Showing papers on "Rescue robot published in 2016"

Multirobot Cooperative Learning for Semiautonomous Control in Urban Search and Rescue Applications

Abstract: The use of cooperative multirobot teams in urban search and rescue USAR environments is a challenging yet promising research area. For multirobot teams working in USAR missions, the objective is to have the rescue robots work effectively together to coordinate task allocation and task execution between different team members in order to minimize the overall exploration time needed to search disaster scenes and to find as many victims as possible. This paper presents the development of a multirobot cooperative learning approach for a hierarchical reinforcement learning HRL based semiautonomous control architecture in order to enable a robot team to learn cooperatively to explore and identify victims in cluttered USAR scenes. The proposed cooperative learning approach allows effective task allocation among the multirobot team and efficient execution of the allocated tasks in order to improve the overall team performance. Human intervention is requested by the robots when it is determined that they cannot effectively execute an allocated task autonomously. Thus, the robot team is able to make cooperative decisions regarding task allocation between different team members robots and human operators and to share experiences on execution of the allocated tasks. Extensive results verify the effectiveness of the proposed HRL-based methodology for multi-robot cooperative exploration and victim identification in USAR-like scenes.

Design and Locomotion Control of a Soft Robot Using Friction Manipulation and Motor–Tendon Actuation

Abstract: Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape, soft materials also store and release elastic energy, a feature that can be exploited for effective robot movement. However, design and control of these moving soft robots are nontrivial. This paper presents design methodology for a 3-D printed motor–tendon actuated soft robot that is capable of locomotion. The modular design of the robot facilitates rapid fabrication, deployment, and repair. In addition to shape change, the robot uses friction-manipulation mechanisms to effect locomotion. The motor–tendon actuators are comprised of nylon tendons embedded inside the soft body structure along a given path with one end fixed on the body and the other attached to a motor. These actuators directly control the deformation of the soft body, which influences the robot locomotion behavior. Static stress analysis is used as a tool for designing the shape of the paths of these tendons embedded inside the body. This paper also presents a novel model-free learning-based control approach for soft robots, which interact with the environment at discrete contact points. This approach involves discretization of factors dominating robot–environment interactions as states, learning the results as robot transitions between these robot states, and evaluation of desired periodic state control sequences optimizing a cost function corresponding to a locomotion task (rotation or translation). The clever discretization allows the framework to exist in a robot's task space, hence facilitating calculation of control sequences without modeling the actuator, body material, or details of the friction mechanisms. The flexibility of the framework is experimentally explored by applying it to robots with different friction mechanisms and different shapes of tendon paths.

Drone-Assisted Disaster Management: Finding Victims via Infrared Camera and Lidar Sensor Fusion

Abstract: Robot-assisted natural disaster management is recently employed to aid human rescuers at diverse disaster sites. Due to its compactness and availability, drone has become an effective tool for searching survivors from confined space such as collapsed building or underground area. However, the current scope of research in this field is limited because the research tends to focus on increasing accuracy of 3d mapping, constructed by controlling quadrotor flight at disaster sites. Perceiving disaster environment is necessary for rescue mission, but finding victims at the earliest time is more critical for practical rescue operations. In this work, we propose an overall architecture for drone hardware that enables fast exploration of GPS-denied environment, and practical methods for victim detection are introduced. We employ DJI Matrice 100 and utilize hokuyo lidar for global mapping and Intel RealSense for local mapping. Our results show that fusing these sensors can assist rescuers to find victims of natural disaster in unknown environments, and the detection system is insensitive to illumination change.

Semi-autonomous serially connected multi-crawler robot for search and rescue

Abstract: In this paper, we develop a semi-autonomous serially connected multi-crawler robot for search and rescue. In large-scale disasters, such as earthquakes and tornadoes, the application of rescue robots to search for survivors under rubble would be beneficial. Snake-like robots (robots composed of serially connected units) are an effective candidate for such robots. Their long body enables them to overcome obstacles, and they can move into narrow spaces because of their thin shape. However, conventional snake-like robots have significant problems with operability. The numerous degrees of freedom of their bodies require complex operation to overcome obstacles, and training is required for the operators. Thus, survivors or community members cannot operate conventional robots to search for victims, despite the availability of such rescue robots. Here, we address this problem and develop a semi-autonomous serially connected multi-crawler robot designed for non-trained operators, such as community members...

