A robot dog unmanned vehicle capable of automatic getting on and off

Abstract

The utility model relates to a kind of automatic getting-on and getting-off machine dog unmanned vehicle, comprising: carriage and vehicle body;Carriage is located on vehicle body, and carriage and vehicle body are integrated structure;First laser radar is equipped in the top of vehicle body front end;The lateral wall of carriage is hinged with car side door;Carriage tail is hinged with car tail door, and ladder is installed on car tail door;Machine dog is placed in the carriage.The utility model has the beneficial effect that: ladder is set in car tail door, so that machine dog enters and exits unmanned vehicle, avoids machine dog to skid when entering and exiting unmanned vehicle;The height of each level of ladder and the ground clearance of last level and the walking height of machine dog are matched, to prevent machine dog from climbing and falling;When unmanned vehicle is driving, car tail door is locked in the tail of vehicle by electromagnetic lock;Limit switch is arranged on the tail, and the limit switch is provided with telescopic structure, when the extended part is completely retracted into the limit switch, electromagnetic lock is completely locked;Through electromagnetic lock and limit switch, car tail door is firmly locked in the tail.

Description

Technical Field

[0001] This utility model relates to the field of intelligent inspection, and in particular to an unmanned robot dog that can automatically get on and off the vehicle. Background Technology

[0002] With the continuous advancement of intelligent inspection technology, the "unmanned vehicle + robot dog" multi-robot collaborative inspection mode, with its advantages of mobility, flexibility, and adaptability to complex terrain, is becoming an important development direction in the field of intelligent power grid inspection. This mode effectively improves the inspection efficiency of transmission lines, substations, and other scenarios by combining the long-distance transportation capability of unmanned vehicles with the precise inspection function of robot dogs. However, in actual operations, the collaborative efficiency of multiple robots is significantly constrained, with the core bottleneck concentrated in the operational connection between robot dogs and unmanned vehicles. Therefore, there is an urgent need to design a fully autonomous robot dog unmanned vehicle. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an unmanned robot dog that can automatically get on and off the vehicle.

[0004] This unmanned vehicle with an automated dog for getting on and off includes: a cargo box and a vehicle body; the cargo box is located on the vehicle body, and the cargo box and the vehicle body are an integrated structure; a first lidar is installed on the top of the front of the vehicle body; a side door is hinged to the side wall of the cargo box; a rear door is hinged to the rear of the cargo box, and a step is installed on the rear door; a robot dog is placed inside the cargo box.

[0005] Preferably, the robot dog includes a robot dog body and robot dog feet, with the robot dog feet located on both sides of the robot dog body; the top of the robot dog body is provided with a second lidar, a camera, and a robotic arm in sequence from front to back; the height of the camera is higher than that of the second lidar.

[0006] Ideally, the height of each step and the ground clearance of the last step should be matched with the walking height of the robot dog.

[0007] Preferably, the rear of the vehicle body and the tailgate are connected by a first telescopic rod, which is an electro-hydraulic telescopic rod.

[0008] Preferably, the carriage and the tailgate are unlocked and locked by an electromagnetic lock. The electromagnetic lock includes an electromagnetic lock body and an electromagnetic lock armature. The electromagnetic lock body is located at the rear of the carriage, and the electromagnetic lock armature is located on the tailgate. A limit switch is provided at the rear of the carriage to determine the opening and closing status of the tailgate.

[0009] Preferably, when the tailgate is closed, the electromagnetic lock body and the electromagnetic lock armature are engaged and locked, and the limit switch has a telescopic structure, with the end of the limit switch retracting into the limit switch.

[0010] Preferably, the side wall of the carriage has a door opening, and the door opening and the side door are connected by a second telescopic rod; the second telescopic rod is a hydraulic telescopic rod.

[0011] Preferably, there is a hollow structure between the front of the passenger compartment and the front of the vehicle body, and a front door is provided on the front of the passenger compartment; a control module and an energy storage device are installed inside the hollow structure; the control module is used to control the opening and closing of the tailgate and side doors, and the energy storage device is used to provide electrical energy to the tailgate and side doors.

[0012] Preferably, a communication module is installed on the inner wall of the carriage to communicate with the robot dog and obtain its location data. The communication module communicates with the control module, which controls the robot dog to enter and exit the carriage through the communication module.

