CN-121989295-A - Robot collaborative rescue method

CN121989295ACN 121989295 ACN121989295 ACN 121989295ACN-121989295-A

Abstract

The invention discloses a robot collaborative rescue method which is used for at least two robots, and comprises the following steps that firstly, after a fault robot detects that the self-movement capacity is lost, a rescue request is sent to peripheral robots through a communication assembly; the method comprises the steps of receiving a request by a normal robot, moving the normal robot to the vicinity of a rescue mechanism of the fault robot, unfolding a grabbing component by using a driving mechanism, grabbing the rescue mechanism of the fault robot by a grabbing structure on the grabbing component of the normal robot to form mechanical connection, and dragging the fault robot to a safety area by a traction force by the normal robot. According to the invention, the mechanical structure including grabbing structures such as grippers and the like, the beam and other supporting and driving structures are combined with the control method including communication, fault response and the like to form a complete rescue flow, so that the problem that the robot cannot move after being in a complex environment and relies on external rescue is solved, and the autonomy and the system reliability of the robot are remarkably improved.

Inventors

ZHANG YIPING
GAO LEI
WANG YUPENG
MENG JING
XI YUJIE
MU XUESONG
LI XIAOJIAN

Assignees

中冶建筑研究总院有限公司
中冶节能环保有限责任公司

Dates

Publication Date: 20260508
Application Date: 20260126

Claims (10)

1. A robot co-rescue method for use in at least two robots, the method comprising: Step one, after the fault robot detects that the self-moving capability is lost, a rescue request is sent to the peripheral robots through the communication assembly; after receiving the request, the normal robot moves to the vicinity of a rescue mechanism of the fault robot, and deploys the grabbing component by using a driving mechanism; step three, grabbing a rescue mechanism of the fault robot by a grabbing structure on a grabbing component of the normal robot to form mechanical connection; And step four, the normal robot drags the fault robot to the safety area through traction force.
2. The robot cooperation rescue method of claim 1, wherein in the second step, when the plurality of normal robots receive the rescue request, the nearest normal robot is determined according to the position information of the failed robot in the rescue request, and the nearest normal robot is navigated to the vicinity of the failed robot according to the position information.
3. The robot collaborative rescue method according to claim 1, wherein in step three, if the failed robot is in a complex terrain, a normal robot can adjust the angle and the grabbing force of the grabbing structure to adapt to different traction requirements.
4. The robot collaborative rescue method according to claim 1, wherein a vision system and a real-time mapping and navigation module are provided on the robot, a control assembly is provided on the robot, and the control assembly is electrically connected with the driving mechanism, the communication assembly and the vision system.
5. The robot co-rescue method of claim 4, wherein a sensor is provided on the gripping structure and/or the rescue mechanism, the sensor being electrically connected to the control assembly.
6. The robot cooperation rescue method of claim 1, wherein the driving mechanism is one of a hydraulic cylinder, an electric push rod or a servo motor.
7. The robot collaborative rescue method according to any one of claims 1-6, wherein the driving mechanism is disposed on a robot body, one end of the grabbing component is hinged to one side end of the robot body, the other end of the grabbing component is provided with a grabbing structure, the middle part of the grabbing component is hinged to the extending end of the driving mechanism, and can execute telescopic and/or rotary actions under the action of the driving mechanism, and the rescue mechanism is disposed on the opposite side end of the robot body to the grabbing component.
8. The collaborative rescue method for a robot according to claim 7, wherein a support beam is provided at the bottom of a side end of the robot body connected to the grabbing component, a rotating shaft is rotatably supported on the support beam, and the grabbing component is connected to the rotating shaft.
9. The method of claim 8, wherein the cross sections of the gripping assembly and the rescue mechanism are rectangular, circular or annular, and are made of aluminum or steel.
10. The robot co-rescue method according to claim 8 or 9, wherein the portion where the gripping member and the rescue mechanism cooperate with each other is a hook-like structure or a clamping structure.

Description

Robot collaborative rescue method Technical Field The application relates to the technical field of robots, in particular to a collaborative rescue method for robots. Background When the existing robot works in complex environments (such as narrow pipelines and inside nuclear power stations), the existing robot often loses the mobility due to mechanical faults, insufficient power, sensor failure and the like. The traditional rescue relies on manual intervention or special equipment, and has the problems of low efficiency, high risk, slow response and the like. Although individual researches propose a simple dragging scheme among robots, the system structure design and control logic are lacked, and stable cooperation is difficult to realize in a real environment. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a robot collaborative rescue method. The invention provides a robot collaborative rescue method, which is used for at least two robots and comprises the following steps: Step one, after the fault robot detects that the self-moving capability is lost, a rescue request is sent to the peripheral robots through the communication assembly; after receiving the request, the normal robot moves to the vicinity of a rescue mechanism of the fault robot, and deploys the grabbing component by using a driving mechanism; step three, grabbing a rescue mechanism of the fault robot by a grabbing structure on a grabbing component of the normal robot to form mechanical connection; And step four, the normal robot drags the fault robot to the safety area through traction force. Optionally, in the second step, when the plurality of normal robots receive the rescue request, determining a normal robot closest to the rescue request according to the position information of the fault robot in the rescue request, and navigating the normal robot closest to the fault robot according to the position information. Optionally, in step three, if the fault robot is in a complex terrain, the normal robot can adjust the angle and the grabbing force of the grabbing structure, so as to adapt to different traction requirements. Optionally, a vision system and a real-time mapping and navigation module are arranged on the robot, a control assembly is arranged on the robot, and the control assembly is electrically connected with the driving mechanism, the communication assembly and the vision system. Optionally, a sensor is disposed on the grabbing structure and/or the rescue mechanism, and the sensor is electrically connected with the control assembly. Optionally, the driving mechanism is one of a hydraulic cylinder, an electric push rod or a servo motor. The robot comprises a robot body, a driving mechanism, a grabbing component, a rescue mechanism and a grabbing component, wherein the driving mechanism is arranged on the robot body, one end of the grabbing component is hinged with one side end of the robot body, the other end of the grabbing component is provided with a grabbing structure, the middle part of the grabbing component is hinged with the extending end of the driving mechanism, the stretching and/or rotating actions can be executed under the action of the driving mechanism, and the rescue mechanism is arranged at the side end, opposite to the grabbing component, of the robot body. Optionally, a support beam is arranged at the bottom of the side end of the robot body connected with the grabbing component, a rotating shaft is rotatably supported on the support beam, and the grabbing component is connected with the rotating shaft. Optionally, the cross sections of the grabbing component and the rescue mechanism are rectangular, circular or annular, and are made of aluminum or steel. Optionally, the part of the grabbing component and the rescue mechanism, which are matched with each other, is a hook-shaped structure or a clamping structure. The robot collaborative rescue method provided by the invention has the following beneficial effects: The method solves the problem that the robot cannot move after the fault in the complex environment and relies on external rescue, and remarkably improves the autonomy and the system reliability of the robot. And (3) systematically innovating, namely combining a mechanical structure (a grabbing structure such as a gripper and a supporting and driving structure such as a beam) with a control method (communication and fault response) to form a complete rescue flow. The device has stronger adaptability, and is suitable for complex scenes such as concave-convex terrains, narrow spaces and the like through a limiting mechanism and an anti-skid design. And the system is expandable, supports serial cooperation of multiple robots and is suitable for large-scale robot cluster operation. Drawings In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in