CN201735092U - Simple search-and-rescue robot - Google Patents
Simple search-and-rescue robot Download PDFInfo
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- CN201735092U CN201735092U CN2010205053197U CN201020505319U CN201735092U CN 201735092 U CN201735092 U CN 201735092U CN 2010205053197 U CN2010205053197 U CN 2010205053197U CN 201020505319 U CN201020505319 U CN 201020505319U CN 201735092 U CN201735092 U CN 201735092U
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Abstract
The utility model relates to a simple search-and-rescue robot, which includes a control module, a movement mechanism, a cradle head mechanism with a camera, an information acquisition module, an image processing module, a wireless communication module, a lighting module and a power resource module, wherein the control module inputs control signals to the movement mechanism, the cradle head mechanism and the information acquisition module; the movement mechanism moves forwards and backwards and steers according to the control signals; the camera in the cradle head mechanism transmits acquired image information to the control module through the image processing module, and the wireless communication module sends the image information to receiving equipment; the information acquisition module returns information to the control module after acquiring information of barriers and signs of life according to the control signals, and the control module controls the motion of the movement mechanism according to the information of barriers, and returns returned life information to the receiving equipment; the control module controls the opening and closing of the lighting module; and all components inside the robot are powered by the power resource module. The simple search-and-rescue robot can effectively improve the efficiency of searching and rescuing work and can be widely applied in the rescuing operation on the ruins of various disasters.
Description
Technical field
The utility model relates to a kind of robot, particularly is used to search and rescue after the earthquake the simple and easy search and rescue robot of trapped personnel in the ruins about a kind of.
Background technology
Earthquake is as one of the most dangerous geological disaster, have can't predict, destructive power greatly, easily causes characteristics such as secondary disaster, the safety that is constantly threatening human life's property.According to investigations, the casualties in the earthquake, major part by building collapse, situation causes personnel such as the ground caved in are buried, injure by a crashing object and can't in time obtain giving treatment to and cause.Therefore, the rescue work after the earthquake is significant for reducing casualties.But, owing to building ruins, shake back situation complexity, also being faced with the danger of aftershock, the work that the rescue personnel carries out the captive search and rescue is very difficult.Be rescue gold period in 72 hours after the earthquake, therefore, in the ruins in the search work of trapped personnel, how search and rescue robot helps the rescue personnel in time to grasp the captive position, and ambient environmental conditions after earthquake, and this problem needs to be resolved hurrily.
Summary of the invention
At the problems referred to above, the purpose of this utility model provides that a kind of rescue efficiency is higher, flexibility better, the scope of application is wider, and can realize the simple and easy search and rescue robot of wireless transmission control.
For achieving the above object, the utility model is taked following technical scheme: a kind of simple and easy search and rescue robot is characterized in that: it comprises that a control module, a motion, have the cradle head mechanism of camera, an information acquisition module, an image processing module, a wireless communication module, a lighting module and a power module; Described control module is imported described motion, cradle head mechanism and information acquisition module respectively with control signal, and described motion advances, retreats and divertical motion according to control signal; Camera in the described cradle head mechanism behind described image processing module, transfers to described control module with the image information that collects, by the wireless communication module in the described control module image information is sent to accepting device; Described information acquisition module carries out information gathering according to control signal to barrier and sign of life, the information that collects is back in the described control module, control described motion by described control module according to obstacle information and carry out the obstacle detouring motion, and the sign of life information of returning is sent to accepting device; Described control module is controlled the switching of described lighting module; Described each parts are powered by described power module.
Described motion comprises the both sides creeper tread, and the front portion in each described creeper tread outside is provided with a rocking arm, and the front end of described swing arm is provided with a driven pulley; The rear portion of each described creeper tread is provided with a drive sprocket, and the bottom is connected with the plurality of load bearing wheel respectively by some connecting rods; The excircle of each described driven pulley, drive sprocket and each BOGEY WHEEL is provided with a circle crawler belt; Each described creeper tread inboard, the corresponding steering wheel that is provided with described rocking arm, the corresponding DC servo motor that is provided with described drive sprocket, each described DC servo motor is transferred to described drive sprocket by a damping device respectively with power, and described drive sprocket drives described caterpillar drive; Two described DC servo motors are controlled its work by a signal receiving device.
