CN215413858U

CN215413858U - Disaster relief detector

Info

Publication number: CN215413858U
Application number: CN202122196522.1U
Authority: CN
Inventors: 华晨辉; 蒙攀; 冉昀初; 张晓涛; 刘治强
Original assignee: Chengdu Technological University CDTU
Current assignee: Chengdu Technological University CDTU; Chengdu Univeristy of Technology
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2022-01-04
Anticipated expiration: 2031-09-10

Abstract

The utility model discloses a disaster relief detector, which comprises: a chassis; the foot comprises a plurality of feet, the plurality of feet are arranged along the edge of the chassis, each foot comprises an upper half foot and a lower half foot, one end of each upper half foot is rotatably arranged on the chassis, the other end of each upper half foot is rotatably connected to one end of each lower half foot, and the other end of each lower half foot is a free end; the main body is arranged at the upper part of the chassis; the detecting head assembly is arranged at the upper part of the main body and comprises a camera, a sound sensitive sensor and a distance sensor; a gas detector for detecting a gas concentration; the sucking disc, the quantity of sucking disc is a plurality of, sets up a sucking disc on every foot at least, and one of them sucking disc rotationally sets up in the free end of half foot down. The utility model realizes the characteristics and the effects, greatly saves the detection manpower of disaster sites, and greatly improves the efficiency and the safety of detection work.

Description

Disaster relief detector

Technical Field

The utility model relates to the technical field of disaster relief detection, in particular to a disaster relief detector.

Background

Disaster site search and rescue is a necessary cause in social rescue, and specific disaster scenes comprise earthquakes, landslides, building collapse and the like.

Disasters bring serious negative effects on the development of human society, survival safety and national economic development. In terms of earthquakes, China is one of the countries with the highest earthquake activity level and is also one of the countries with the greatest influence of earthquakes, in recent years, earthquakes frequently occur, more lives are buried under the ruins, rescue work after disasters becomes extremely important, particularly for cities with large population density, rescue time after disasters is no more precious, and timely and accurate rescue can save more lives.

The disaster site is often a piece of ruins, and people, property and objects submerged under the ruins need to be detected in search and rescue.

In many disaster sites, due to various complex and dangerous situations, manpower cannot be directly involved in many times, or the manpower is limited, and the situation expected to be searched and rescued cannot be effectively detected. Therefore, if a powerful detector can be invented, the effectiveness and efficiency of search and rescue work can be greatly improved, which is very beneficial.

Adverse situations in disaster scenes often include objects that are easy to collapse and move, such as unstable wall breaks, soil, stones, trees, and the like; also comprises harmful gases such as high-concentration carbon dioxide and carbon monoxide; also comprises low-concentration oxygen; difficult to stand for every nook and gap, and inconvenient to look over.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problems that the disaster site environment is complex and inconvenient for search and rescue, and provides a disaster relief detector to solve the problem that the disaster site is inconvenient for search and rescue.

The utility model is realized by the following technical scheme:

a disaster relief detector comprising:

a chassis;

the number of the feet is multiple, the feet are arranged along the edge of the chassis, each foot comprises an upper half foot and a lower half foot, one end of each upper half foot is rotatably arranged on the chassis, the other end of each upper half foot is rotatably connected to one end of each lower half foot, and the other end of each lower half foot is a free end;

a main body disposed at an upper portion of the chassis;

the detecting head assembly is arranged at the upper part of the main body and comprises a camera, a sound sensitive sensor and a distance sensor;

a gas detector for detecting a gas concentration;

the quantity of sucking disc is a plurality of, every it sets up one at least to be sufficient the sucking disc, and one of them the sucking disc rotationally set up in the free end of half foot down.

In some embodiments, the lower midfoot comprises first and second lower midfoot hinged to each other with a free end of the lower midfoot at the second lower midfoot.

In some embodiments, the lower half-foot is slot-shaped, and the upper half-foot and the lower half-foot are rotated in opposite directions to receive the upper half-foot in a slot formed in the lower half-foot.

In some embodiments, the probing tip assembly includes a transparent housing, the camera, acoustic sensor, and distance sensor being disposed within the housing.

