Anti-collision structure of mobile rescue device

Abstract

The present invention relates to an anti-collision structure of a mobile rescue device, comprising a floating part and a crawler chassis arranged below the floating part, the floating part comprising a floating cavity surrounded by a shell and providing buoyancy and a sealed control box, a control panel is arranged in the control box, the shell comprises a front end face, a rear end face and a side end face, and a radar detection component is arranged on the front end face, the rear end face and the side end face respectively; the radar detection component is electrically connected to the control box, and the radar detection component comprises two plane plates overlapped at an angle to each other, and microwave radar detection heads are arranged on the plane plates respectively. It can automatically stop or alarm in front of obstacles to adapt to complex working environments.

Description

Technical Field

[0001] The invention belongs to the technical field of emergency rescue, and in particular relates to an anti-collision structure of a mobile rescue device. Background Art

[0002] Modern rescue equipment is becoming more and more intelligent, and mobile rescue intelligent devices such as rescue robots are becoming more and more popular in flood disasters and other fields. The driving environment of rescue robots at the rescue site is also becoming more and more complex. This puts higher demands on the mobility of rescue robots. In particular, in order to enable the rescue robot to operate freely in any environment, the video sent back by the operator through the camera on the robot often cannot meet the requirements. If the robot runs at a relatively fast speed, the operator may not even be able to control the robot to stop in time. Therefore, it is necessary to provide an anti-collision structure so that the mobile rescue intelligent device can stop automatically to avoid collisions and adapt to the complex driving environment. Summary of the invention

[0003] The purpose of the present invention is to provide an anti-collision structure for a mobile rescue device, which can automatically stop or alarm in front of an obstacle to adapt to a complex working environment.

[0004] In order to achieve the above technical objectives, the technical solution of the present invention is as follows:

[0005] The anti-collision structure of the mobile rescue device includes a floating part and a crawler chassis arranged below the floating part, the floating part includes a floating cavity surrounded by a shell and providing buoyancy and a sealed control box, a control panel is arranged in the control box, the shell includes a front end face, a rear end face and a side end face, and a radar detection component is respectively arranged on the front end face, the rear end face and the side end face; the radar detection component is electrically connected to the control box, and the radar detection component includes two flat plates overlapped at an angle to each other, and microwave radar detection heads are respectively arranged on the flat plates.

[0006] The microwave radar detection head used in the present invention is an existing technology that has been used in the prior art. It can use the round-trip time of electromagnetic waves to measure the distance, direction and speed of objects that hinder electromagnetic waves. Due to the combination of two microwave radar detection heads in an arrangement and combination manner, the detected signal can be expanded, the reliability of the detection is improved, the limitation of the range of the ranging angle is broken through, and the reliability of the product is improved. Radar detection components are provided on the front, back, left and right end faces. Through the software data analysis in the control panel, when any side of the robot approaches an obstacle within a certain distance (such as 200mm) during walking, an alarm is issued; when it approaches an obstacle within a certain distance (such as 100mm), an immediate stop command is issued to the robot to prevent a collision.

[0007] Preferably, the angle of the plane plate is 120-180°, and the microwave radar detection head is arranged in parallel with the plane plate. The two microwave radar detection heads can be arranged at an angle to increase the detection range and improve the detection accuracy, so that the control board can perform comprehensive analysis on multiple groups of signals.

[0008] Preferably, the front end face, the rear end face and the side end face are respectively provided with grooves, and the radar detection assembly is arranged in the grooves; it also includes a back plate, the flat plate is connected to the back plate, and the back plate is sealed and connected to the floating part. The floating part is used to provide sufficient buoyancy to enable the device to float on the water surface when it sinks into the water, and the back plate is sealed and connected to the floating part so as not to destroy the sealing effect of the floating part, while being able to fix the assembly; arranging the assembly in the groove is conducive to reducing the collision of the radar detection assembly and maintaining its working stability.

[0009] Preferably, an even number of radar detection components are provided on each of the front end face, the rear end face and the side end face, and the even number of radar detection components are symmetrically distributed on both sides of the front end face, the rear end face and the side end face. For example, two of them are distributed on both sides of the front, rear, left and right end faces, respectively, so that the device can detect the environment more comprehensively and accurately during operation.

[0010] Preferably, a driving assembly is provided on the crawler chassis, and the driving assembly is electrically connected to the control panel. When the radar detection assembly detects that the object is too close, a signal is transmitted to the control panel, and the control panel controls the driving assembly, thereby automatically stopping the device, which is more accurate and more responsive than manual operation.

