current sight range at the preset position and continuously form the monitoring signal;
step S3, the police robot continuously judges whether a person is in the current sight range according to the monitoring signal:
if yes, go to step S4;
if not, returning to the step S2;
and step S4, the police robot moves the mechanical arm provided with the explosion-proof shield according to the angle of the personnel in the current sight range so as to adjust the protection area of the explosion-proof shield.
Preferably, the step S2 further includes:
and in the process of continuous monitoring, the police robot continuously acquires the current image information and/or video information in the sight line range by using a second image acquisition device and feeds the current image information and/or video information back to the control terminal, so that the operator sends the corresponding control signal according to the image information and/or video information to adjust the action of the police robot.
The technical scheme of the invention has the beneficial effects that: the police robot advances through a crawler wheel, can use two mechanical arms to clamp an explosion-proof shield and a forcible entry tool, and performs a forcible entry task through the forcible entry tool; meanwhile, the quick mounting joint for clamping the breaking-in tool adopts a ball pair connecting structure, so that the counter impact force of the breaking-in action can be effectively reduced, and the mechanical arm is prevented from being broken due to overlarge impact force; in addition, the police robot can also monitor the personnel distribution condition in the current sight range in real time through the infrared monitoring module of self-carrying to remove explosion-proof shield according to personnel distribution condition, so as to reduce the condition that surrounding policemen are injured because of being attacked by criminals.
Drawings
Embodiments of the present invention will be described more fully with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a schematic structural diagram of a police robot in an embodiment of the invention;
fig. 2 is a schematic block diagram of a control system of a police robot in an embodiment of the present invention;
fig. 3 is a schematic step diagram of a control method of a police robot in an embodiment of the invention;
fig. 4 and 5 are schematic structural diagrams of a quick mounting joint of a police robot in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The present invention includes a police robot, as shown in fig. 1, comprising:
a main body 1, the main body 1 comprising:
the communication module 11 is in signal connection with a control terminal and is used for receiving a control signal remotely sent by the control terminal;
the infrared monitoring module 12 is arranged on the outer surface of the head of the main body 1 and is used for monitoring the personnel distribution condition of the police robot within the current sight range and continuously forming a monitoring signal;
the central control module 13 is connected with the infrared monitoring module 12 and the communication module 11 respectively, and is used for forming a corresponding control instruction according to the control signal and the monitoring signal so as to control the action of the police robot;
the two crawler wheels 2 are symmetrically arranged on the two legs of the main body 1, and each crawler wheel 2 is rotatably connected with the bottom of the two legs of the main body 1;
the two mechanical arms 3 are symmetrically arranged on two sides of the shoulder of the main body 1, and one end of each mechanical arm 3 is rotatably connected with the shoulder of the main body 1;
two quick-mount couplings, as shown in fig. 4 and 5, for mounting a break-in tool, each quick-mount coupling comprising:
the electromagnetic element 30 is fixed at one end of the mechanical arm 3, which is back to the main body 1, and is electrically connected with the central control module;
the ball head connecting rod 31 is characterized in that the ball head connecting rod 31 comprises a ball head 311 and a connecting rod 312 which is a magnet;
a bulb connecting seat 32, the bulb connecting seat 32 includes a ball joint 321 and a clip connection 322, the ball joint 321 is used for connecting the bulb 311, and the clip 322 is sleeved on the handle of the breaking-in tool 4.
Specifically, in this embodiment, the police robot is a humanoid robot, and the police robot includes four limbs (two mechanical arms and two mechanical legs) in addition to the main body, where a joint at one end of the mechanical arm is used to connect the mechanical claw, and a joint at the other end of the mechanical arm is used to connect the main body; the joint at one end of each mechanical leg is used for being connected with the crawler wheel, and the joint at the other end of each mechanical leg is used for being connected with the main body. In this embodiment, the central control module controls the working parameters of the driving motors to further control the motion trail of each joint, and the posture and the motion of the police robot are different along with the change of the motion trail of the joints.
Specifically, the crawler wheels are equivalent to human feet and used for enabling the police robot to stand and move according to control instructions, two joints are arranged in each crawler wheel, and two driving motors corresponding to the two joints are used for controlling the moving speed of the crawler wheels. The size of the crawler wheel may be determined according to the size and weight of the main body and the limbs of the robot, and the size of the crawler wheel is important for the stability of the robot in standing.
