CN207575604U - The humanoid fire-fighting robot of body-sensing remote control - Google Patents
The humanoid fire-fighting robot of body-sensing remote control Download PDFInfo
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- CN207575604U CN207575604U CN201721670784.4U CN201721670784U CN207575604U CN 207575604 U CN207575604 U CN 207575604U CN 201721670784 U CN201721670784 U CN 201721670784U CN 207575604 U CN207575604 U CN 207575604U
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Abstract
The humanoid fire-fighting robot of body-sensing remote control, is related to robot field, especially a kind of easy to use, and control is sensitive, and the mankind can be replaced to carry out the humanoid fire-fighting robot of body-sensing remote control of fire fighting and rescue.The utility model includes robot body and motion sensing control equipment, and motion sensing control equipment is worn on controllers, and robot body is connect by wireless signal with motion sensing control equipment.The humanoid fire-fighting robot of body-sensing remote control of the utility model, use long-range motion sensing control, operator need to only be controlled by peacetime training as oneself enters the scene of a fire, it can be used as an omnipotent equipment platform that all kinds of inventories is used to equip so that robot can be used for fire fighting and rescue links.
Description
Technical field
The utility model is related to robot fields, especially a kind of easy to use, and control is sensitive, the mankind can be replaced to carry out
The humanoid fire-fighting robot of body-sensing remote control of fire fighting and rescue.
Background technology
In recent years, with the fast development of social economy, the particularity of building and enterprise's production, cause hazardous chemical,
The disposition difficulty such as radioactive substance leakage, tunnel fire hazard, mine disaster is very big, and dangerous high accident happens occasionally.According to《China
Fire-fighting yearbook 2014》Statistics obtains, since 2000, fire 1,690,000 occurs for the whole nation, and that is sacrificed on one line of emergency management and rescue disappears
Anti- member is up to more than 200 names, more than 700 name fireman's disabilities.In face of large scale disasters, especially have subsequent explosion, cave in etc. it is potential
Dangerous occasion, depends merely on mankind's flesh and blood fighting and rescue operations, strength is very weak, it is also possible to be caused in rescue operations secondary
Injures and deaths, " scene of a fire substitution " demand are growing day by day.Each fire brigade has been equipped with fire-fighting robot to one line of emergency management and rescue successively, but
The number that fire-fighting robot really participates in fire fighting and rescue is seldom, and application in actual combat degree reaches far away desired value, existing fire tower
Device people is primarily present the problems such as performance is single, price is very high, and all kinds of Disaster Relief Robot functions are still not perfect, and majority is a crawler belt
Chassis adds the creeper truck of the compositions such as camera, induced-draft fan, water cannon, can be only done a certain link during entire fire control and disaster rescue,
Bulky, there are certain difficulties for transport.
To solve this problem, fire-fighting robot is made to facilitate input under battle conditions, boston, U.S.A utility companies and naval's research
Room has investigated the intelligent anthropomorphic robot Atlas and SAFFiR that can be used for each link of fire-fighting, this two robot can be real
Now walk upright, throwing over barrier, cat ladder, the functions such as equipment complicated for operation, the mankind can be replaced to use substantially.
More than robot all be using program control and sensor feedback intelligent robot, price and for costliness, programming
Higher professional knowledge is needed with debugging, it is difficult to large-scale promotion application.
Invention content
To be solved in the utility model is exactly that existing fire-fighting robot function is single, and application effect is poor, intelligent humanoid
The artificial valency of device is expensive, and detail programming is difficult, it is difficult to the problem of large-scale application, provide a kind of easy to use, control sensitive, Neng Goudai
The humanoid fire-fighting robot of body-sensing remote control of fire fighting and rescue is carried out for the mankind.