In some embodiments, the probing tip assembly further comprises a support for structural support, the camera being rotatably disposed on a top portion of the support, and the acoustic sensor and the distance sensor being rotatably disposed on a side portion of the support.

In some embodiments, the gas detector includes a carbon dioxide concentration detector and an oxygen concentration detector, and is spaced apart from and disposed adjacent the foot.

In some embodiments, the sucker comprises a fixing part and a disk body, wherein a cavity is arranged in the fixing part, a nozzle is arranged on the fixing part, and the disk body is telescopically arranged in the nozzle to realize the adsorption action.

In some embodiments, the suction cup further comprises a worm gear mechanism, and the worm gear mechanism drives the suction cup to stretch and contract to realize suction action.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

the utility model provides a technical scheme of a detector for disaster search and rescue, which is characterized in that a plurality of feet are arranged on the edge of a chassis in a surrounding manner and are arranged into a segmented structure in hinged connection, so that the whole device can finish walking action even facing a complex terrain during search and rescue, and meanwhile, the feet can realize the contraction of the whole structure through the rotation generated by a hinged structure, thereby further reducing the volume of the device to adapt to a narrow detection space; the distance sensor, the sound sensitive sensor, the camera and the gas detector are arranged at the reasonable position of the detector to help detection, so that the target can be found in a disaster environment in time, and the danger degree of a scene can be judged in a help manner. The utility model realizes the characteristics and the effects, greatly saves the detection manpower of disaster sites, and greatly improves the efficiency and the safety of detection work.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the principles of the utility model. In the drawings:

fig. 1 is a schematic structural diagram according to an embodiment of the present invention.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1.

Fig. 3 is a schematic view of another angle structure according to an embodiment of the present invention.

Figure 4 is a schematic view of a probing tip assembly according to one embodiment of the present invention.

FIG. 5 is a schematic view of a chuck structure according to an embodiment of the present invention.

Fig. 6 is a schematic view of a matching structure of the suction cups according to an embodiment of the present invention.

Fig. 7 is a schematic view of the connection structure of the upper and lower half-feet according to an embodiment of the present invention.

Fig. 8 is a schematic view of the connection structure of the upper and lower half-feet according to an embodiment of the present invention.

FIG. 9 is a diagram illustrating a convergence status structure according to an embodiment of the utility model.

Reference numbers and corresponding part names in the drawings:

100-a chassis;

200-foot, 210-upper half foot, 220-lower half foot, 221-first lower half foot, 222-second lower half foot;

300-main body, 310-lower cylinder, 320-upper sleeve body;

400-probe head assembly, 410-camera head, 420-acoustic sensor, 430-distance sensor, 440-housing, 441-ramp, 450-bracket;

500-suction cup, 510-fixing piece, 511-nozzle, 520-disc body, 530-worm gear mechanism;

600-hinge pin;

700-gap.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

Referring to fig. 1 to 9, a disaster relief detector includes a chassis 100, where the chassis 100 plays a supporting role, and in practical implementation, the chassis 100 may be a circle or a polygon. The chassis 100 may be provided in a cavity structure to reduce its own weight. The material of the chassis 100 may be aluminum alloy, plastic, etc.

A foot 200 is also included. The feet 200 are used to support the entire disaster relief detector in an ambulatory position. As shown in FIG. 1, in this embodiment, the structure was mapped to the T2 phage. The number of feet 200 is plural and, in particular embodiments, may be six, eight, eleven, twelve, etc. As shown in FIG. 1, the number of the legs 200 is six, which is similar to the model of the T2 phage.

A plurality of feet 200 are disposed along the edges of the chassis 100 and may be evenly spaced to provide support for the balance and stability of the chassis 100.

As shown in fig. 1-3, when six feet 200 are provided, the chassis 100 is provided in a regular hexagon, and one foot 200 is provided at the middle of each side.

In order to allow the foot 200 to have a joint function during a specific use, the foot 200 is divided into an upper half 210 and a lower half 220, and the upper half 210 and the lower half 220 are connected by a rotatable structure.