Described damping device comprises that one is arranged on the damping spring of each described connecting rod and described creeper tread fixation side, and described damping spring is connected with the Shock-proof bolt of each described rod rear end, and each described connecting rod is by fixedly connected each the described BOGEY WHEEL of described Shock-proof bolt; Described creeper tread is provided with some and the corresponding chute of each described Shock-proof bolt.
Described cradle head mechanism comprises a underarm, four steering wheels, a forearm and described camera, and an end of described underarm is fixedlyed connected with first described steering wheel, and this steering wheel outside is fixed on described simple and easy search and rescue robot cover top portion by fixture; The other end of described underarm flexibly connects an end of described forearm by second described steering wheel, and the described forearm other end connects described camera by the 3rd, the 4th described steering wheel.
Described cradle head mechanism adopts arm-type mechanism.
Described wireless communication module adopts the APC220 wireless communication module.
The utility model is owing to take above technical scheme, it has the following advantages: 1, the utility model is because employing comprises control module, motion, cradle head mechanism, information acquisition module, image processing module, wireless communication module, the simple and easy search and rescue robot of lighting module and power module, by control module each parts is controlled, and by its be installed in camera in the cradle head mechanism with earthquake after the situation in ruins transmit out, make the rescue worker can in time grasp personnel's situation in the ruins, reduce unnecessary injures and deaths, improved the efficient of search-and-rescue work greatly.2, the utility model drives crawler belt by drive sprocket and moves because motion adopts DC servo motor to drive drive sprocket, and its driving force is bigger, and stability is better, and it is little to have changeed radius, has therefore realized flexibility function preferably.3, the utility model is owing to adopt the crawler type motion, and in the ruins of road surface situation complexity, the space is narrow and small after earthquake, therefore, adopt the caterpillar motion of bilateral, can strengthen the adaptive capacity of simple and easy search and rescue robot of the present utility model, increased the scope of application of the present utility model environment.4, the utility model is owing to adopt wireless communication module to carry out the information transmission in control module, and the detected information of each parts is transferred to rescue worker's receiving equipment by wireless communication module, therefore, realized remote wireless transmission control function.5, the utility model since adopt cradle head mechanism realize camera about, the rotation and the elevating movement of level, its flexible movements, institute takes up space less, working range is big, can walk around various barriers in narrow space.And because forwardly under the uncertain situation of road conditions, cradle head mechanism is in the close position, and makes camera be in extreme lower position, therefore lens direction, can not only recognize the place ahead traffic information forward, can also effectively avoid the damage of camera.The utility model can be widely used in the search-and-rescue work in various disasters ruins.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model;
Fig. 2 is a motion structural representation of the present utility model;
Fig. 3 is the A-A cutaway view of Fig. 2;
Fig. 4 is a damping device structural representation of the present utility model;
Fig. 5 is a cradle head mechanism structural representation of the present utility model.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1, the utility model comprises that a control module 1, a motion 2, have cradle head mechanism 3, an information acquisition module 4, an image processing module 5, a wireless communication module 6, a lighting module 7 and a power module 8 of camera.
Control module 1 is with in control signal difference input motion mechanism 2, cradle head mechanism 3 and the information acquisition module 4, and motion 2 advances, retreats or divertical motion according to control signal; According to control signal, camera in the cradle head mechanism 3 to earthquake after field data carry out IMAQ, and the image information after will gathering is behind image processing module 5, transfer to control module 1, image information is sent to rescue personnel's accepting device (not shown) by the wireless communication module 6 in the control module 1; Information acquisition module 4 carries out information gathering according to control signal to barrier and sign of life, the information that collects is back in the control module 1, carry out the obstacle detouring motion by control module 1 according to the obstacle information controlled motion mechanism 2 that returns, and the sign of life information of returning is sent to rescue personnel's accepting device.Wherein, control module 1 is also controlled the unlatching of lighting module 7 or is closed.Above-mentioned each parts are powered by power module 8.