The humanoid fire-fighting robot of body-sensing remote control of the utility model, it is characterised in that the fire-fighting robot includes machine
Human body and motion sensing control equipment, motion sensing control equipment are worn on controllers, robot body by wireless signal with
Motion sensing control equipment connects, wherein：
Robot body includes robot trunk, robot arm, robot head and robot controller four
Part forms, and robot head is mounted at the top of robot trunk, and robot arm is two, is separately mounted to robot trunk
Two upper lateral parts, robot trunk bottom are equipped with crawler body, and robot controller is mounted in robot trunk, robot control
Device processed is connect by wireless signal with motion sensing control equipment；
Robot arm includes turning joint, large arm, forearm and palm, large arm and robot trunk, forearm and large arm,
It is connected between palm and forearm by turning joint, large arm makes with forearm of U-shaped steel plate；
Turning joint is connected with steering wheel by steering engine and formed, the steering engine of the turning joint connected between robot trunk and large arm
It is fixed in robot trunk, steering wheel is mounted at the top of large arm；The steering engine of the turning joint connected between large arm and forearm is fixed
In large arm lower part, steering wheel is mounted at the top of forearm；The steering engine for the turning joint that forearm is connect with palm is fixed on forearm lower part, rudder
Disk is mounted at the top of palm, and each steering engine is connect with robot controller；
Wireless camera Image transmission equipment and two groups of turning joints, first group of turning joint control are provided on robot head
Wireless camera Image transmission equipment processed turns left and right, and the steering engine of the turning joint is fixed on robot head, and steering wheel is fixed on machine
On people's trunk, steering wheel is connect with steering engine；Second group of turning joint control wireless camera Image transmission equipment rotates up and down, the activity
The steering engine in joint is connected laterally on wireless camera Image transmission equipment, and steering wheel passes through tripod and the steering engine of first group of turning joint
Connection；Wireless camera Image transmission equipment and the steering engine of two groups of turning joints are connect with robot controller；
Motion sensing control equipment includes VR video glasses, control gloves, Posture acquisition ectoskeleton and motion sensing control device, VR
Gyroscope is mounted on inside video glass and control gloves, VR video glasses are arranged on above Posture acquisition ectoskeleton, are worn
On controllers head；Posture acquisition ectoskeleton is through controllers above the waist, including shoulder and arm, Posture acquisition ectoskeleton
Joint part setting position sensor；VR video glasses, gyroscope and position sensor are connect with motion sensing control device；
Robot controller is connect by wireless signal with motion sensing control device.
Setting is there are two turning joint between the large arm and forearm of the robot arm section, two turning joint it
Between connected by U-shaped button, the steering engine of first turning joint is fixed on large arm lower part, steering wheel be mounted on it is U-shaped buckle, second work
Diarthrodial steering engine is fixed in U-shaped button, and steering wheel is mounted at the top of forearm, and the rotation of forearm is realized in first turning joint, the
Lifting and putting down for forearm is realized in two turning joints.
When in use, controllers wear VR video glasses first, and Posture acquisition ectoskeleton is put on, then starts body
Motion sensing control device is carried out pairing with robot controller and connect, later by controlling the position sensing on bone by sense controller
Device by the rotation of controllers arm, the various activities angle such as lift, be transferred to motion sensing control device, by motion sensing control device according to
Each angle parameter controls the steering engine of multiple turning joints to be rotated, and being synchronized with the movement for robot arm is realized with this, in machine
When people is worked, image information is passed to motion sensing control device by wireless camera Image transmission equipment by robot controller, then
VR video glasses are transferred to by motion sensing control device, supply the working condition of the real-time observer robot of controllers；As control people
During member's rotary head, VR video glasses follow rotation, and rotational angle is sent to robot controller by gyroscope thereon, controls machine
The servo driving wireless camera Image transmission equipment of head part follows rotation.