ARMatron — A wearable gesture recognition glove: For control of robotic devices in disaster management and human Rehabilitation

Abstract: In this paper we present the design and development of a hand-motion recognition system as an interface between human and mechatronic systems such as UAVs and other rescue robots The interface device, named as ARMatron, will be capable of identifying the gestures made by the user and convert them to suitable signals to activate the target gadgets Suitable sensors on the ARMatron will sense the linear and rotary motions of the hand A data acquisition system (DAQ) will acquire the data from the sensors and will be processed by a suitable controller to identify the intended gesture of the user This will be converted to suitable control signals in the controller and will be used as the command signals to activate the gadget The proposed system is expected to enable easy interfacing of human with mechanical/mechatronic systems and provide new dimension to man-machine interface systems, radically changing the search and rescue scenario, and also help rehabilitating physically handicapped victims

Search and rescue and disaster relief robots: has their time finally come?

Abstract: – This paper aims to discuss search and rescue (SAR) and disaster relief robot developments, trials and applications and to answer the question posed in the title. , – Following a short introduction, this first describes Integrated Components for Assisted Rescue and Unmanned Search operations, a recent, collaborative, European research project, and euRathlon, a major robotics competition. It then highlights the role of the centre for robot-assisted search and rescue, and provides examples of the deployment of terrestrial, marine and airborne robots in real SAR and disaster relief situations. It concludes with a brief discussion. , – This shows that SAR and disaster relief robots are the topic of an extensive development effort, and many have performed well in simulated disaster scenarios. Terrestrial, marine and airborne robots have been used in many real disaster relief situations since 2001, and the use of unmanned aerial vehicles has proliferated due to recent technological developments. Robots now play an important role in supporting SAR teams, and this will certainly increase as the technologies are developed further. , – In an era characterized by extreme weather events and continuing military conflicts, robots play an increasingly important role in supporting human disaster response teams. This article provides details of developments, trials and real-world deployments of such robots.

Multirobot Coverage Search in Three Dimensions

Abstract: Searching for objects and observing parts of a known environment efficiently is a fundamental problem in many real-world robotic applications, e.g., household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning sequences of sensor locations from which robot sensors can observe and cover complex three-dimensional 3D environments while traveling only short distances. Our approach is based on sampling and ranking a large number of sensor locations for a 3D environment represented by an OctoMap. The visible area from these sensor locations induces a minimal partition of the 3D environment that we exploit for planning sequences of sensor locations with short travel times efficiently. We present multiple planning algorithms designed for single robots and for multirobot teams. These algorithms include variants that are greedy, optimal, or based on decomposing the planning problem into a set cover and traveling salesman problem. We evaluated and compared these algorithms empirically in simulation and real-world robot experiments with up to four robots. Our results demonstrate that, despite the intractability of the overall problem, computing and executing effective solutions for multirobot coverage search in real 3D environments is feasible and ready for real-world applications.

The design of a fully autonomous robot system for urban search and rescue

Abstract: Autonomous robots in urban search and rescue (USAR) have to fulfill several tasks at the same time: localization, mapping, exploration, object recognition, etc. This paper describes the whole system and the underlying research of the NuBot rescue robot for participating RoboCup Rescue competition, especially in exploring the rescue environment autonomously. A novel path following strategy and a multi-sensor based controller are designed to control the robot for traversing the unstructured terrain. The robot system has been successfully applied and tested in the RoboCup Rescue Robot League (RRL) competition and won the championship of 2016 RoboCup China Open RRL competition.

A prototype of search and rescue robot

Abstract: Millions of lives are lost every year as a result of inappropriate search and rescue missions when disasters hit the countries. Given the high demand for an autonomous machine to handle search and rescue operations efficiently, the paper aims to design an autonomous robot able to search the victims and rescue them to safe places if natural calamity hits the country. The proposed paper involves the design of a robot that can localize itself in known environment but the unknown location, find the victims and get them to safe zones. The robot will not only be able to localize itself but also plan the shortest path to pick and drop objects. Localization technique is based on the map-based position method whereas shortest path algorithm is the modified Dijkstra's theorem. This robot enables us to rescue the victims in the shortest time with least harm to rescue units.