In the foregoing description, wireless communication module 6 adopts the APC220 wireless communication module, to realize simple and easy search and rescue robot remote-wireless control of the present utility model.
As Fig. 2, shown in Figure 3, in the foregoing description, motion 2 comprises both sides creeper tread 9, and the front portion in each side creeper tread 9 outside is provided with a rocking arm 10, and the front end of swing arm is provided with a driven pulley 11; The rear portion of each side creeper tread 9 is provided with a drive sprocket 12, and the bottom is connected with plurality of load bearing wheel 14 respectively by some connecting rods 13.The excircle of the driven pulley 11 on the rocking arm 10 of each side, drive sprocket 12 and each BOGEY WHEEL 14 is provided with a circle crawler belt 15.Each side creeper tread 9 inboard, with the rocking arm 10 corresponding steering wheels 16 that are provided with, with the drive sprocket 12 corresponding DC servo motors 17 that are provided with, each DC servo motor 17 is passed to a damping device (not shown) respectively with power, power after will being slowed down by damping device is transferred to drive sprocket 12, drive crawler belt 15 by drive sprocket 12 and move, to realize the motion of simple and easy search and rescue robot of the present utility model.Wherein, two DC servo motors 17 are controlled its work by a signal receiving device, can realize that simple and easy search and rescue robot of the present utility model advances, retreats or turns to by two DC servo motors 17.For example,, can realize simple and easy search and rescue robot pivot stud of the present utility model, thereby reduce radius of turn, improve the flexibility of robot when 17 1 of two DC servo motors just change, when counter-rotating.
As shown in Figure 4, damping device comprises a damping spring 18, damping spring 18 is arranged on the fixing side of each connecting rod 13 and creeper tread 9, and damping spring 18 is connected with the Shock-proof bolt 19 of each connecting rod 13 rear end, and each connecting rod 13 passes through Shock-proof bolt 19 fixedly connected each BOGEY WHEEL 14.On creeper tread 9, corresponding with each Shock-proof bolt 19, also be respectively arranged with a chute 20, be convenient to each connecting rod 13 and drive each BOGEY WHEEL 14 upper and lower slip, to realize shock-absorbing function.
After two DC servo motors 17 receive the control signal of control module 1 by signal receiving device, start working, drive 15 motions of both sides crawler belt, when crawler belt 15 is run into barrier, when the anterior BOGEY WHEEL 14 of the height of barrier and simple and easy search and rescue robot of the present utility model highly about equally the time, when driving on the barrier, if the center of gravity of simple and easy search and rescue robot is positioned at the top at barrier edge, then it can recover level, can pass through; When simple and easy search and rescue robot runs into the place ahead barrier when higher, by the control signal of steering wheel 16 according to control module 1 transmission, rocking arm 10 is upwards lifted, crawler belt 15 is pressed on the barrier, simultaneously rocking arm 10 is put down, make it produce downward power, thereby simple and easy search and rescue robot is lifted, it is broken the barriers smoothly.
As shown in Figure 5, in the various embodiments described above, cradle head mechanism 3 adopts arm-type mechanism, it comprises a underarm 20, four steering wheels 21, a forearm 22 and an above-mentioned camera 23, one end of underarm 20 is fixedlyed connected with the steering wheel 21 of the parallel rotation of paper with first, and is fixedly connected on simple and easy search and rescue robot cover top portion of the present utility model by the fixture of steering wheel 21 outsides.The other end of underarm 20 is by an end of second steering wheel, 21 flexible connection forearms 22, and the direction of rotation of this steering wheel 21 is consistent with the choosing dress direction of first steering wheel 21.Forearm 22 other ends are parallel rotations with paper by one of the direction of rotation that the 3rd, the 4th steering wheel 21 connects camera 23, the three, the 4th steering wheel 21, and one is rotate vertical with paper, and then take the lead the horizontally rotating and elevating movement of camera 23.Can make camera 23 in 0～200mm scope, carry out about, the rotation and the elevating movement of level.