[0011] Preferably, the radar detection component on the front end face is the first detection component, the radar detection component on the rear end face is the second detection component, the angle of the plane plate in the second detection component is smaller than the angle of the plane plate in the first detection component; the radar detection component on the side end face is the third detection component, and the angle of the plane plate in the third detection component is 180°. The detection signals of the first detection component, the second detection component and the third detection component cooperate with each other. The first detection component can fully detect the environmental conditions in front of the device, the second detection component can detect a wider dimension, and the third detection component can make the detection head almost parallel to the side end face, and can detect the straight-line distance between the obstacle and the side end face.

[0012] Preferably, a camera is fixedly connected to a portion of the floating portion close to the front end surface and away from the rear end surface. The camera is used to assist in understanding the environment in which the device is running and the distribution of obstacles.

[0013] Preferably, the second detection assembly and the third detection assembly are arranged near the upper part of the mobile rescue device; the first detection assembly is arranged near the lower part of the mobile rescue device. The upper part of the rear end face and the side end face are most likely to be hit during operation, and the first and second detection assemblies are most likely to find obstacles; while the lower part of the front end face is prone to collision when going uphill, the third detection assembly can also feedback signals in time.

[0014] Preferably, the control box is welded on the outer wall of the floating chamber, the control box is provided with an opening, the microwave radar detection assembly includes a signal connection line, the signal connection line is connected to the control board; a sealing connection pipe is sleeved on the signal connection line, the sealing connection pipe passes through the opening and is sealed and welded to the opening. The control box can ensure sealing to avoid water ingress and damage, and the sealing connection pipe prevents water leakage when the signal connection line passes through the control box.

[0015] Preferably, the signal connection line passes through the floating cavity of the floating part and then extends into the control box; a fixing groove is provided on the inner side of the side wall of the floating part, and the signal connection line is embedded in the fixing groove. The fixing method of the signal connection line makes the connection stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a rear view of the present invention;

[0017] Figure 2 is a side view of the present invention;

[0018] Figure 3 is a schematic cross-sectional structural diagram of a radar detection assembly of the present invention;

[0019] Figure 4 It is a perspective view of the present invention. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 4 The anti-collision structure of the mobile rescue device shown includes a floating part 110 and a crawler chassis 120 arranged below the floating part 110, the floating part 110 includes a floating cavity surrounded by a shell to provide buoyancy and a sealed control box 140, a control panel is arranged in the control box 140, the shell includes a front end face, a rear end face and a side end face, and the front end face, the rear end face and the side end face are respectively provided with a radar detection component; the radar detection component is electrically connected to the control box, and the radar detection component includes two flat plates 111a and 111b overlapped at an angle to each other, and microwave radar detection heads 111c are respectively provided on the flat plates 111a and 111b.

[0022] The angle between the plane plates 111a and 111b is 120°, and the microwave radar detection head is arranged in parallel with the plane plates 111a and 111b. The two microwave radar detection heads can be arranged at an angle to increase the detection range and improve the detection accuracy, so that the control board can perform comprehensive analysis on multiple groups of signals.

[0023] The front end face, the rear end face and the side end face are respectively provided with grooves 130, and the radar detection assembly is arranged in the grooves 130; it also includes a back plate 111d, the flat plates 111a and 111b are connected to the back plate 111d, and the back plate 111d is sealed and connected to the floating part 110. The floating part 110 is used to provide sufficient buoyancy to enable the device to float on the water surface when it sinks into the water, and the back plate 111d is sealed and connected to the floating part 110 so as not to destroy the sealing effect of the floating part 110, and at the same time, the assembly can be fixed; arranging the assembly in the groove 130 is conducive to reducing the collision of the radar detection assembly and maintaining its working stability.

[0024] An even number of radar detection components are arranged on each of the front end face, the rear end face and the side end face, and the even number of radar detection components are symmetrically distributed on both sides of the front end face, the rear end face and the side end face. For example, two of them are distributed on both sides of the front, rear, left and right end faces, respectively, so that the device can detect the environment more comprehensively and accurately during operation.

[0025] The crawler chassis 120 is provided with a driving assembly, which is electrically connected to the control panel. When the radar detection assembly detects that the object is too close, a signal is transmitted to the control panel, and the control panel controls the driving assembly to automatically stop the device, which is more accurate and more responsive than manual operation.

[0026] The radar detection components on the front end face are the first detection components 111 and 112, and the radar detection components on the rear end face are the second detection components 115 and 116. The angle (109°) of the plane plates 111a and 111b in the second detection components 115 and 116 is smaller than the angle of the plane plates 111a and 111b in the first detection components 111 and 112; the radar detection components on the side end face are the third detection components 113 and 114. The angle of the plane plates 111a and 111b in the third detection components 113 and 114 is 180°. The detection signals of the first detection components 111 and 112, the second detection components 115 and 116, and the third detection components 113 and 114 cooperate with each other. The first detection components 111 and 112 can fully detect the environmental conditions in front of the device, the second detection components 115 and 116 can detect a wider dimension, and the third detection components 113 and 114 can make the detection head almost parallel to the side surface, and can detect the straight-line distance between the obstacle and the side surface.

