Pneumatic Soft Rescue Robot Bioinspired By Elephant Trunk

In recent years,a large number of natural and man-made disasters have caused serious harm to human life and safety.Rescue speed of rescuers is reduced due to the complex environment after the disaster.During the rescue process,trapped people may have an accident at any time.Quickly detecting the location of the trapped person,the state of life,and transporting the necessary life-sustaining substances(water,oxygen,and liquid nutrients,etc.)to the trapped person can greatly improve the rescue success rate.This paper designs a soft rescue robot with a pneumatic bionic elephant trunk,which is mainly composed of a soft guiding structure,a flexible shaft,a liquid food pipeline,a pneumatic control platform,a camera and a host computer.A soft guiding structure for navigating within the ruins is designed,which is composed of a series of software pipes.Each section of the software pipe can be bent.The soft guiding structure can reach the trapped by bending itself to avoid obstacles,and provide a channel for the flexible shaft or hose to reach the trapped.The flexible shaft can drill through some obstacles that cannot be avoided during the advancement process,and the pipeline carry water,oxygen and so on for those trapped.This paper analyzes the kinematics of a single-section software pipeline.The kinematics of the soft pipeline is analyzed,the d-h coordinate system is established,and the transformation matrix between the central arc parameters and the terminal pose of the soft pipeline is obtained.The software pipeline was modeled by the Yeoh strain energy density model,and analyzed by ABAQUS,and the relationship between the single chamber driving air pressure and the bending angle was obtained.The hardware platform and software control system of the soft rescue robot were built.By controlling the relay and the solenoid valve,the control of the chamber is realized,and the control of the soft guiding structure is realized.Write the upper computer page through VS2015+Qt4.2,and write the lower computer control program through Arduino IDE.Real-time control,video transmission,and air pressure detection for the soft rescue robot are realized.Face detection under a single camera is achieved.HOG and LBP feature extraction are performed.The dimensionality reduction is performed using the equivalent mode of the LBP feature.Feature fusion of HOG and LBP features.SVM has good generalization ability in small sample cases,and combines the characteristics after fusion.Set up a face detection system in the VS2015+OpenCV environment.Developed a prototype of a soft rescue robot,and build a ruin simulation environment.The mold is produced by means of 3D printing.A soft guiding structure was produced by injecting silicone rubber through a mold using an Ecoflex 00-50 type silicone rubber.The soft rescue robot can reach the position of the trapped person’s mouth by bending itself to avoid the obstacle.The oxygen and liquid nutrients can be delivered to the trapped person through the hose.Using a flexible shaft and a drill bit,it is possible to punch holes in some weak obstacles inside the ruins.