[0013] The beneficial effects of this utility model are:

[0014] 1) This utility model uses an unmanned vehicle with a built-in robot dog to replace the robot dog for long-distance walking, which greatly improves the inspection distance of the robot dog; at the same time, a tail door is connected to the rear of the unmanned vehicle, and the tail door is equipped with steps, so that the robot dog can enter and leave the unmanned vehicle autonomously without human intervention.

[0015] 2) This utility model allows the robot dog to enter and exit the driverless vehicle by setting a step at the rear door, thus preventing the robot dog from slipping when entering and exiting the driverless vehicle; the height of each step and the height of the last step from the ground are matched with the walking height of the robot dog to prevent the robot dog from being unable to climb and falling.

[0016] 3) When the unmanned vehicle of this utility model is in motion, the tailgate is locked to the rear of the vehicle by an electromagnetic lock; a limit switch is provided at the rear of the vehicle, and the limit switch has a telescopic structure. When the extended part is completely retracted into the limit switch, the electromagnetic lock is fully locked to prevent the electromagnetic lock from not being fully locked; through the electromagnetic lock and the limit switch, the tailgate is firmly locked to the rear of the vehicle. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure when the car door is open;

[0018] Figure 2 This is a schematic diagram of the overall structure when the car door is closed;

[0019] Figure 3 This is a rear view of the overall structure;

[0020] Figure 4 This is a right-side oblique view of the overall structure;

[0021] Figure 5 This is a left-side oblique view of the overall structure;

[0022] Figure 6 This is a schematic diagram of the robot dog's structure.

[0023] Explanation of reference numerals in the attached drawings: 1. Carriage; 2. Body; 3. Cooling fan; 4. Tail door; 5. Side door; 6. First telescopic bar; 7. Second telescopic bar; 8. First lidar; 9. Robot dog; 10. Robot dog body; 11. Robot dog foot; 12. Robotic arm; 13. Camera; 14. Second lidar; 16. Limit switch; 17. Electromagnetic lock body; 18. Electromagnetic lock armature; 19. Step; 20. Front door; 21. Communication module. Detailed Implementation

[0024] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that, for those skilled in the art, several modifications can be made to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0025] As one embodiment, an unmanned robot dog that automatically gets on and off the vehicle is proposed, such as... Figure 1-6 As shown, the vehicle includes a passenger compartment 1 and a vehicle body 2. A first lidar 8 is mounted on the top front of the vehicle body, providing basic data for the autonomous driving system's perception, localization, and decision-making. The passenger compartment 1 is mounted on the vehicle body 2, and the passenger compartment 1 and vehicle body 2 are an integrated structure. The side wall of the passenger compartment 1 has openings, and a cooling fan 3 is installed within these openings to dissipate heat from the interior of the passenger compartment 1. A side door 5 is hinged to the side wall of the passenger compartment 1, facilitating maintenance and repair of components within the passenger compartment 1 by personnel. A tailgate 4 is hinged to the rear of the passenger compartment 1. A staircase 19 is installed on the tailgate 4. A robot dog 9 is placed inside the carriage 1. The robot dog 9 can enter and leave the carriage 1 through the staircase 19. The height of each step of the staircase 19 and the ground clearance of the last step are matched with the walking height of the robot dog 9 to prevent the robot dog 9 from being unable to climb or falling. The staircase 19 is made of high-strength lightweight alloy, which reduces the load on the first telescopic rod 6 while making it more sturdy. When the tailgate 4 and the side door 5 are closed, their outer walls are flush with the carriage 1, which is aesthetically pleasing and reduces the amount of dirt entering the carriage 1.

[0026] like Figure 3 and Figure 4As shown, the rear of the carriage 1 and the tailgate 4 are connected by a first telescopic rod 6, which is an electro-hydraulic telescopic rod used to control the opening and closing of the tailgate 4. The carriage 1 and the tailgate 4 are unlocked and locked by an electromagnetic lock. The electromagnetic lock includes an electromagnetic lock body 17 and an electromagnetic lock armature 18. The electromagnetic lock body 17 is located at the rear of the carriage 1, and the electromagnetic lock armature 18 is located on the tailgate 4. When the tailgate 4 is closed, the electromagnetic lock body 17 and the electromagnetic lock armature 18 are in contact and are electromagnetically attracted to each other, thus locking the tailgate 4 and the carriage 1. A limit switch 16 is provided at the rear of the carriage 1 to determine the opening and closing state of the tailgate 4 and to check whether the tailgate 4 is fully locked. The limit switch 16 has a telescopic structure. When the end of the limit switch 16 is fully retracted into the limit switch 16, the tailgate 4 is fully closed, and the electromagnetic lock has fully locked the tailgate 4.

