628 results about "Rescue robot" patented technology

The invention discloses a ground-air heterogeneous multi-robot search and rescue system, which comprises air flying robots, a plurality of ground rescue robots, an image processing computer, an image acquisition card, a monitoring computer, search and rescue command personnel, a wireless data transmission radio, a wireless image transmission radio, obstacles, and objects to be rescued. The air flying robots are responsible for carrying out rapid and systematic large-area reconnaissance on the rescue site so as to more accurately judge the rescue site conditions, find out the positions of the obstacles or objects to be rescued, and help the search and rescue command personnel formulate detailed rescue plan. The ground rescue robot group, according to control instructions issued by the search and rescue command personnel, cooperatively executes the search and rescue work of the objects to be rescued at the rescue site. The robots in the system all adopt the control mode combining the autonomous intelligent control with remote control of the search and rescue command personnel; by the coordination of a plurality of ground-air robots with different structures, the system improves the reliability and accuracy of rescue site environmental perception and object recognition, reduces the search spread time and improves the rescue efficiency.

The invention discloses a system and a method for controlling an underground coal mine rescue robot, and relates to the technical field of robot control. The system comprises a communication module, an environment perception module, a self perception module, a barrier avoidance module, a motor drive module, an autonomous navigation module, a data acquisition control module, a visual perception module, a remote monitoring module and an automatic cooling module. The system is provided with a remote monitoring mode and an autonomous navigation mode. The distributed control of a dual-layer network framework is adopted, so that the system is flexible in structure; the number of rescue robots is conveniently adjusted due to the flexibility of combination of optical fiber communication with wireless communication, so that the rescue task can be performed by one or more robots; the running safety of the robot is improved and the intelligent level of the robot is increased due to the remote monitoring and autonomous navigation functions; and the robot control system is guaranteed to run reliably due to the automatic cooling system.

The invention belongs to the field of special equipment for nuclear industries, and in particular relates to an emergency treatment and rescue robot which can be used for a nuclear radiation environment. The robot consists of a walking base plate, a mechanical arm, a robot body motion control system, a robot redundancy navigation control system, a gamma camera, a holder, a gamma ray imaging system, a battery and a controller, wherein the walking base plate has a crawler-type structure; a motor is arranged in the middle of the base plate and is used for driving a crawler belt to operate through a chain; the mechanical arm is arranged at the front end of the base plate and has four degree of freedom; the gamma camera and the imaging system are positioned on the rear part of the robot and are arranged above the battery; and the gamma camera can be used for detecting the intensity and the direction of radiation and the robot can perform emergency treatment through the mechanical arm of the robot.

The invention provides a city rescue intelligent agent dynamic path planning method based on an improved ant colony algorithm, and belongs to the technical field of robot simulation. Aiming at the issue of path planning of a dynamic changing environment in robot rescue simulation, the classic ant colony algorithm is improved, the target dominance is introduced, the approach for calculating the probability of state transfer of ants is modified, and the pheromone updating rules adapt to a situation in which the road condition is unknown and dynamically changes, a rescue intelligent agent is given complex tasks, and the path planning requirements are inconsistent in a rescue environment, so that a rescue robot can search the optimum path according to the task attribute. Compared with the classic ant colony algorithm, the improved ant colony algorithm of the invention is effective and reliable.

The invention discloses an underwater rescue robot which comprises a frame structure, an electronic cabin group, a searchlighting system, a monitoring system, a positioning system, an operating system, a propelling system and a floatage module, wherein the propelling system comprises a left-front horizontal propeller, a right-front horizontal propeller, a left-back horizontal propeller, a right-back horizontal propeller, and a vertical propeller located at the middle of the robot, and the propelling system is used for providing power to the robot. By using the four horizontal propellers, the underwater rescue robot realizes advancing and retreating, turning and side-moving actions. The underwater rescue robot has the beneficial effects that the robot is simple in structure, flexible in movement and strong in power, and can be widely applied to resource exploration, routing inspection of structures and facility equipment, detection of channels, barrier removal, rescue of persons falling in water, searching of shipwrecks in water, fishing of vehicles and articles falling in water, and finding of underwater appointed articles after disaster accidents occur.

