# US 11,999,052 B2 · Robot for detecting and saving life in small space > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,052 B2 - Document ID: US11999052B2 - Status: Granted - Kind: B2 - Application number: 17/295,436 - Filed: 2019-11-26 - Published: 2022-01-06 - Granted: 2024-06-04 - Earliest claimed: 2018-11-26 - Assignees: Korea Institute of Robot & Convergence; Korea University Research and Business Foundation - Applicants: Korea Institute of Robot and Convergence; Korea University Research and Business Foundation - Inventors: Jong Geol Kim; Mao Lin Jin; Dong Bin Shin; Dae Hie Hong; Seung Sub Oh; Kap Ho Seo - Web page: https://patentgrep.com/patent/US11999052B2 ## CPC - B25J 15/0019: {End effectors other than grippers} - B25J 18/06: flexible - A62C 27/00: Fire-fighting land vehicles - A62C 99/0072: {using sprayed or atomised water} - B25J 9/065: {Snake robots} - B25J 9/1697: {Vision controlled systems} - B25J 11/00: Manipulators not otherwise provided for - B25J 13/087: {for sensing other physical parameters, e.g. electrical or chemical properties} - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 19/02: Sensing devices - B25J 19/023: {including video camera means} - B25J 19/026: {Acoustical sensing devices} - A62B 3/00: Devices or single parts for facilitating escape from buildings or the like, e.g. protection shields, protection screens; Portable devices for preventing smoke penetrating into distinct parts of buildings (A62B1/00 takes precedence) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A62C: FIRE-FIGHTING (fire-extinguishing compositions, use of chemical substances in extinguishing fires A62D1/00; spraying, applying liquids or other fluent materials to surfaces in general B05; alarm arrangements G08B, e.g. fire alarms actuated by smoke or gases G08B17/10) - A62B: DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING (valves specially adapted for medical use A61M39/00; life-saving devices, apparatus or methods specially adapted for use in water B63C9/00; divers' equipment B63C11/00; specially adopted for use with aircraft, e.g. parachutes, ejector seats, {B64D17/00, B64D25/10}; rescue devices peculiar to mining E21F11/00) ## Abstract A robot for detecting and saving a life, includes: a body part including a plurality of unit joints; a head part which is provided at the front of the body part in the direction in which the body part moves forward, and which has a gripper capable of picking up an object by a plurality of tongs parts that are folded and unfolded; and an extension part capable of extending forward from the head part so as to enter a small space that is difficult for the body part to enter. ## Claims ### Claim 1 A robot for detecting and saving a life comprising: a body part including a plurality of unit joints extending in a length direction; a non-extendible head part which is provided at a front of the body part in a direction where the body part moves forward and includes a gripper capable of picking up an object by a plurality of tongs parts which are folded and unfolded, each of which includes sensors or modules performing different functions, the non-extendible head part having a cylindrical shape and comprising a plurality of injection holes formed on an outer circumferential surface of the cylindrical shape; and an extension part extended independently without being linked to the plurality of tongs parts and provided to extend forward from the non-extendible head part so as to enter a small space that is difficult for the body part to enter, with provision of a supply line supplying water and nutrients inside to provide water and nutrients to the survivor upon detection of the survivor. ### Claim 2 (depends on 1) The robot for detecting and saving the life of claim 1, wherein a heat source sensor for sensing a heat source is provided in one of the plurality of tongs parts. ### Claim 3 (depends on 2) The robot for detecting and saving the life of claim 2, wherein an extinguishing liquid is stored inside the non-extendible head part so that the extinguishing liquid is capable of being injected through the plurality of injection holes when the heat source is sensed by the heat source sensor or smoke sensed by a smoke sensor. ### Claim 4 (depends on 1) The robot for detecting and saving the life of claim 1, wherein a smoke sensor for sensing smoke is provided in one of the plurality of tongs parts. ### Claim 5 (depends on 4) The robot for detecting and saving the life of claim 4, wherein an extinguishing liquid is stored inside the non-extendible head part so that the extinguishing liquid is capable of being injected through the plurality of injection holes when the heat source is sensed by the heat source sensor or smoke sensed by a smoke sensor. ### Claim 6 (depends on 1) The robot for detecting and saving the life of claim 1, wherein a sonic sensor is provided in one of the tongs parts to transmit a signal detected from the sonic sensor to rescuers or a rescue center and detect a rescue signal of the survivor. ### Claim 7 (depends on 6) The robot for detecting and saving the life of claim 6, wherein a communication module is provided in one of the tongs parts to determine conditions of the survivor through the communication module when the rescue signal of the survivor is detected in the sonic sensor. ### Claim 8 (depends on 1) The robot for detecting and saving the life of claim 1, wherein a camera module is provided in the non-extendible head part or the extension part to photograph a progressing direction of the body part and transmit the photographed progressing direction to the rescue center, and the rescue center determines the progressing direction through images input from the camera module.