The humanoid fire-fighting robot of body-sensing remote control of the utility model, has the following advantages：
1）It is easy to operate：
Robot uses long-range motion sensing control, and operator need to only be controlled by peacetime training as oneself enters the scene of a fire
Robot input fire fighting and rescue using existing programming of fighting is fought, operator can be made to reach reduction far from danger by system
Injures and deaths purpose；
2）Versatility is high：
Due to being humanoid external form, robot can be used as an omnipotent equipment platform that all kinds of inventories be used to equip so that
Robot can be used for fire fighting and rescue links, traditional fire-fighting robot is overcome to be only used for discharging fume, investigates, be discharged etc. and is single
The deficiency of link；
3）Expert's remote control is realized and is disposed at the first time：
As medical operation robot, the expert in earth one end can operate the Medical Robot of the earth other end
It performs an operation for patient.Motion sensing control robot can equally realize similar master-servant's formula remote-controlled operation pattern, in each harmful influence
Unit and key unit are equipped with a certain amount of body-sensing robot, and when an accident occurs, the fire fighting and rescue expert far away from alien land can first
Time, the body-sensing robot of wearing ectoskeleton controller access control accident unit carried out disaster disposition, removed the scene arrived by air, by plane from
Instruct the time of work.Equally, professional fire drill has not been received, without the accident unit technical staff of emergency danger-avoiding ability,
Remote controlled body-sensing robot enters the scene of the accident and assists disposition, and technical staff can be made from life danger；
4）Modularization, which changes the outfit, realizes different application：
Body-sensing robot can further upgrade to modularization robot with reference to other types fire-fighting robot module, for not
Disparate modules are installed additional with disaster occasion, such as load onto infrared photography head module or the detectable fire location of flame sensor；It loads onto
Pernicious gas detection sensor carries out gas detection；In into building ultrasonic distance-measuring sensor detection can be installed additional during inside fire attack in forepart
Ground pit-hole visits step function after void in fact before realizing fireman；In the replaceable swing arm crawler body in the more occasion chassis of barrier
Or obstacle climbing ability is improved on quadruped robot chassis；If can directly remove chassis for deep well rescue, robot is drawn using rope
Robot is put into deep-well by waist, and rescue personnel stamps knot using robot with trapped person, hauls out deep-well.
Description of the drawings
Fig. 1 is the utility model robot architecture's schematic diagram.
Fig. 2 is the utility model robot arm structure diagram.
Fig. 3 is the utility model motion sensing control device structure schematic diagram.
Wherein, robot trunk 1, robot arm 2, large arm 3, forearm 4, palm 5, steering engine 6, steering wheel 7, wireless camera
Image transmission equipment 8, motion sensing control device 9, position sensor 10, U-shaped button 11.
Specific embodiment
Embodiment 1：A kind of humanoid fire-fighting robot of body-sensing remote control, including robot body and motion sensing control equipment,
Motion sensing control equipment is worn on controllers, and robot body is connect by wireless signal with motion sensing control equipment, wherein：
Robot body includes robot trunk 1, robot arm 2, robot head and robot controller four
A part composition, robot head are mounted on 1 top of robot trunk, and robot arm 2 is two, is separately mounted to robot
1 liang of upper lateral part of trunk, 1 bottom of robot trunk are equipped with crawler body, and robot controller is mounted in robot trunk 1,
Robot controller is connect by wireless signal with motion sensing control equipment；
Robot arm 2 includes turning joint, large arm 3, forearm 4 and palm 5, large arm 3 and robot trunk 1, forearm 4
It is connect between large arm 3, palm 5 and forearm 4 by turning joint, large arm 3 makes with forearm 4 of U-shaped steel plate；
Turning joint is made of steering engine 6 and the connection of steering wheel 7, the turning joint connected between robot trunk 1 and large arm 3
Steering engine 6 is fixed in robot trunk 1, and steering wheel 7 is mounted on 3 top of large arm；The turning joint connected between large arm 3 and forearm 4
Steering engine 6 be fixed on 3 lower part of large arm, steering wheel 7 is mounted on 4 top of forearm；The steering engine 6 for the turning joint that forearm 4 is connect with palm 5
4 lower part of forearm is fixed on, steering wheel 7 is mounted on 5 top of palm, and each steering engine 6 is connect with robot controller；
Wireless camera Image transmission equipment 8 and two groups of turning joints, first group of turning joint are provided on robot head
Control wireless camera Image transmission equipment 8 turns left and right, and the steering engine 6 of the turning joint is fixed on robot head, and steering wheel 7 is fixed
In robot trunk 1, steering wheel 7 is connect with steering engine 6；Second group of turning joint control wireless camera Image transmission equipment 8 turns above and below
Dynamic, the steering engine 6 of the turning joint is connected laterally on camera, and 6 steering wheel 7 of steering engine passes through tripod and first group of turning joint
Steering engine 6 connects；Wireless camera Image transmission equipment 8 and the steering engine of two groups of turning joint 6 are connect with robot controller；
Motion sensing control equipment includes VR video glasses, control gloves, Posture acquisition ectoskeleton and motion sensing control device 9,
Gyroscope is mounted on inside VR video glasses and control gloves, VR video glasses are arranged on above Posture acquisition ectoskeleton, are worn
It is worn over controllers head；Posture acquisition ectoskeleton is through controllers above the waist, including shoulder and arm, Posture acquisition dermoskeleton
The joint part setting position sensor 10 of bone；VR video glasses, gyroscope and position sensor 10 are and motion sensing control
Device 9 connects；
Robot controller is connect by wireless signal with motion sensing control device 9.