The invention discloses a rescue robot three-dimensional environment map real-time construction method. According to the method, an efficient speeded up robust feature (SURF) algorithm is adopted to carry out recognition and matching of feature points; next, an interval analysis method is proposed, roughly matched pose transformation matrixes are generated. The method has good robustness and can contain all possible values under the situation that one set of constraint conditions are given. In order to overcome the defect that the iterative process probably can not converge the globally optimal solution through an ICP algorithm, an improved closest point select method is proposed: for a measure point in a point cloud A, three points, closest to the measure point, in a point cloud B are solved to form a plane, an intersection of normal vector passing the measurement point in the plane and the plane is regarded as the closest point, and consequently the accuracy of the algorithm is well improved. In addition, the approach combining an inertial management unit (IMU), odometer data and the pose transformation matrixes is adopted, so that the algorithm has better robustness, and accurate location can be achieved under the condition that feature point matching is unsuccessful or the environment dynamically changes.

The invention discloses an intelligent fire-fighting rescue robot, which comprises a vehicle body with a travelling mechanism and a mechanical arm which is hinged with the vehicle body and is provided with a power mechanism, wherein a fixed mount for placing a fire extinguisher is arranged on the top surface of the vehicle body; a temperature sensor and a flame sensor are arranged on the mechanical arm; a barrier shunning module for inducing barriers is arranged on the vehicle body; the travelling mechanism is provided with a driving motor; the driving motor, the temperature sensor, the flame sensor, the barrier shunning module and the power mechanism of the mechanical arm are connected to a master control module; and the master control module is connected with a wireless transceiving module for wireless communication. The intelligent fire-fighting rescue robot can provide multiple operations such as safety control and the like for personnel in fire sites, and can help and even replace fire fighters to enter fire disaster sites and put out a fire or search and rescue in accident sites.

The invention relates to a rescue robot, which adopts a traction rope as a driving mechanism of each joint and totally has 18 degrees of freedom, flexibly movement, stronger ability to adapt to uneven terrain and better obstacle capability. The rescue machine has small volume, light weight and stable operation, and is used in greatly dangerous disasters, especially in situations that people are anxious to ascertain the inside dangerous situations of disaster site but dare not or can not be close to or enter the disaster site.

The invention discloses a robot for rescuing people fell in a well. A ground composition part comprises a controller, a monitor, a power supply, a clean air source and a hoisting device for hoisting and dropping an underground composition part; the underground composition part comprises a robot body, a lighting device, an air supply device and a pick-up device; the robot body is provided with a body stander, a well wall anchoring mechanism, a mechanism rolling along the well wall, an arm probing mechanism and an arm holding mechanism; and the lighting device, the air supply device and the pick-up device are connected with corresponding equipment and / or units through cables or pipelines. Under the control of ground rescue workers, the underground composition part is dropped to a position above a person fell in the well, and an operator adjusts the posture of the underground composition part according to field information such as video images returned from the underground so as to control the arm probing mechanism and the arm holding mechanism to carry out proper motions and simultaneously supply fresh air or oxygen, so the robot can effectively rescue the people fell in the well in different postures.

The invention relates to the fields of intelligent robot, in particular to a multi-axis propulsion water search and rescue robot. The multi-axis propulsion water search and rescue robot comprises a central control platform, at least three downward projecting brackets are arranged along the circumferential direction of the central control platform, hinge cable devices are arranged on each bracket, hinge cable devices are hoisted with foldable lifesaving net under the central control platform through cables, a power float device is also connected at the lower end of each bracket, a controller is arranged on the central control platform, and the controller is communicated with the hinge cable device and a power float device. The multi-axis propulsion water search and rescue robot has various motion modes, such as hovering, advancing, retreating and 360 DEG free steering in water, has high stability, has high ability to withstand wind and wave, and can be a good alternative to the traditional rescue way; meanwhile the design of the foldable lifesaving net realizes the purpose of fast and safe lifesaving, can realize multiple tasks such as water search and rescue, the water surface monitoring, the water measurement and control and the like in complicated water area and bad weather condition, practicability is high, flexibility is good and popularization prospect is good.