As shown in fig. 3, 7 and 8, the upper half-foot 210 and the lower half-foot 220 are rotatably coupled by a hinge structure, and when used as a foot, perform a walking motion by driving the upper half-foot 210 and the lower half-foot 220 to open and close.

As shown in fig. 7-8, the connection between the upper half-foot 210 and the lower half-foot 220 is rotatable by a hinge pin 600, a gap 700 is maintained between the upper half-foot 210 and the lower half-foot 220, and the width of the gap 700 is in the range of 1.2cm-5 cm. The hinge pin 600 has an outer diameter smaller than the hinge hole provided to the upper half-foot 210 or the lower half-foot 220, respectively. In the working process of the detector based on the scheme, a complex road surface needs to be walked, the gap 700 is arranged, and the outer diameter of the hinge pin 600 is smaller than the hinge hole correspondingly arranged on the upper half-foot 210 or the lower half-foot 220 (namely, a distance is formed between the hinge pin 600 and the upper half-foot 210 or the lower half-foot 220), so that the connection between the upper half-foot 210 and the lower half-foot 220 is more flexible, and further, when the whole detector walks on uneven surfaces such as rubbles, the scene adaptability of the foot 200 is stronger. Meanwhile, due to the existence of the gap 700 and the formation of the space between the hinge pin 600 and the upper half-foot 210 or the lower half-foot 220, the structure has the effect of 'force unloading', is in relatively tight rigid contact, has stronger impact resistance, and ensures that the detector has better stability when walking in a disaster site.

In the specific implementation process, the upper half-foot 210 and the lower half-foot 220 are arranged in a relative rotation manner through gear transmission, so that the relative motion between the upper half-foot 210 and the lower half-foot 220 is more flexible, and the gears output the rotating speed through the motor so as to realize transmission.

One end of upper foot half 210 is connected to chassis 100 via a universal structure to more flexibly control the motion of foot 200.

The rotation of the upper half-foot 210 can be driven by a plurality of micro-cylinders, and the control of the rotation direction of the upper half-foot 210 based on the gimbal structure to which it is connected is achieved by controlling the arrangement of the micro-cylinders.

Meanwhile, when the foot 200 is being closed, the gears are driven by the motor, and the upper half-foot 210 and the lower half-foot 220 are moved toward each other until the upper half-foot 210 and the lower half-foot 220 are closed together.

In some embodiments, as shown in fig. 9, the lower foot half 220 is slot-shaped, and the upper foot half 210 and the lower foot half 220 converge by rotating in opposite directions to receive the upper foot half 210 in the slot formed by the lower foot half 220.

In some embodiments, as shown in fig. 9, lower forefoot 220 includes a first lower forefoot 221 and a second lower forefoot 222 that are hinged to each other, and the free end of lower forefoot 220 is located at second lower forefoot 222. As the foot 200 converges, the first lower half-foot 221 and the second lower half-foot 222 rotate further relative to each other to fold together.

In practice, foot 200 is entirely collapsible to occupy a smaller receiving space by the hinged connection of upper half-foot 210, first lower half-foot 221 and second lower half-foot 222, as shown in FIG. 9.

The device further comprises a plurality of suction cups 500, as shown in fig. 5-6, at least one suction cup 500 is arranged on each foot 200, and one suction cup 500 is rotatably arranged at the free end of the lower half-foot 220.

As shown in FIGS. 1-3, in one particular embodiment, a suction cup 500 is provided for each foot 200.

The suction cup 500 is disposed at the free end of the lower foot half 220 by a rotatable connection. The suction cup 500 is rotatably disposed so as to be suitable for surfaces of various angles in a specific use, or in a case of a small space, to be suitably adsorbed to a surface in the space by rotating the suction cup 500.

In some embodiments, as shown in fig. 5 to 6, the suction cup 500 includes a fixing member 510 and a tray body 520, a cavity is disposed in the fixing member 510, a nozzle 511 is disposed on the fixing member 510, the tray body 520 is located on an adhesive member, and the tray body 520 is telescopically disposed on the nozzle 511 to implement a suction action.