Specifically, the operator only needs to send control signal through long-range down and can control these driving motor, and control signal can be speech signal, and for example the operator can send the control signal "break and tear the action" open, and police robot's well accuse module can adjust robotic arm's movement track and snatch corresponding broken instrument of tearing open after receiving these control signal to calculate and use the dynamics that the broken instrument of tearing open and pound the door handle, thereby use the broken instrument of tearing open to break and tear the action open to the door. For example, an operator sends a control signal "break and tear with a hammer", the central control module, after receiving the control signal, energizes the electromagnetic element to generate an electromagnetic attraction force on the electromagnetic element to attract a ball head connecting rod arranged on the break and tear tool, so that a handle of the break and tear tool is fixed on the mechanical arm, and then the central control module controls the break and tear action of the police robot according to the calculated motion track of the mechanical arm, for example, a door handle is knocked from top to bottom by using a hammer, so that the break and tear action is completed.
It should be noted that, the ball head connecting rod 31 and the ball head connecting seat 32 in this embodiment form a structure of a ball pair connector, the ball joint 321 of the ball head connecting seat 32 is a hemispherical shell, the interior of the shell is a hollow structure, the ball head 311 is spherical, the ball head 311 is disposed in the hemispherical shell, the ball head 311 can rotate in the ball joint, when the robot uses the break-in tool to break the door handle, the break-in tool collides with the door handle and then receives a reaction force, but because the ball head 311 has a certain degree of freedom in the ball joint, the reaction force generated by the collision can be effectively slowed down, so that the mechanical arm is prevented from being broken due to an excessive impact force.
Specifically, after the breaking-in action is completed, an operator can remotely send a control signal 'use an explosion-proof shield', a central control module of the police robot disconnects the current of an electromagnetic element after receiving the control signal, a ball head connecting rod automatically drops the electromagnetic element, so that a breaking-in tool is quickly dismounted, then the police robot quickly mounts the explosion-proof shield by using a quick mounting connector, continuously monitors whether a criminal appears in the current sight range by using an infrared monitoring device, if the criminal appears, the central control module calculates the angle between the police robot and the criminal according to a feedback monitoring signal to obtain the direction information of the criminal, and according to the calculated direction information, the police robot moves the explosion-proof shield by using a mechanical arm to ensure that the officer behind is located in the protection area of the explosion-proof shield.
As a preferred embodiment, the police robot further comprises a foldable explosion-proof shield arranged at an elbow of one of the mechanical arms, a state control motor of the explosion-proof shield is connected with the central control module, when the police robot starts the breaking action, the central control module starts the state control motor to fold the explosion-proof shield, and after the police robot finishes the breaking action, the explosion-proof shield is unfolded.
Furthermore, after the explosion-proof shield is unfolded, the police robot scans whether a person is in the current sight range by using the infrared monitoring module, and the central control module plans the movement track of the mechanical arm provided with the explosion-proof shield again according to the distribution condition of the person so as to ensure that the explosion-proof shield faces the direction of the person.
In a preferred embodiment, a first image capturing device is disposed on one of the quick-mounting joints, and is connected to the central control module, for capturing a real-time image of the breaking-in tool before the breaking-in tool is gripped and gripped, and transmitting the real-time image to the central control module.
Specifically, with the difference of the breaking tasks, different types of breaking tools need to be used, and an operator can command the robot to use the corresponding breaking tool to perform breaking actions according to actual needs, such as a hammer, an electric saw, a hydraulic tool, a pneumatic tool, an elastic device and the like. For example, the operator currently sends 'break and tear down with a hammer', the central control module extracts the 'hammer', the central control module calls a pre-stored reference image of the 'hammer', the image is compared with a real-time image of a break and tear down tool collected by the first image device, whether the real-time image is the hammer or not is judged, and if the image is the hammer, the hammer is clamped by the police robot.