The invention relates to a judgement method for a trapped robot and a control method thereof for rescuing the robot. When barriers surround a sweeping robot, the exit is slightly wider than the sweeping robot body, by recording the number of different grid coordinates within a preset time and combining with the turning angle at which the robot turns around the barriers, the trapped situation of the robot is judged. If it is judged that the robot is trapped, every time the robot collides with the barriers, the robot makes a turn at a preset degree toward the same side in the marching directionand then advances again, and according to the judgement method for the trapped robot, it is determined that the robot gets rid of the trapped region. According to the methods, the problem that the sweeping robot is trapped during the sweeping process is solved, therefore the sweeping efficiency of the robot is improved.

The invention discloses a fire-fighting and rescue robot system and a control method. The fire-fighting and rescue robot system comprises an upper computer, a fire-fighting robot, a rescue robot and a multi-shaft aircraft. The fire-fighting robot, the rescue robot and the multi-shaft aircraft conduct information interaction with the upper computer. The fire-fighting and rescue robot system further comprises a wall sensor unit conducting information interaction with the upper computer. The wall sensor unit comprises a flame sensor, a combustible gas sensor, an infrared temperature measurement sensor and a doppler displacement sensor. In the fire-fighting and rescue robot system, the fire-fighting robot, the rescue robot and the wall sensor unit are responsible for environmental monitoring, fire fighting and rescue in a building. The multi-shaft aircraft is responsible for image capture outside the building, and obtained data are comprehensive and have practical application and referable performance. Cooperative work between the robots is achieved through the fire-fighting and rescue robot system, a computer-computer communication work mode and a human-computer interaction work mode are included, the requirements in an actual fire scene are met, the work efficiency can be improved greatly, and an inestimable function is achieved on the conditions that quick reaction is achieved, thus property loss caused by a fire disaster is reduced, and trapped people are rescued.

The invention discloses a wall surface detecting rescue robot and a control method thereof. An overall structure of the wall surface detecting rescue robot comprises a robot main body, a control system and a roof safety protecting system. The robot main body comprises a rotating platform, a driving wheel, a driving motor, a sucker, a mechanical arm, a camera, a spraying device and so on; the roof safety protecting system comprises a follow-up trolley, a hoisting mechanism, a steel wire rope and so on, is used for bearing partial deadweight of the system and moves together with the robot. The wall surface detecting rescue robot disclosed by the invention is advantaged in that the robot can detect laminating situations and cracking statuses of ceramic tiles, glasses and so on on the surface of a high-rise building; when the ceramic tiles or the glasses are loose, pigments can be automatically sprayed to loose parts through the spraying device so that the loose parts are marked to be convenient for maintenance personnel to replace; in addition, the window can be broken for rescuers to enter interior for rescue in case of emergency situations.

The invention discloses an underground rescue robot, which belongs to the technical field of robots. The invention provides the underground rescue robot, which can perform underground rescue task with less labor, high speed, high accuracy and high efficiency. The robot comprises a machine frame, wherein a fixed table with a through hole is fixed in the machine frame, a lifting motor is fixed above the fixed table and the motor shaft of the lifting motor is connected with a screw rod through the through hole of the fixed table; a lifting table with threads is arranged under the fixed table, and the threads of the lifting table correspond to those of the screw rod; hydraulic cylinders are arranged under the fixed table and above the lifting table respectively; the piston rods of the hydraulic cylinders are connected with telescopic rods; a rotating motor is fixed above the lifting table; the motor shaft of the rotating motor is connected with one end on one side of a three-end connecting piece through a through hole on the lifting table; and the two ends on the other side of the three-end connecting piece are connected with the top ends of first and second fixed plates with grooves and through holes, and mechanical arms are arranged on the first fixed plate and the second fixed plate.