Search and rescue system for alive human detection by semi-autonomous mobile rescue robot

Abstract: In this modern era, technological development lead the creation of sky scraper buildings and dwellings which increase risks of losing life due to natural and manmade disasters. Many people died by trapping under debris as their presence cannot detect by the rescue team. Sometimes, it is impossible to reach in certain points of the disasters in such calamity hit zones. The situation is worst for developing country like Bangladesh because of low quality design and construction. In this paper, PIR sensor based semi-autonomous mobile rescues robot is developed which can detect live human being from an unreachable point of the disaster area. Joystick and RF technology is used to control the semi-autonomous robot and communicate with control point. Ultrasonic sensor is used for obstacle detection in navigation path of robot and gas sensor is used to detect gas leak inside the building. IP Camera is also integrated to observe and analyze conditions that will facilitate human detection in reliable manner with highest probability of success rate in that kind of situation.

Gas Concentration Prediction Based on the Measured Data of a Coal Mine Rescue Robot

Abstract: The coal mine environment is complex and dangerous after gas accident; then a timely and effective rescue and relief work is necessary. Hence prediction of gas concentration in front of coal mine rescue robot is an important significance to ensure that the coal mine rescue robot carries out the exploration and search and rescue mission. In this paper, a gray neural network is proposed to predict the gas concentration 10 meters in front of the coal mine rescue robot based on the gas concentration, temperature, and wind speed of the current position and 1 meter in front. Subsequently the quantum genetic algorithm optimization gray neural network parameters of the gas concentration prediction method are proposed to get more accurate prediction of the gas concentration in the roadway. Experimental results show that a gray neural network optimized by the quantum genetic algorithm is more accurate for predicting the gas concentration. The overall prediction error is 9.12%, and the largest forecasting error is 11.36%; compared with gray neural network, the gas concentration prediction error increases by 55.23%. This means that the proposed method can better allow the coal mine rescue robot to accurately predict the gas concentration in the coal mine roadway.

Human-tracking strategies for a six-legged rescue robot based on distance and view

Abstract: Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes(average and minimum tracking capability) are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances.

Kinect-Based Vision System of Mine Rescue Robot for Low Illuminous Environment

Abstract: This paper presents Kinect-based vision system of mine rescue robot working in illuminous underground environment. The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. A K-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot.

Rescue Wings: Mobile Computing and Active Services Support for Disaster Rescue

Abstract: During disaster events, timely and targeted information provision and exchange could provide great help to the stricken population in difficult and complicated environments. This paper reports a service-oriented system, called Rescue Wings, for providing emergency support to sufferers and rescuers in disasters. The system utilizes mobile services to acquire real-time information about the users and environment, and constructs service agents (servants) to provide active services for mobile users. To perform their functions, the servants frequently invoke a set of intelligent services of Rescue Wings, which can further access a number of public services from government and other public organizations. We identify the most frequent request sequence patterns (FRSP) of Rescue Wings, and develop a new bio-inspired algorithm for efficiently scheduling the requests to minimize the response delay. The system has been tested in several disaster rescue drills, and has been successfully applied to the 2013 Ya'an Earthquake in Southeast China.

Bangla voice controlled robot for rescue operation in noisy environment

Abstract: We present the design and implementation of a prototype of Bangla voice controlled robotic motion based on an efficient and unique algorithm for accurately detecting Bangla voice commands. For the detection of Bangla voice commands to control the movement, our developed speech detection system incorporates Mel-Frequency Cepstrum Coefficients based speech feature extraction mechanism and a feature matching technique using Vector Quantization. Our proposed Bangla voice controlled robotic motion can be very effective in rescue operation and disaster management system where a rescuer can dynamically give the rescue robot voiced instructions instead of being stagnant in a place for its controlling. Additional features including dynamic path generating algorithm for the traversed path, capability to accurately follow a specific map to reach a certain destination, detection of different gases and dynamic obstacle avoidance as well as precise position and movement control system add to the flexibility and dimension of the robotic motion. Apart from its possible application in industrial automation, Bangla voice controlled robotic motion can also encourage the view of a robotic machine as a partner rather than a tool by providing a smooth, easy and flexible mean of self-reliant movement for the physically challenged people speaking Bangla language throughout the world.