In particular implementations, the fixture 510 itself may act as the ball portion of the universal swivel structure to save parts. Meanwhile, the tray body 520 can be helped to rotate relative to the lower half-foot 220 at any angle when being adsorbed and fixed, so that the foot 200 can realize higher ground holding capacity; especially, in the moving process of the whole detector, if the whole detector shakes, the adsorbed disc body 520 is stabilized, and the whole detector is stably supported in a standing mode.

The tray 520 is a member directly generating a suction effect by an air pressure. The tray 520 may be constructed of conventional plastic rubber in practice.

As shown in fig. 5-6, the nozzle 511 forms an inner tubular cavity in the form of a bar to structurally support the telescopic action of the tray 520. The nozzle 511 may be integrally formed with the fixing member 510 in an embodiment to form a more firm structure as a whole.

In some embodiments, as shown in fig. 6, the suction cup 500 further comprises a worm gear mechanism 530, and the worm gear mechanism 530 drives the disc 520 to extend and retract to achieve the suction action. The worm gear mechanism 530 is used as a transmission mechanism, so that the motor can control the disc 520 to complete the adsorption action. In the working process, the motor outputs the rotating speed to the worm wheel of the worm wheel and worm mechanism 530 to rotate, the rotation is output as linear movement through the worm, and the linear movement is output to the disc body 520 to complete the adsorption action. In specific implementation, the motor may be a stepping motor to control the action range of the adsorption action of the tray 520.

Further includes a main body 300, and the main body 300 is disposed at an upper portion of the chassis 100.

In some embodiments, as shown in fig. 3, the body 300 includes a lower cylinder 310 and an upper jacket 320. The outer wall of the lower cylinder 310 is provided with an axial sliding groove, and in a matching manner, the upper sleeve 320 is provided with a sliding tooth, which is slidably disposed in the sliding groove, so as to help the upper sleeve 320 and the lower cylinder 310 to realize relative sliding in the axial direction.

A probing tip assembly 400 is also included. The probing tip assembly 400 is disposed on the upper portion of the main body 300 so as to be shielded from its own components for probing. When the main body 300 includes the lower barrel 310 and the upper housing 320, the probing tip assembly 400 is disposed on the upper housing 320. The probing tip assembly 400 includes a camera 410, an acoustic sensor 420, and a distance sensor 430.

In particular implementations, camera 410 is used to directly capture image data. The acoustic sensor 420 is configured to acquire an acoustic signal, and transmit the acoustic signal to an external receiving device through a communication circuit, so as to determine a person condition and an object condition in a scene of the detector according to the acquired acoustic signal. The distance sensor 430 is used to detect the distance of the object.

In particular applications, the distance sensor 430 and the acoustic sensor 420 may be used in conjunction to more accurately determine the location where the signal is generated and the distance from the location where the signal is generated.

In some embodiments, the probing tip assembly 400 includes a transparent housing 440. The cover 440 may be made of high strength transparent plastic or tempered glass, such as modified acrylic perspex, to ensure rigidity and transparency. Meanwhile, the camera 410, the acoustic sensor 420, and the distance sensor 430 are disposed in the cover 440 to protect the camera 410, the acoustic sensor 420, and the distance sensor 430 through the cover 440. The interior of the housing 440 is kept open to the exterior to equalize atmospheric pressure and thereby ensure proper operation of the internal instruments.

In some embodiments, as shown in fig. 1, the top center of the casing 440 is pointed and the periphery of the pointed end forms a ramped surface 441. The sloped surface 441 can reduce the impact force on the head when an accidental object falls into the housing 440.

In some embodiments, the probing tip assembly 400 further comprises a support 450 for structural support, the top of the support 450 being rotatably disposed with the camera 410, and the side of the support 450 being rotatably disposed with the acoustic sensor 420 and the distance sensor 430.

In the specific implementation process, the camera 410 is fixedly arranged on the fixing plate, the fixing plate is arranged at the output end of a reduction gear mechanism, and the input end of the reduction gear mechanism outputs the rotating speed through the motor, so that the camera 410 rotates through the motor outputting the rotating speed. Similarly, the arrangement of the acoustic sensor 420 and the distance sensor 430 can also be output through the motor and the reduction gear mechanism, so as to realize rotation.