The invention discloses a modularized disaster rescue robot comprising a hexagonal main body module and a mechanical arm, wherein the mechanical arm is arranged on the main body module, and the main body module is connected with a moving mechanism. The main body module comprises an identifying unit, a motion control unit, a communication unit and a master control unit which are mutually communicated by a bus technology. The identifying unit is used for identifying the motion way of the moving mechanism, and the motion control unit is used for establishing a kinematics model according to the motion way and driving the moving mechanism to move; and a body of the mechanical arm is a robot operating arm with five degrees of freedom, a steering engine and a hand gripping mechanism are arranged on the operating arm, and the steering engine is connected with the master control unit. The invention finishes the plug and play function by utilizing a cordwood system type modularized mechanical connection scheme and a mechanical self-adaptive double-rail guide rail, realizes the multifunction of one object by taking the main body module as a platform and can fast assemble a plurality of task modules according to the environments and the types of tasks.

The invention discloses a six-caterpillar-band and four-swinging-arm rescue robot, which comprises a robot body, two walking caterpillar band components and four swinging arm caterpillar band assemblies, wherein the robot body comprises a lower box cavity, an upper box cavity, a sensor cavity, three gear cavities and two support wheel cavities; the three gear cavities are respectively a front gear cavity, a left back gear cavity and a right back gear cavity; the two support wheel cavities are respectively a left support wheel cavity and a right support wheel cavity; the two walking caterpillar band assemblies are respectively a left walking caterpillar band assembly and a right walking caterpillar band assembly; the four swinging arm caterpillar band assemblies are respectively a left front swinging arm caterpillar band component, a left back swinging arm caterpillar band component, a right front swinging arm caterpillar band component and a right back swinging arm caterpillar band component. The invention discloses an automatic walking control method of the six-caterpillar-band and four-swinging-arm rescue robot. The six-caterpillar-band and four-swinging-arm rescue robot has the advantages that the structure is compact; the design is novel and reasonable; the intelligent degree is high; the work stability and the reliability are high; the practicability is high; the use effect is good; the popularization and the use are convenient.

The invention discloses a search and rescue robot. The search and rescue robot comprises a vehicle body and a six-degree-of-freedom manipulator, wherein the six-degree-of-freedom manipulator is arranged at the front end of the upper surface of the vehicle body, and comprises a rotating platform, a large arm, an elbow portion, a small arm and a claw. The robot is controlled by using a PC (Personal Computer) control terminal. The robot further comprises a direct-current motor and a steering engine, the small arm and the claw are controlled by using the steering engine, and the large arm and the elbow portion are controlled by using the direct-current motor. The robot further comprises a first camera and a second camera. The first camera is arranged on the small arm of the six-degree-of-freedom manipulator, and the second camera is arranged at the back end of the upper surface of the vehicle body. The six-degree-of-freedom manipulator is driven by using the motor and the steering engine together, thereby reducing the load of the robot. On the premise of ensuring certain gripping capability and the softness, the steering engine is adopted for driving instead of the motor on three joints, thereby reducing the total mass of the manipulator as well as the load of the vehicle body. The camera resources are utilized fully, binocular depth measurement is realized, and waste caused by repeated use of the same type of sensors is avoided.

The invention discloses an underwater rescue robot based on wireless communication and a rescue method thereof. The underwater rescue robot comprises a rack, wherein the rack comprises a support arm I, a support arm II, a support arm III and a mounting ring; an observation window is mounted in the mounting ring; a control system, a wireless communication system and an obstacle avoidance system are arranged in the observation window; a propulsion system and a rescue system are arranged on the support arms; the propulsion system wirelessly communicates with the control system in the observation window; the rescue system comprises an intelligent detection wristband for detecting vital signs of a diving person and a pair of high-pressure air bags; the high-pressure air bags are controlled by a starter; the intelligent detection wristband and the starter are connected with the wireless communication system in a wireless communication manner; and the high-pressure air bags are symmetrically arranged on the support arm I and the support arm III. The underwater rescue robot avoids diving inconvenience caused by a wired control system hung on the waist of a diver, enhances the experience sense of the diver, can automatically avoid an obstacle, and realizes intelligence of the underwater rescue robot.