Two multi-linked rescue robots: design, construction and field tests

Abstract: Rescue robots that can penetrate into narrow gaps in the rubble, create and maintain spaces for rescuers after earthquakes are urgently needed in search and rescue missions. This paper proposes two novel rescue robots, including a cutting robot and a jack robot, which are used to cut obstacles and jack up heavy debris in hazardous locations and in narrow spaces, where rescuers cannot work or approach. Firstly, a multi-linked tracked, or snake-like rescue robot platform is designed, which is composed of modular crawler vehicles connected by active and passive joints with three degrees of freedom. This rescue robot platform has high mobility on irregular terrains and the ability to move into narrow collapsed structures. Then, portable rescue tools including an electric cutter and a novel electric screw jack are designed. In order to perform operations to the tools, manipulators with multi degrees of freedom are also developed. Consequently, the cutting robot and jack robot are realized by equipping the corresponding rescue tool and manipulator in the rescue robot platform. Finally, field tests of the two rescue robots operating on different terrains and performing rescue missions are carried out in the national training base for urban search and rescue. The results validated the mobility, cutting and lift-up capacity of the two rescue robots. The experiments show that they might play some role in rescue operations.

Acquisition of earthworm-like movement patterns of many-segmented peristaltic crawling robots:

Abstract: In recent years, attention has been increasingly devoted to the development of rescue robots that can protect humans from the inherent risks of rescue work. Particularly, anticipated is the development of a robot that can move deeply through small spaces. We have devoted our attention to peristalsis, the movement mechanism used by earthworms. A reinforcement learning technique used for the derivation of the robot movement pattern, Q-learning, was used to develop a three-segmented peristaltic crawling robot with a motor drive. Characteristically, peristalsis can provide movement capability if at least three segments work, even if a segmented part does not function. Therefore, we had intended to derive the movement pattern of many-segmented peristaltic crawling robots using Q-learning. However, because of the necessary increase in calculations, in the case of many segments, Q-learning cannot be used because of insufficient memory. Therefore, we devoted our attention to a learning method called Actor–Critic,...

Surveillance and rescue robot using Android smartphone and the Internet

Abstract: This paper presents an economical yet effective robot using an Arduino microcontroller and Android Smartphone. Generally surveillance robots consists a high cost microcontroller, video camera, GPS (Global Positioning System) module, GSM (Global System for Mobile) module, audio systems and a costly and complicated communication system. Modern Smartphones are built with the hardware that satisfy all the above requirements. The adoption of a Smartphone greatly reduces the cost of building a typical surveillance and rescue robot. The robot can be controlled remotely using Internet from a laptop or tablet. The live video feedback is obtained from the camera of Smartphone. Data from the sensors of a Smart phone such as geographic location, acceleration, etc is sent by the Smartphone to the user. The Robot is equipped with robotic arm and various critical sensors and detectors. Features such as obstacle avoidance and solar power gives robot the freedom to explore and rescue in all type of environment.

Reset-free Trial-and-Error Learning for Data-Efficient Robot Damage Recovery.

Abstract: The high probability of hardware failures prevents many advanced robots (e.g. legged robots) to be confidently deployed in real-world situations (e.g post-disaster rescue). Instead of attempting to diagnose the failure(s), robots could adapt by trial-and-error in order to be able to complete their tasks. However, the best trial-and-error algorithms for robotics are all episodic: between each trial, the robot needs to be put back in the same state, that is, the robot is not learning autonomously. In this paper, we introduce a novel learning algorithm called “Reset-free Trial-and-Error” (RTE) that allows robots to recover from damage while completing their tasks. We evaluate it on a hexapod robot that is damaged in several ways (e.g. a missing leg, a shortened leg, etc.) and whose objective is to reach a sequence of targets in an arena. Our experiments show that the robot can recover most of its locomotion abilities in a few minutes, in an environment with obstacles, and without any human intervention. Overall, this new algorithm makes it possible to contemplate sending robots to places that are truly too dangerous for humans and in which robots cannot be rescued.

Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View

Abstract: 人的追踪是为聪明的机器的控制的一个重要问题并且能在许多情形被使用，例如机器的服务和人机器人的合作。大多数当前的人追踪的方法为 mobile/tracked 机器人被指向，但是他们中的很少能被用于 legged 机器人。二新奇人追踪的策略，看法优先级策略和距离优先级策略，为 legged 机器人特殊被建议，它使他们能在各种各样的复杂地面追踪人。，把人放在它的看法角度的看法优先级策略焦点约定优先级它的对应物，距离优先级策略，与优先级在合理距离保持人的焦点。评估这些策略，二个索引(一般水准和最小的追踪能力) 被定义。在这些索引的帮助下，看法优先级策略与距离优先级策略相比显示出优点。优化以这些索引被做，它让机器人最大的追踪能力。模拟结果证明机器人能与象平方，通报，正弦和螺丝钉路径一样的不同曲线追踪人。二新奇控制策略被建议它特殊有关 legged 机器人特征到解决在营救情形更高效地追踪问题的人。

A study on risk assessment for improving reliability of rescue robots

Abstract: Not only the performance is important for robot development, but also its reliability is another important perspective needed to realize robots in the real field applications. Rescue robot is one the extreme case for robot development. The rescue robot works with human operators and rescue responders in rescue missions occurred under some special situations, such as, collapsed building from earthquake. Under the circumstance with limited time, highly complex pathway and unexpected terrain, the rescue robot requires zeroed error in its operations; therefore, the reliability is the most important issue. Our study on risk assessment aims to improve the reliability of rescue robot in its development by considering separately for each subsection in the robot, then, combine them together. The results help improving our research and development on rescue robots significantly.

Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Abstract: Mobile robots that integrate visual servo control for facilitating autonomous grasping nd manipulation are the focus of this paper. In view of mobility, they have wider pplication than traditional fixed-based robots with visual servoing. Visual servoing s widely used in mobile robot navigation. However, there are not so many report or applying it to mobile manipulation. In this paper, challenges and limitations of pplying visual servoing in mobile manipulation are discussed. Next, two classical pproaches (image-based visual servoing (IBVS) and position-based visual servoing (PBVS)) are introduced aloing with their advantages and disadvantages. Simulations n Matlab are carried out using the two methods, there advantages and drawbacks are llustrated and discussed. On this basis, a suggested system in mobile manipulation s proposed including an IBVS with an eye-in-hand camera configuration system. imulations and experimentations are carried with this robot configuration in a earch and rescue scenario, which show good performance.

From RoboCup Rescue to Supervised Autonomous Mobile Robots for Remote Inspection of Industrial Plants

Abstract: With increasing capabilities and reliability of autonomous mobile robots, inspection of remote industrial plants in challenging environments becomes feasible. With the ARGOS challenge, oil and gas company TOTAL S.A. initiated an international competition aimed at the development of the first autonomous mobile robot which can safely operate in complete or supervised autonomy over the entire onshore or offshore production site, potentially in hazardous explosive atmospheres and harsh conditions. In this work, the approach of joint Austrian–German Team ARGONAUTS towards solving this challenge is introduced, focussing on autonomous capabilities. These build on functional components developed during prior participation in the RoboCup Rescue Robot League.

Fundamental development of a virtual reality simulator for four-arm disaster rescue robot OCTOPUS

Abstract: This paper presents a virtual reality (VR) simulator for four-arm disaster response robot OCTOPUS, which has high capable of both mobility and workability. OCTOPUS has 26 degrees of freedom (DOF) and is currently teleoperated by two operators, so it is quite difficult to operate OCTOPUS. Thus, we developed a VR simulator for training operation, developing operator support system and control strategy. Compared with actual robot and environment, VR simulator can reproduce them at low cost and high efficiency. The VR simulator consists of VR environment and human-machine interface such as operation-input and video- and sound-output, based on robot operation system (ROS) and Gazebo. To enhance work performance, we implement indicators and data collection functions. Four tasks such as rough terrain passing, high-step climbing, obstacle stepping over, and object transport were conducted to evaluate OCTOPUS itself and our VR simulator. The results indicate that operators could complete all the tasks but the success rate differed in tasks. Smooth and stable operations increased the work performance, but sudden change and oscillation of operation degraded it. Cooperating multi-joint adequately is quite important to execute task more efficiently.