Wherein, the rotation angle range of first steering wheel 21 is-90 °～90 °, the rotation angle range of second steering wheel 21 is 0～90 °, and the rotation angle range that the 3rd steering wheel 21 is parallel to paper is 0～180 °, and the anglec of rotation with second steering wheel 21 is identical when lifting.
When the earthquake search-and-rescue work,, need to note in real time the position of cradle head mechanism 3 because the working environment complexity is damaged camera 23 easily.In the process of advancing, because the road conditions in the place ahead are uncertain, cradle head mechanism 3 is in the close position, by each steering wheel 21 camera 23 is in extreme lower position, lens direction forward, can effectively avoid camera to damage, and can understand the road surface situation in simple and easy search and rescue robot of the present utility model the place ahead.When needs camera 23 arrives an appointed positions, control module 1 control cradle head mechanism 3 is started working (lifting, turn to, pitching), needs earlier simple and easy search and rescue robot is stopped to move, and cradle head mechanism 3 begins to rotate again, make camera 23 move to appointed positions, reach the search and rescue purpose.
The various embodiments described above only are used to illustrate the utility model; wherein the structure of each parts, connected mode etc. all can change to some extent; every equivalents of carrying out on the basis of technical solutions of the utility model and improvement all should not got rid of outside protection domain of the present utility model.
Claims (9)
1. simple and easy search and rescue robot, it is characterized in that: it comprises that a control module, a motion, have the cradle head mechanism of camera, an information acquisition module, an image processing module, a wireless communication module, a lighting module and a power module;
Described control module is imported described motion, cradle head mechanism and information acquisition module respectively with control signal, and described motion advances, retreats and divertical motion according to control signal; Camera in the described cradle head mechanism behind described image processing module, transfers to described control module with the image information that collects, by the wireless communication module in the described control module image information is sent to accepting device; Described information acquisition module carries out information gathering according to control signal to barrier and sign of life, the information that collects is back in the described control module, control described motion by described control module according to obstacle information and carry out the obstacle detouring motion, and the sign of life information of returning is sent to accepting device; Described control module is controlled the switching of described lighting module; Described each parts are powered by described power module.
2. simple and easy search and rescue robot as claimed in claim 1 is characterized in that: described motion comprises the both sides creeper tread, and the front portion in each described creeper tread outside is provided with a rocking arm, and the front end of described swing arm is provided with a driven pulley; The rear portion of each described creeper tread is provided with a drive sprocket, and the bottom is connected with the plurality of load bearing wheel respectively by some connecting rods; The excircle of each described driven pulley, drive sprocket and each BOGEY WHEEL is provided with a circle crawler belt; Each described creeper tread inboard, the corresponding steering wheel that is provided with described rocking arm, the corresponding DC servo motor that is provided with described drive sprocket, each described DC servo motor is transferred to described drive sprocket by a damping device respectively with power, and described drive sprocket drives described caterpillar drive; Two described DC servo motors are controlled its work by a signal receiving device.
3. simple and easy search and rescue robot as claimed in claim 2, it is characterized in that: described damping device comprises that one is arranged on the damping spring of each described connecting rod and described creeper tread fixation side, described damping spring is connected with the Shock-proof bolt of each described rod rear end, and each described connecting rod is by fixedly connected each the described BOGEY WHEEL of described Shock-proof bolt; Described creeper tread is provided with some and the corresponding chute of each described Shock-proof bolt.