Turning joint there are two settings between the large arm 3 of 2 part of robot arm and forearm 4, between two turning joints
By U-shaped 11 connection of button, the steering engine 6 of first turning joint is fixed on 3 lower part of large arm, and steering wheel 7 is mounted on U-shaped button 11, the
The steering engine 6 of two turning joint is fixed in U-shaped button 11, and steering wheel 7 is mounted on 4 top of forearm, and first turning joint is realized small
Lifting and putting down for forearm 4 is realized in the rotation of arm 4, second turning joint.
When in use, controllers wear VR video glasses first, and Posture acquisition ectoskeleton is put on, then starts body
Motion sensing control device 9 is carried out pairing with robot controller and connect, later by the way that the position on bone is controlled to pass by sense controller 9
Sensor 10 by the rotation of controllers arm, the various activities angle such as lift, be transferred to motion sensing control device 9, pass through motion sensing control
Device 9 controls the steering engine 6 of multiple turning joints to be rotated, realizes that the synchronous of robot arm 2 is transported with this according to each angle parameter
Dynamic, when robot is worked, image information is passed to body-sensing by wireless camera Image transmission equipment 8 by robot controller
Controller 9, then VR video glasses are transferred to by motion sensing control device 9, supply the work feelings of the real-time observer robot of controllers
Condition；When controllers rotary head, VR video glasses follow rotation, and rotational angle is sent to robot control by gyroscope thereon
Device controls the steering engine 6 of robot head that wireless camera Image transmission equipment 8 is driven to follow rotation.
Claims (2)
1. a kind of humanoid fire-fighting robot of body-sensing remote control, it is characterised in that the fire-fighting robot includes robot body and body
Sensing control control equipment, motion sensing control equipment are worn on controllers, and robot body is set by wireless signal and motion sensing control
Standby connection, wherein：
Robot body includes robot trunk（1）, robot arm（2）, robot head and robot controller four
A part composition, robot head are mounted on robot trunk（1）Top, robot arm（2）It is two, is separately mounted to machine
Device people's trunk（1）Two upper lateral parts, robot trunk（1）Bottom is equipped with crawler body, and robot controller is mounted on robot
Trunk（1）Interior, robot controller is connect by wireless signal with motion sensing control equipment；
Robot arm（2）Including turning joint, large arm（3）, forearm（4）And palm（5）, large arm（3）With robot trunk
（1）, forearm（4）With large arm（3）, palm（5）With forearm（4）Between connected by turning joint, large arm（3）With forearm（4）
Made of U-shaped steel plate；
Turning joint is by steering engine（6）And steering wheel（7）Connection composition, robot trunk（1）With large arm（3）Between connect activity close
The steering engine of section（6）It is fixed on robot trunk（1）On, steering wheel（7）Mounted on large arm（3）Top；Large arm（3）With forearm（4）It
Between the steering engine of turning joint that connects（6）It is fixed on large arm（3）Lower part, steering wheel（7）Mounted on forearm（4）Top；Forearm（4）With
Palm（5）The steering engine of the turning joint of connection（6）It is fixed on forearm（4）Lower part, steering wheel（7）Mounted on palm（5）Top, each
Steering engine（6）It is connect with robot controller；
Wireless camera Image transmission equipment is provided on robot head（8）And two groups of turning joints, first group of turning joint control
Wireless camera Image transmission equipment processed（8）It turns left and right, the steering engine of the turning joint（6）It is fixed on robot head, steering wheel（7）
It is fixed on robot trunk（1）On, steering wheel（7）With steering engine（6）Connection；Second group of turning joint control wireless camera figure biography is set
It is standby（8）It rotates up and down；Wireless camera Image transmission equipment（8）And the steering engine of two groups of turning joint（6）And robot controller
Connection；
Motion sensing control equipment includes VR video glasses, control gloves, Posture acquisition ectoskeleton and motion sensing control device（9）, VR
Gyroscope is mounted on inside video glass and control gloves, VR video glasses are arranged on above Posture acquisition ectoskeleton, are worn
On controllers head；Posture acquisition ectoskeleton is through controllers above the waist, including shoulder and arm, Posture acquisition ectoskeleton
Joint part setting position sensor（10）；VR video glasses, gyroscope and position sensor（10）With body-sensing control
Device processed（9）Connection；
Robot controller passes through wireless signal and motion sensing control device（9）Connection.