Wall-mounted tunnel patrol rescue robot

Abstract: The invention belongs to the field of robots, and specifically relates to a wall-mounted tunnel patrol rescue robot The robot comprises a track, a track support, track ends, a car body, a storage battery, a travelling mechanism, and a guiding mechanism The track is fixed on the side wall of a tunnel through the track support The storage battery provides electric power for the car body The car body freely moves forward on the track under actions of the travelling mechanism and the guiding mechanism The car body is provided with a vision imaging sensor, an infrared thermal imaging sensor, a laser three-dimensional imaging sensor, an illuminance transducer, a gas concentration detection sensor, a temperature and humidity sensor, and other various sensors The robot can detect environment and equipment of a transportation tunnel in real time, and find out abnormal conditions in time In necessary, an emergency rescue package is released, and the package is used for rescue

Tracked firefighting rescue robot applicable to complex terrain and high-risk environments

Abstract: The invention discloses a tracked firefighting rescue robot applicable to complex terrain and high-risk environments, and relates to the technical field of firefighting rescue robotsThe tracked firefighting rescue robot comprises a vehicle device, a wheel device, a fire extinguishing device and a water fetching deviceThe fire extinguishing device comprises a fire extinguishing platform, a hydraulic support, a rotary motor, a rotary support inner ring, a rotary support outer ring, a rotary fire extinguishing table, a foam water cannon, a haze spray nozzle, an electric heating ring, a direct-current water cannon, a driving motor and a smoke driving fanThe tracked firefighting rescue robot has the advantages that the tracked firefighting rescue robot is high in adaptability to severe terrain environments and has in-situ multi-angle water cannon spraying functions; as proved by pressure detection, the tracked firefighting rescue robot can be automatically switched to be in low-speed states when under the condition of high resistance or climbing, and can be switched to be in high-speed states when the tracked firefighting rescue robot travels in gentle road segments and resistance is reduced, and accordingly the vehicle advancing safety and the firefighting efficiency can be guaranteed; the tracked firefighting rescue robot can be in diversified fire extinguishing modes, is wide in application range and is provided with the water fetching device, and accordingly water can be fetched locally; the tracked firefighting rescue robot is further provided with a surrounding water curtain, a smoke driving device and a radio control device, and accordingly smooth firefighting work can be guaranteed in the severe environments

UCOSII-based mine search and rescue system and search and rescue method

Abstract: The invention discloses a UCOSII-based mine search and rescue system and search and rescue method. A downhole rescue robot requires great terrain adaptability, obstacle avoidance capacity and search function. A search and rescue robot carries a mobile terminal node; the mobile terminal node transmits data acquired by the search and rescue robot to a router node; the router node is responsible for route inquiring of the mobile terminal node and forwarding the data to a network coordinator; the network coordinator receives data information acquired by the mobile terminal node and then transmits the data to a control center through a serial port; and the control center receives the data and then displays field environmental parameter information in real time and transmits an instruction to the search and rescue robot. Rescue personnel can be assisted to rapidly acquire field information, ascertain the position of trapped people, acquire the disaster field environmental parameter information, return disaster field images in real time and dynamically plan search and rescue routes so as to strive for high efficiency of the search and rescue process and guarantee life rescuing.

Path programming and navigation system based on improved artificial potential field method and method thereof

Abstract: The invention discloses a coal mine rescue robot path programming and navigation system based on an improved artificial potential field and a method thereof. An obstacle filling method and a disturbance potential field method are combined. In the obstacle filling method, virtual filling is performed on a concave obstacle, a potential field function is constructed and filled and a corresponding repulsive potential field function is generated. In the disturbance potential field method, through adding a disturbance potential field in a gravitational potential field, a gravitational potential field function is changed and a rescue robot can autonomously walk out of a local minimum point when falling into the local minimum point. The two methods are combined, which can well help the underground rescue robot escape from the local minimum point; and the path is reprogrammed, and the robot can be avoided from falling into other local minimum points again and can successfully complete a disaster rescue task; an algorithm is concise and high reliability is possessed.

Track type arms manipulator for life saving robot

Abstract: The present invention relates to a rescue robot in which a track is connected to a manipulator on both arms. The rescue robot includes: left and right moving platforms (20A, 20B) in which the end of an upper leg track (30-1) and a start end of a lower leg track (40-1) to rotate so that the shape can be freely changed from a standing mode vertical to the ground and to a crawler mode horizontal to the ground; and the both arm manipulators (50A, 50B) with an arm track (90) performing a role of an auxiliary roller by moving on the ground without a driving power while coming into contact with the ground or lifting up or down an injured person. Therefore, the rescue robot remarkably improves mobility in a limit rugged place and flexibility in the rugged place. The rescue robot can safely transfer a life and enables dynamic balancing control while lifting up the injured person (1) by the both arm manipulators (50A, 50B).