[0027] A camera is also fixedly connected to a portion of the floating portion 110 close to the front end surface and away from the rear end surface. The camera is used to assist in understanding the environment in which the device is running and the distribution of obstacles.

[0028] The second detection components 115, 116 and the third detection components 113, 114 are arranged near the upper part of the mobile rescue device; the first detection components 111, 112 are arranged near the lower part of the mobile rescue device. The upper part of the rear end face and the side end face are most likely to be hit during operation, and the first and second detection components 115, 116 are most likely to find obstacles; and the lower part of the front end face is prone to collision when going uphill, and the third detection components 113, 114 can also feedback signals in time.

[0029] The control box 140 is welded on the outer wall of the floating chamber, and an opening is provided on the control box 140. The microwave radar detection assembly includes a signal connection line, and the signal connection line is connected to the control board; a sealing connection pipe is sleeved on the signal connection line, and the sealing connection pipe passes through the opening and is sealed and welded to the opening. The control box can ensure sealing to avoid water ingress and damage, and the sealing connection pipe prevents water leakage when the signal connection line passes through the control box.

[0030] The signal connection line passes through the floating cavity of the floating part and then extends into the control box; a fixing groove is provided on the inner side of the side wall of the floating part, and the signal connection line is embedded in the fixing groove. The fixing method of the signal connection line makes the connection stable.

[0031] The microwave radar detection head used in the present invention is an existing technology that has been used in the prior art. It can use the round-trip time of electromagnetic waves to measure the distance, direction and speed of objects that hinder electromagnetic waves. Due to the combination of two microwave radar detection heads in an arrangement and combination manner, the detected signal can be expanded, the reliability of the detection is improved, the limitation of the range of the ranging angle is broken through, and the reliability of the product is improved. Radar detection components are provided on the front, back, left and right end faces of the robot. Through the software data analysis in the control panel, when any side of the robot approaches an obstacle at a certain distance (such as 200mm) during walking, an alarm is issued; when it approaches an obstacle at a certain distance (such as 100mm), an immediate stop command is issued to the robot to prevent a collision.

[0032] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. The anti-collision structure of the mobile rescue device is characterized by: The invention comprises a floating part and a crawler chassis arranged below the floating part, the floating part comprises a buoyancy chamber surrounded by a shell and providing buoyancy and a sealed control box, a control panel is arranged in the control box, the shell comprises a front end face, a rear end face and a side end face, and a radar detection component is respectively arranged on the front end face, the rear end face and the side end face; the radar detection component is electrically connected to the control box, the radar detection component comprises two plane plates overlapping each other at an angle, and microwave radar detection heads are respectively arranged on the plane plates; the angle of the plane plates is 120-180°, and the microwave radar detection head is arranged parallel to the plane plates; an even number of radar detection groups are respectively arranged on the front end face, the rear end face and the side end face The even number of radar detection components are symmetrically distributed on both sides of the front end face, the rear end face and the side end face; the radar detection component on the front end face is the first detection component, the radar detection component on the rear end face is the second detection component, the angle of the plane plate in the second detection component is smaller than the angle of the plane plate in the first detection component; the radar detection component on the side end face is the third detection component, and the angle of the plane plate in the third detection component is 180°; the first detection component can fully detect the environmental conditions in front of the device, the second detection component can detect a wider dimension, and the third detection component can make the detection head parallel to the side end face, and can detect the straight-line distance between the obstacle and the side end face.

2. The anti-collision structure according to claim 1, characterized in that: The front end face, the rear end face and the side end face are respectively provided with grooves, and the radar detection components are arranged in the grooves; it also includes a back plate, the flat plate is connected to the back plate, and the back plate is sealed and connected to the floating part.

3. The anti-collision structure according to claim 1, characterized in that: The crawler chassis is provided with a driving assembly, and the driving assembly is electrically connected to the control board.

4. The anti-collision structure according to claim 1, characterized in that: The second detection assembly and the third detection assembly are arranged near the upper part of the mobile rescue device; and the first detection assembly is arranged near the lower part of the mobile rescue device.

5. The anti-collision structure according to any one of claims 1 to 4, characterized in that: The control box is welded on the outer wall of the float chamber, and an opening is provided on the control box. The microwave radar detection component includes a signal connection line, and the signal connection line is connected to the control board; a sealed connection tube is sleeved on the signal connection line, and the sealed connection tube passes through the opening and is sealed and welded to the opening.

6. The anti-collision structure according to claim 5, characterized in that: The signal connection line passes through the float cavity of the floating part and then extends into the control box; a fixing groove is provided on the inner side of the side wall of the floating part, and the signal connection line is embedded in the fixing groove.

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