[0027] like Figure 3 and Figure 4 As shown, a door opening is provided on the side wall of the carriage 1, and the door opening and the side door 5 are connected by a second telescopic rod 7. The second telescopic rod 7 is a hydraulic telescopic rod. When the side door 5 is open, the second telescopic rod 7 can keep the side door 5 at the current opening angle. At the same time, this mechanical structure prevents the problem of not being able to perform maintenance when the power is off. When the side door 5 is closed, the side door 5 and the carriage 1 are fixed by a latch to prevent the side door 5 from loosening and opening when the unmanned vehicle is in motion, which would affect safety.

[0028] like Figure 3 As shown, there is a hollow structure between the front of the carriage 1 and the front of the vehicle body 2. The front of the carriage 1 is equipped with a front door 20 for staff to perform maintenance and repairs on the interior of the hollow structure. A control module is installed inside the hollow structure to control the first telescopic rod 6, the electromagnetic lock, the limit switch 16, and the communication module 21 to communicate. An energy storage device is installed inside the hollow structure to provide power to the first telescopic rod 6, the communication module 21, the electromagnetic lock, the control module, and the limit switch 16.

[0029] like Figure 5 As shown, a communication module 21 is installed on the inner wall of the carriage 1, which is used to communicate with the robot dog 9, to know the current position of the robot dog 9, and to enable the robot dog 9 to enter and leave the carriage 1 through relevant instructions from the control module.

[0030] like Figure 6As shown, the robot dog 9 includes a robot dog body 10 and robot dog feet 11; the robot dog feet 11 are located on both sides of the robot dog body 10, and the top of the robot dog body 10 is provided with a second lidar 14, a camera 13 and a robotic arm 12 from front to back; the camera 13 is used to cooperate with the second lidar 14 to sense the position of the robot dog 9; the robotic arm 12 is used by the robot dog 9 to complete the corresponding inspection work; the height of the camera 13 is higher than that of the second lidar 14 to prevent the camera 13 from being blocked or interfered with by the second lidar 14.

Claims

1. An unmanned vehicle with an automatic dog for boarding and alighting, characterized in that, include: The carriage and the body; the carriage is located on the body, and the carriage and the body are an integrated structure; the first lidar is installed on the top of the front of the body; the side walls of the carriage are hinged with side doors; the rear of the carriage is hinged with a tail door, and a step is installed on the tail door; a robot dog is placed inside the carriage.

2. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, The robot dog consists of a robot dog body and robot dog feet, with the robot dog feet located on both sides of the robot dog body; the top of the robot dog body is equipped with a second lidar, a camera, and a robotic arm in sequence from front to back; the camera is higher than the second lidar.

3. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, The height of each step and the height of the last step off the ground are matched with the walking height of the robot dog.

4. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, The rear of the carriage and the tailgate are connected by a first telescopic rod, which is an electro-hydraulic telescopic rod.

5. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, The carriage and the tailgate are unlocked and locked by an electromagnetic lock. The electromagnetic lock includes an electromagnetic lock body and an electromagnetic lock armature. The electromagnetic lock body is located at the rear of the carriage, and the electromagnetic lock armature is located on the tailgate. A limit switch is provided at the rear of the carriage to determine the opening and closing status of the tailgate.

6. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 5, characterized in that, When the tailgate is closed, the electromagnetic lock body and the electromagnetic lock armature are engaged and locked. The limit switch has a telescopic structure, and the end of the limit switch is retracted into the limit switch.

7. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, The side wall of the carriage has a door opening, and the door opening and the side door are connected by a second telescopic rod; the second telescopic rod is a hydraulic telescopic rod.

8. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 1, characterized in that, There is a hollow structure between the front of the carriage and the front of the vehicle body, and the front of the carriage is equipped with a front door; a control module and an energy storage device are installed inside the hollow structure; the control module is used to control the opening and closing of the rear door and the side doors, and the energy storage device is used to provide power to the rear door and the side doors.

9. The automated unmanned vehicle with a robot dog for automatic boarding and alighting as described in claim 8, characterized in that, A communication module is installed on the inner wall of the carriage to communicate with the robot dog and obtain its location data. The communication module communicates with the control module, which controls the robot dog to enter and exit the carriage through the communication module.

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