Radar sensor-based bio-inspired autonomous mobile robot using BLE location tracking for disaster rescue

A bio-inspired autonomous mobile robotic device (200) for disaster rescue, wherein the device (200) comprises:

• a plurality of limbs (14i) attached to a chassis body (2) rendering the mobile robot device (200) capable of locomotion;
• the limbs (14i) of the mobile robot (2) includes actuators (14b) for controlling at least one motion of the robotic device (200);
• at least one on-board 360° rotating visual sensing module (20) mounted on a vertical retractable pedestal (20a) for capturing images/video footage of a disaster site (30);
• a Global Navigation Satellite Systems (GNSS) solution (8) to obtain location co-ordinates of the device (200) at the said disaster site (30);
• an Inertial Measurement Unit (IMU) (6) with a minimum of 6 DoF (Degrees of Freedom) to aid in the purpose of the mobile robot's (200) localization and self-orientation within the disaster site (30);
• at least one flashlight (16) for illuminating the said disaster site (30) and facilitating extrication/evacuation of survivor(s) (34) by a rescue team;
• a microcontroller unit (MCU) (26) for controlling movement of the mobile robot (200), camera (20), IMU (6), flashlight (16) operations;
• wherein,
• at least one millimeter-wave radar sensor (10) for detecting survivor(s) (34) at the disaster site (30);
• at least one Impulse Radio Ultra Wide-Band (IR-UWB) radar sensor solution (12) for detecting survivor(s) (34) at the disaster site (30);
• Bluetooth® Low Energy (BLE) solution (4) with direction-finding feature, for locating survivor(s) (34) at the disaster site (30),
• the millimeter-wave radar sensor (10) and the Impulse Radio Ultra Wide-Band radar sensor solution (12) detect changes in the vital signs of survivor(s), the vital signs include at least one of heart rate, breathing rate, pulse rate,
• the MCU (26) processes using sensor fusion, the data, received from the millimeter-wave radar sensor (10), the Impulse Radio radar sensor (12), camera (20), the GNSS solution (8), and IMU (6) for obtaining localization and information regarding the location of the trapped survivor(s) (34), and
• the millimeter-wave radar sensor (10), UWB radar sensor (12) and the camera (20) deduce the existence of survivor(s) (34) at the disaster site (30)/rescue site (32) and thereby the next path/direction of movement of the present invention (200) may be determined.