The invention discloses a modular search and rescue robot with a reconfigurable function and relates to a search and rescue robot in order to solve the problems that the conventional search and rescue robot has limited functions, is low in expandability and difficultly configures the search and rescue function reasonably according to the disaster in complicated search and rescue work. A first working module comprises a mobile trolley, a mobile telescoping mechanism and a cutting mechanism; the cutting mechanism is hinged to the telescoping mechanism; a mobile module and the mobile trolley comprise trolley shells and trolley body moving components; the trolley body moving components are arranged on the trolley shells; the trolley shells are rectangular box bodies, and an opening is formed in one end of each rectangular box body; the mobile module is connected with the mobile trolley through a first connection module; a first connection piece on the first connection module is fixedly connected with the trolley shell on the first working module; an insertion body on the first connection module is fixedly connected with the trolley shell on the mobile module; the mobile telescoping mechanism and the cutting mechanism are arranged in the shells on the mobile trolley through the opening in the mobile trolley. The modular search and rescue robot disclosed by the invention is used in a complicated and severe cutting environment.

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.

The invention discloses a searching and rescue robot system moving control method based on a multi-intelligent-agent theory. The searching and rescue technology applied to large-scale high-efficiency robot groups is not comprehensive, and particularly, the group behavior control of the searching and rescue robot group is deficient. The method provided by the invention comprises the following concrete steps that a leader robot and a plurality of follower robots form a queue to enter a region A; in a concrete searching and rescue process, the leader robot firstly searches a partial region of the region A, if the region is not searched, a follower robot G1 is left for searching the region A, and the leader robot leads the rest follower robots to continuously search a next region until the whole target region is completely searched; after completing the searching on the region A, the follower robot G1 finds the leader robot and follows the leader robot. The method provided by the invention that the possibility is provided for the large-scale searching, workers only need to control the leader robot through a terminal, the control mode is simplified, and the control effect is enhanced through a high-automation work mode among the robots.

The invention provides a deformable and reconfigurable spherical rescue robot. The deformable and reconfigurable spherical rescue robot mainly comprises a sphere and wheel interconversion mechanism, a butt joint and reconfiguration mechanism and a gravity center adjustment mechanism. Through a deformation mechanism and the butt joint and reconfiguration mechanism, interconversion of a sphere form, a double-wheel form and a multiple-wheel form can be realized, and the robot can move flexibly in each form; in the sphere form, electronic components of the robot are all packaged inside a spherical shell, the self protection ability is good, and erosion of dust and harmful gas can be effectively prevented on a rescue site; and two robots in the double-wheel form can be reconfigured to form a robot of the multiple-wheel form in a butt joint mode, and therefore the driving force and the stability of the robot can be improved, the obstacle crossing ability of the spherical robot on the rescue site can be improved, and the ability of the spherical robot to adapt different terrains can be improved.

The invention discloses an underground robot communication control system based on Wifi. The system is used for underground routing inspection and accident rescue and is particularly suitable for mines having accidents such as a gas explosion and a fire. An underground robot can reach a region where rescuers cannot reach as toxic and harmful gas exists, according to the rescue robot wireless communication control system, a new temporary Wifi network construction method is provided based on a multihop Wifi network technology, the wireless communication distance of the underground robot can be continuously increased along with advancing of the robot, and communication between the underground robot and control equipment is ensured. The problem that on the condition that an original wireless communication system in a mine cannot be used, the wireless communication distance between the underground robot and the control equipment is limited is solved.

The invention relates to a firefighting robot positioning and navigation system and a positioning and navigation method thereof, and overcomes the defects in the prior art. The system is characterized by comprising a firefighting rescue robot, a local area network wireless network positioning system, an on-site label positioning system and a remote control service terminal, wherein the on-site label positioning system comprises multiple positioning labels arranged in target places; a sensing information acquiring module, a video acquiring positioning component and an on-site label sensing receiver are all electrically connected with a robot control center; the video acquiring positioning component and the sensing information acquiring module are in communication connection with the remote control service terminal through a communication network; the remote control service terminal stores a cloud area firefighting map and a firefighting rescue robot proceeding roadmap; the on-site label sensing receiver and the positioning labels are in communication connection; and the remote control service terminal is electrically connected with the robot control center through a signal instruction receiving module.

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.