4. as claim 1 or 2 or 3 described simple and easy search and rescue robots, it is characterized in that: described cradle head mechanism comprises a underarm, four steering wheels, a forearm and described camera, one end of described underarm is fixedlyed connected with first described steering wheel, and this steering wheel outside is fixed on described simple and easy search and rescue robot cover top portion by fixture; The other end of described underarm flexibly connects an end of described forearm by second described steering wheel, and the described forearm other end connects described camera by the 3rd, the 4th described steering wheel.
5. as claim 1 or 2 or 3 described simple and easy search and rescue robots, it is characterized in that: described cradle head mechanism adopts arm-type mechanism.
6. simple and easy search and rescue robot as claimed in claim 4 is characterized in that: described cradle head mechanism adopts arm-type mechanism.
7. as claim 1 or 2 or 3 or 6 described simple and easy search and rescue robots, it is characterized in that: described wireless communication module adopts the APC220 wireless communication module.
8. simple and easy search and rescue robot as claimed in claim 4 is characterized in that: described wireless communication module adopts the APC220 wireless communication module.
9. simple and easy search and rescue robot as claimed in claim 5 is characterized in that: described wireless communication module adopts the APC220 wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205053197U CN201735092U (en) | 2010-08-26 | 2010-08-26 | Simple search-and-rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205053197U CN201735092U (en) | 2010-08-26 | 2010-08-26 | Simple search-and-rescue robot |
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| CN201735092U true CN201735092U (en) | 2011-02-09 |
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| CN2010205053197U Expired - Fee Related CN201735092U (en) | 2010-08-26 | 2010-08-26 | Simple search-and-rescue robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN103350422A (en) * | 2013-07-08 | 2013-10-16 | 桂林电子科技大学 | Life detecting and rescuing robot |
| CN105041371A (en) * | 2015-06-10 | 2015-11-11 | 东北大学 | All terrain intelligent moving rescue robot |
| CN106737544A (en) * | 2016-11-22 | 2017-05-31 | 电子科技大学 | Searching machine people based on various biosensors and 3D cameras |
| CN107775656A (en) * | 2017-11-27 | 2018-03-09 | 钦州学院 | A kind of controlled in wireless rescue robot |
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| WO2018112874A1 (en) * | 2016-12-23 | 2018-06-28 | Guangxi Liugong Machinery Co., Ltd. | Track wheel suspension for a construction machine |
| CN110406604A (en) * | 2019-07-12 | 2019-11-05 | 北京信息科技大学 | Crawler type traveling platform and caterpillar robot |
-
2010
- 2010-08-26 CN CN2010205053197U patent/CN201735092U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN103350422A (en) * | 2013-07-08 | 2013-10-16 | 桂林电子科技大学 | Life detecting and rescuing robot |
| CN103350422B (en) * | 2013-07-08 | 2015-08-12 | 桂林电子科技大学 | A kind of life detection and rescue robot |
| CN105041371A (en) * | 2015-06-10 | 2015-11-11 | 东北大学 | All terrain intelligent moving rescue robot |
| CN106737544A (en) * | 2016-11-22 | 2017-05-31 | 电子科技大学 | Searching machine people based on various biosensors and 3D cameras |
| WO2018112874A1 (en) * | 2016-12-23 | 2018-06-28 | Guangxi Liugong Machinery Co., Ltd. | Track wheel suspension for a construction machine |
| US10766548B2 (en) | 2016-12-23 | 2020-09-08 | Guangxi Liugong Machinery Co., Ltd. | Track wheel suspension for a construction machine |
| CN107775656A (en) * | 2017-11-27 | 2018-03-09 | 钦州学院 | A kind of controlled in wireless rescue robot |
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| CN110406604A (en) * | 2019-07-12 | 2019-11-05 | 北京信息科技大学 | Crawler type traveling platform and caterpillar robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20140826 |
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| EXPY | Termination of patent right or utility model |