2. the humanoid fire-fighting robot of body-sensing remote control as described in claim 1, it is characterised in that the robot arm
（2）Partial large arm（3）With forearm（4）Between setting there are two turning joint, pass through U-shaped button between two turning joints（11）
Connection, the steering engine of first turning joint（6）It is fixed on large arm（3）Lower part, steering wheel（7）Mounted on U-shaped button（11）On, second
The steering engine of turning joint（6）It is fixed on U-shaped button（11）It is interior, steering wheel（7）Mounted on forearm（4）Top, first turning joint reality
Existing forearm（4）Rotation, second turning joint realizes forearm（4）Lift and put down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721670784.4U CN207575604U (en) | 2017-12-05 | 2017-12-05 | The humanoid fire-fighting robot of body-sensing remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721670784.4U CN207575604U (en) | 2017-12-05 | 2017-12-05 | The humanoid fire-fighting robot of body-sensing remote control |
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| Publication Number | Publication Date |
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| CN207575604U true CN207575604U (en) | 2018-07-06 |
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| CN201721670784.4U Expired - Fee Related CN207575604U (en) | 2017-12-05 | 2017-12-05 | The humanoid fire-fighting robot of body-sensing remote control |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143928A (en) * | 2018-08-21 | 2019-01-04 | 北华大学 | The wearable control system of robot and control method |
| CN109260633A (en) * | 2018-11-18 | 2019-01-25 | 祝润山 | A kind of fire-fighting equipment control device and fire-fighting robot |
| CN110076796A (en) * | 2019-04-30 | 2019-08-02 | 航天时代电子技术股份有限公司 | A kind of variable topology multi-joint collaboration passive robot |
| WO2020135519A1 (en) * | 2018-12-29 | 2020-07-02 | 同方威视技术股份有限公司 | Mobile detection device |
| CN115649316A (en) * | 2022-09-09 | 2023-01-31 | 西北工业大学 | Humanoid robot |
| US11767099B1 (en) * | 2023-01-02 | 2023-09-26 | Bytelogics Inc. | Separable control of an aircraft |
-
2017
- 2017-12-05 CN CN201721670784.4U patent/CN207575604U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143928A (en) * | 2018-08-21 | 2019-01-04 | 北华大学 | The wearable control system of robot and control method |
| CN109260633A (en) * | 2018-11-18 | 2019-01-25 | 祝润山 | A kind of fire-fighting equipment control device and fire-fighting robot |
| CN109260633B (en) * | 2018-11-18 | 2019-08-02 | 扬州五环龙电动车有限公司 | A kind of fire-fighting equipment control device and fire-fighting robot |
| WO2020135519A1 (en) * | 2018-12-29 | 2020-07-02 | 同方威视技术股份有限公司 | Mobile detection device |
| CN110076796A (en) * | 2019-04-30 | 2019-08-02 | 航天时代电子技术股份有限公司 | A kind of variable topology multi-joint collaboration passive robot |
| CN115649316A (en) * | 2022-09-09 | 2023-01-31 | 西北工业大学 | Humanoid robot |
| US11767099B1 (en) * | 2023-01-02 | 2023-09-26 | Bytelogics Inc. | Separable control of an aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190909 Address after: 201620 Lane 3, 1800, Xinsongjiang Road, Songjiang District, Shanghai Patentee after: Shanghai Gaeta Intelligent Technology Co.,Ltd. Address before: 650000 No. 2, unit 1, Jingxing street, No. 10, Jingxing street, Kunming, Yunnan 602 Patentee before: Lan Kai |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20211205 |