The invention discloses a bionic search and rescue robot and a spatial self-deployment method, nodes of the bionic search and rescue robot comprise a bouncing mechanism, a self-resetting mechanism, a course adjusting mechanism and a sensing control unit, and the spatial self-deployment method comprises a path planning algorithm, a two-dimensional self-deployment algorithm and a three-dimensional self-deployment algorithm; the bouncing mechanism comprises a rack, a four-bar mechanism and a driving mechanism, the self-resetting mechanism comprises a gear motor and a bar leg, and the course adjusting mechanism comprises a fixing frame, a gear motor and an adjusting wheel; the path planning algorithm comprises an adjacent node traversing method and a feasible region judging method, the two-dimensional self-deployment algorithm comprises a dynamic course adjusting method, a step-by-step adjusting strategy and a two-dimensional self-deployment method, and the three-dimensional self-deployment algorithm comprises a sequence point planning method, a bounce error and obstacle processing method and a three-dimensional self-deployment method. The bionic search and rescue robot node and the space self-deployment method can be applied to a non-structure complex environment to complete tasks such as monitoring, search and rescue and signal relay.

    本发明一种仿生搜救机器人及空间自部署方法,所述仿生搜救机器人节点包括弹跳机构、自复位机构、航向调节机构和传感控制单元,空间自部署方法包括路径规划算法、二维自部署算法和三维自部署算法;弹跳机构包括机架、四杆机构和驱动机构,自复位机构包括减速电机和杆腿,航向调节机构包括固定架、减速电机和调节轮;路径规划算法包括遍历临近节点方法和可行区域判定方法,二维自部署算法包括动态航向调整方法、分步调整策略和二维自部署方法,三维自部署算法包括序列点规划方法、弹跳误差与障碍物处理方法,以及三维自部署方法。所述仿生搜救机器人节点及空间自部署方法可应用于非结构复杂环境,完成监测、搜救、信号中继等任务。


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    Title :

    Bionic search and rescue robot and spatial self-deployment method


    Additional title:

    一种仿生搜救机器人及空间自部署方法


    Contributors:
    ZHANG JUN (author) / CHEN BOHUAI (author) / ZHANG YANING (author) / HU SHUI (author) / SONG AIGUO (author)

    Publication date :

    2022-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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