The invention relates to a disaster relief robot which comprises a caterpillar driving assembly, a mechanical arm operation assembly, a rotation assembly, a hydraulic assembly, an illuminating assembly and a shell assembly. The disaster relief robot has the advantages that double mechanical arms are jointly operated, and accordingly the disaster relief robot is high in operation efficiency; the disaster relief robot is provided with three tail-end operation robot arms, the three tail-end operation robot arms can be replaced according to different relief operation environments, and accordingly the disaster relief robot is wide in application.

The invention relates to a fire rescue robot based on the Internet of Things. The fire rescue robot based on the Internet of Things comprises a main body, a moving mechanism, a central control mechanism, mechanical arms, a rescue mechanism and a fire extinguishing mechanism, wherein the rescue mechanism comprises a fixed plate, a lifting plate, a transfer assembly and a lifting assembly; the lifting assembly comprises a second motor, a second drive shaft, a guide rod and a moving plate; the transfer assembly comprises a first motor, a first drive shaft, a first drive wheel, a transfer belt and a first driven wheel; the fire extinguishing mechanism comprises a moving assembly and an angle adjusting assembly; the moving assembly comprises a control unit and a moving unit; and the angle adjusting assembly comprises a shell, a drive unit, an adjusting unit and a fire extinguishing sprayer. According to the fire rescue robot based on the Internet of Things, wounded people are conveyed into the rescue mechanism by the mechanical arms for rescue protection, the fire extinguishing mechanism extends the fire extinguishing range, and thus, practicability of the robot is greatly improved.

The invention discloses an all-terrain multifunctional obstacle-crossing rescue robot. The rescue robot comprises a vehicle body, crawler traveling mechanisms arranged on the left and right sides of the vehicle body, a sensing device used for obtaining three-dimensional map information of the external environment of the robot and possible living body data, and a controller connected with the sensing device and used for data processing and controlling the movement of the robot. The sensing device comprises a laser radar scanning system arranged on the top of the vehicle body and an infrared temperature measuring system arranged in front of the laser radar scanning system. An antenna is arranged at the rear of the vehicle body. The all-terrain multifunctional obstacle-crossing rescue robot has strong terrain adaptability, can replace people to carry out detection and rescue in special disaster sites, automatically detects the surrounding environment and creates a three-dimensional map ofthe surrounding environment in real time in the course of traveling, simultaneously carries out detection of the living body, and has the advantages of strong operation ability, high intelligence degree, high efficiency and the like.

The invention discloses a robot path planning and environment rebuilding method and system based on virtual reality. The method comprises the steps of firstly, importing a robot virtual prototype andan initial scene into a virtual simulation interaction platform; generating a navigation grid for the current scene in the platform; according to three-dimensional coordinates of the detection robot virtual prototype and three-dimensional coordinates of a destination, obtaining a walking path of the detection robot virtual prototype in the initial virtual scene; generating a control command for simultaneously driving the robot virtual prototype and a real robot to synchronously move; continuously collecting environment information by the robot; performing local updating and rebuilding on the changed scenes to generate new scenes; and repeating the previous steps in the new scenes. The method has good interactivity, is reasonable in design, high in practicability and high in popularizationvalue, and makes up for the deficiencies of a current coal mine rescue robot control technology.

The invention discloses an autonomous obstacle surmounting and avoiding walking control method for a six-track and four-swing-arm rescue robot. The six-track and four-swing-arm rescue robot comprises a robot control system, two walking track assemblies and four swing arm track assemblies, wherein the two walking track assemblies comprise a left walking track assembly and a right walking track assembly; the left walking track assembly and the right walking track assembly are identical in structure and both comprise driving walking wheels positioned at the front end of the rescue robot and driven walking wheels positioned at the rear end of the rescue robot; the four swing arm track assemblies comprise a left-front swing arm track assembly, a left-rear swing arm track assembly, a right-front swing arm track assembly and a right-rear swing arm track assembly. The autonomous obstacle surmounting and avoiding walking control method comprises the following steps: firstly, acquiring and transmitting data; secondly, analyzing and processing the data; thirdly, controlling operation of the robot. The method disclosed by the invention has the advantages of simple steps, novel and reasonable design, high working reliability, high practicality and convenience in popularization and application; smooth passing on a plurality of terrains can be realized.