In a preferred embodiment, as shown in fig. 2, the central control module 13 specifically includes:
a signal acquiring unit 131 for acquiring the control signal and the monitoring signal;
a storage unit 132, configured to store a reference image of the breaking-in tool in advance;
the first judging unit 133 is connected with the storage unit and the signal acquiring unit respectively, and the first judging unit 133 is configured to compare the real-time image with the reference image, judge whether the current breaking tool is matched with the breaking tool corresponding to the control signal, and output a first judgment result when judging that the breaking tool is matched;
and a first executing unit 134, connected to the first judging unit 133, where the first executing unit 134 controls the electromagnetic element to be powered on according to the first judgment result, and the electromagnetic force generated by the electromagnetic element attracts the ball joint connecting rod, so that the robot arm clamps the matched breaking tool, and the breaking tool is used to complete the breaking operation.
Specifically, the first execution unit is mainly used for controlling the mechanical arm to execute corresponding actions according to control signals issued by an operator, for example, the operator sends a voice control signal "use a hammer to break and tear open an action", after the police robot receives the control signal, the central control module energizes the electromagnetic element, so that the electromagnetic element generates electromagnetic force to suck the ball head connecting rod, so that the two mechanical arms grab the hammer and use the hammer to break a door lock, thereby completing the breaking and tearing action.
In a preferred embodiment, as shown in fig. 2, the head of the main body further includes a second image capturing device connected to the communication module, and configured to capture image information and/or video information within a current sight range of the police robot, and feed back the image information and/or video information to the control terminal through the communication module, so that an operator issues a corresponding control signal to the police robot according to the image information and/or video information.
Specifically, the image capturing device in this embodiment includes a panoramic camera, and the panoramic camera is disposed at a head of a main body of the police robot and is configured to capture images or videos of an environment around the robot, so that an operator can observe real-time conditions around the robot, and the robot can be better controlled.
The invention also comprises a control method of the robot, which is applied to the police robot and specifically comprises the following steps as shown in fig. 3:
step S1, the operator sends a control signal to the police robot through the control terminal so that the police robot reaches a preset position, and meanwhile, the police robot uses the corresponding forcible entry to perform forcible entry action;
step S2, after the forcible entry action is completed, the police robot adopts the infrared monitoring module to continuously monitor the personnel distribution condition in the current sight range at a preset position and continuously form a monitoring signal;
step S3, the police robot continuously judges whether a person is in the current sight range according to the monitoring signal:
if yes, go to step S4;
if not, returning to the step S2;
and step S4, the police robot moves the mechanical arm provided with the explosion-proof shield according to the angle of the person in the current sight range so as to adjust the protection area of the explosion-proof shield.
In a preferred embodiment, step S2 further includes:
in the process of continuous monitoring, the police robot uses a second image acquisition device to continuously acquire image information and/or video information in the current sight range and feeds the image information and/or the video information back to the control terminal, so that an operator sends a corresponding control signal according to the image information and/or the video information to adjust the action of the police robot.
The technical scheme of the invention has the beneficial effects that: the police robot advances through a crawler wheel, can use two mechanical arms to clamp an explosion-proof shield and a forcible entry tool, and performs a forcible entry task through the forcible entry tool; meanwhile, the quick mounting joint for clamping the breaking-in tool adopts a ball pair connecting structure, so that the counter impact force of the breaking-in action can be effectively reduced, and the mechanical arm is prevented from being broken due to overlarge impact force; the police robot can also monitor the personnel distribution condition in the current sight range in real time through the infrared monitoring module provided by the police robot, and the explosion-proof shield is moved according to the personnel distribution condition so as to reduce the condition that surrounding police officers are injured due to attack by criminals.
While the invention has been described with reference to a preferred embodiment, 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 spirit and scope of the invention.
Claims (10)
1. A police robot, comprising:
a main body, the main body comprising:
the communication module is in signal connection with a control terminal and is used for receiving a control signal remotely sent by the control terminal;
the infrared monitoring module is arranged on the outer surface of the head of the main body and used for monitoring the personnel distribution condition of the police robot in the current sight range and continuously forming a monitoring signal;
the central control module is respectively connected with the infrared monitoring module and the communication module and is used for forming a corresponding control instruction according to the control signal and the monitoring signal so as to control the action of the police robot;
the two crawler wheels are symmetrically arranged on the two legs of the main body, and each crawler wheel is rotatably connected with the bottom of the two legs of the main body;
the two mechanical arms are symmetrically arranged on two sides of the shoulder of the main body, and one end of each mechanical arm is rotatably connected with the shoulder of the main body;
two quick attach fittings for installing a break-in tool, each quick attach fitting comprising:
the electromagnetic element is fixed at one end of the mechanical arm, which is back to the main body, and is electrically connected with the central control module;
the ball head connecting rod comprises a ball head and a connecting rod which are connected, and the connecting rod is a magnet;
the bulb connecting seat comprises a spherical hinge and a clamp connection, the spherical hinge is used for connecting the bulb, and the clamp sleeve is arranged on a handle of the breaking-in tool.