In one embodiment, the camera 410, the acoustic sensor 420, and the distance sensor 430 employ the same set of reduction gear mechanisms and the same motor. The camera 410, the acoustic sensor 420 and the distance sensor 430 are simultaneously controlled by arranging a synchronous driven gear at the output end of the reduction gear mechanism, so that the camera 410, the acoustic sensor 420 and the distance sensor 430 rotate by the same amplitude or rotate to the same angle through the same motor, and directional detection is realized.

Also included is a gas detector for detecting a concentration of the gas.

In particular implementations, the gas detector may include an oxygen detector, a carbon dioxide detector, a methane detector, a carbon monoxide detector, a gas detector, a hydrogen sulfide detector, and the like.

In some embodiments, the gas detector includes only an oxygen detector and a carbon dioxide detector, and is disposed on the adjacent foot 200 at an interval, so as to analyze whether the scene is a harmful gas environment in an anoxic state and a high carbon dioxide concentration by detecting the concentrations of oxygen and carbon dioxide in the scene and transmitting the detected concentrations to the outside through a communication network.

In a specific implementation process, when the lower half-leg 220 is groove-shaped, the gas detector is arranged in the groove of the lower half-leg 220, so that the gas detector is well protected. Meanwhile, the groove-shaped structure is convenient for collecting gas, and a gas detector is convenient for detecting.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A disaster relief detector, comprising:

a chassis (100);

the number of the feet (200) is multiple, the multiple feet (200) are arranged along the edge of the chassis (100), each foot (200) comprises an upper half foot (210) and a lower half foot (220), one end of each upper half foot (210) is rotatably arranged on the chassis (100), the other end of each upper half foot (210) is rotatably connected to one end of each lower half foot (220), and the other end of each lower half foot (220) is a free end;

a main body (300), the main body (300) being disposed at an upper portion of the chassis (100);

a probe head assembly (400), the probe head assembly (400) being disposed at an upper portion of the main body (300), the probe head assembly (400) including a camera (410), an acoustic sensor (420), and a distance sensor (430);

a gas detector for detecting a gas concentration;

the number of the sucking discs (500) is multiple, at least one sucking disc (500) is arranged on each foot (200), and one sucking disc (500) is rotatably arranged at the free end of the lower half-foot (220).

2. The disaster relief detector of claim 1, wherein:

the lower half-foot (220) comprises a first lower half-foot (221) and a second lower half-foot (222) which are hinged to each other, and the free end of the lower half-foot (220) is located at the second lower half-foot (222).

3. The disaster relief detector of claim 1, wherein:

the lower half foot (220) is groove-shaped, and the upper half foot (210) and the lower half foot (220) rotate oppositely to accommodate the upper half foot (210) in a groove formed by the lower half foot (220).

4. The disaster relief detector of claim 1, wherein:

the probe head assembly (400) comprises a transparent casing (440), and the camera head (410), the acoustic sensor (420) and the distance sensor (430) are arranged in the casing (440).

5. The disaster relief detector of claim 4, wherein:

the detecting head assembly (400) also comprises a bracket (450) for structural support, the camera (410) is rotatably arranged at the top of the bracket (450), and the acoustic sensor (420) and the distance sensor (430) are rotatably arranged at the side of the bracket (450).

6. The disaster relief detector of claim 1, wherein:

the gas detector comprises a carbon dioxide concentration detector and an oxygen concentration detector, and is arranged on the adjacent feet (200) at intervals.

7. The disaster relief detector of claim 1, wherein:

the sucking disc (500) includes mounting (510) and disk body (520), be provided with the cavity in mounting (510), just be provided with nozzle (511) on mounting (510), disk body (520) telescopically set up in nozzle (511) to realize the absorption action.

8. The disaster relief detector of claim 7, wherein:

the sucker (500) further comprises a worm and gear mechanism (530), and the worm and gear mechanism (530) drives the sucker (500) to stretch and retract so as to realize the adsorption action.