A deep well automatic detection and rescue robot and rescue method

Abstract

The invention specifically relates to a deep well automatic detection and rescue robot and a rescue method with strong passing ability, timely rescue and adaptability to the complex environment in the well. The robot includes a pathfinding body, a rescue rope is passed through the through hole of the pathfinding body, and a plurality of rescue bodies are hung on the rescue rope, and a pathfinder, a first processor, an infrared Thermal imager, altimeter, camera, rescue agency; the rescue body is equipped with a wireless router and a second processor; the pathfinder is responsible for pathfinding and positioning, on-site rescue, and the rescue body is responsible for on-site auxiliary rescue and rapid ascent. The robot is compact in size, Strong passing ability; drawing the first type of deep well map and the second type of deep well map when the pathfinding body is descending is conducive to improving the descending and rising speed of the rescue body and pathfinding body; when there is water in the deep well, the wheel hub motor of the pathfinding body ensures Its descending speed, the elevator type lifting drive mechanism of the rescue body guarantees its descending speed, and the environment adaptability is strong.

Description

technical field [0001] The invention relates to the technical field of deep well rescue, in particular to a deep well automatic detection and rescue robot and a rescue method. Background technique [0002] In our living environment, there are a large number of holes and holes for various purposes, such as abandoned machine shafts, mine shafts, exploratory shafts, pipelines, building foundation pile holes, deep sewage wells, etc. Due to various reasons, people or things accidentally fall into it happen from time to time, and the current rescue method still needs to use ropes to lift the rescuers, and the rescuers go deep into the well to find the people to be rescued. Most of the holes with small diameters have poor air circulation and even contain poisonous gas, which makes it very dangerous and difficult for rescuers to rescue, and may even cause rescuers to coma, and some holes are too narrow for rescuers to enter. [0003] In order to overcome the shortcomings of existin...

AI Technical Summary

Problems solved by technology

[0004] 1. The descending process of the rescue device is operated by on-site personnel, and many holes and holes are not vertically arranged, but have slopes or radians, and there is no light in the well, and the visibility is very low. In this case, in order to avoid bumps, the rescue device The speed of descent is often very slow, and when the rescue device catches the person to be rescued and moves upward, it usually pulls the rescue device up by pulling the rope at the wellhead. It is also necessary to pay attention to the geographical environment above the rescue device, which causes the rescue device to rise slowly. A very important problem in deep well rescue is that the rescue time is short, and the speed of rescue determines the rescue effect, so the rescue effect in the actual use of the rescue device is not ideal

[0005] 2. The rescuer is equipped with various devices, resulting in its heavy weight and volume, making it difficult to realize miniaturization and light weight. Especially, the oxygen cylinders or air pumps carried in order to maintain the lives of people to be rescued are often very large. Resulting in a reduction in the lifting speed of the rescuer

[0006] 3. After the rescue device descends to a certain depth, the signal may not be transmitted due to the distance between the rescue device and the ground. In this case, the rescue device cannot be used and cannot be retracted.

[0007] 4. If an obstacle protruding laterally along the section of the deep well is encountered in the deep well, the rescuer cannot avoid and detour, and the scope of application is limited

The invention uses laser ranging to obtain extremely high precision and is not affected by light conditions; this scheme can realize the modeling of underground roadway sections, but due to the use of aircraft, it is difficult to adapt to the complex environment in the well, and obstacles cannot be avoided, and This equipment can only achieve modeling, but cannot carry out rescue work, and it does not solve the problem of how to improve the speed of rescue

[0010] The above rescue methods can only rescue or detect dry wells, but cannot rescue or detect the presence of water in deep wells

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