2. The police robot as claimed in claim 1, wherein the ball joint is a hemispherical shell, and the ball head is engaged with the ball joint.
3. The police robot as claimed in claim 1, wherein each of the track wheels and each of the robot arms comprise a plurality of joints, each of the joints is connected with a plurality of driving motors, input ends of the plurality of driving motors are connected with an output end of the central control module, and the central control module outputs the control command to control working parameters of the plurality of driving motors so as to control the action of the police robot.
4. The police robot as claimed in claim 1, wherein a first image capturing device is disposed on one of the quick-mounting joints, and is connected to the central control module, and is configured to capture a real-time image of the demolition tool before the demolition tool is gripped, and transmit the real-time image to the central control module.
5. A police robot as claimed in claim 4, characterised in that the central control module comprises:
the signal acquisition unit is used for acquiring the control signal and the monitoring signal;
the storage unit is used for pre-storing a reference image of the breaking-in tool;
the first judging unit is used for comparing the real-time image with the reference image, judging whether the current breaking-in tool is matched with the breaking-in tool corresponding to the control signal or not, and outputting a first judging result when the breaking-in tool is judged to be matched;
the first execution unit is connected with the first judgment unit and controls the electromagnetic element to be electrified according to the first judgment result, and the electromagnetic force generated by the electromagnetic element attracts the ball head connecting rod, so that the mechanical arm clamps the matched breaking and dismantling tool, and the breaking and dismantling tool is used for completing the breaking and dismantling action.
6. The police robot as claimed in claim 5, further comprising a foldable explosion-proof shield disposed at an elbow of one of the robot arms, wherein a state control motor of the explosion-proof shield is connected to the central control module, and when the police robot starts the breaking action, the central control module activates the state control motor to fold the explosion-proof shield and unfold the explosion-proof shield after the police robot completes the breaking action.
7. The police robot as claimed in claim 1, wherein the head of the main body further comprises a second image capturing device connected to the communication module, and configured to capture image information and/or video information within a current sight range of the police robot, and feed back the image information and/or video information to the control terminal through the communication module, so that an operator issues the corresponding control signal to the police robot according to the image information and/or video information.
8. The police robot as claimed in claim 1, wherein a power module is further disposed in the main body, and is respectively connected to the infrared monitoring module, the central control module and the communication module, for providing operating voltage to the infrared monitoring module, the central control module and the communication module.
9. A control method of a robot, which is applied to the police robot as claimed in claims 1-7, specifically comprising the steps of:
step S1, an operator sends the control signal to the police robot through the control terminal so that the police robot reaches a preset position, and meanwhile, the police robot uses the corresponding breaking tool to perform breaking action;
step S2, after the forcible entry action is completed, the police robot adopts the infrared monitoring module to continuously monitor the personnel distribution condition in the current sight range at the preset position and continuously form the monitoring signal;
step S3, the police robot continuously judges whether a person is in the current sight range according to the monitoring signal:
if yes, go to step S4;
if not, returning to the step S2;
and step S4, the police robot moves the mechanical arm provided with the explosion-proof shield according to the angle of the personnel in the current sight range so as to adjust the protection area of the explosion-proof shield.
10. The control method according to claim 9, wherein the step S2 further includes:
and in the process of continuous monitoring, the police robot continuously acquires the current image information and/or video information in the sight line range by using a second image acquisition device and feeds the current image information and/or video information back to the control terminal, so that the operator sends the corresponding control signal according to the image information and/or video information to adjust the action of the police robot.
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| CN111590545A (en) * | 2020-05-15 | 2020-08-28 | 深圳国信泰富科技有限公司 | Robot body structure and form conversion method thereof |
| CN111604917A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot for fire scene rescue |
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