A ground unmanned vehicle anti-rollover device

Abstract

The present invention relates to the technical field of vehicle equipment, and in particular to an anti-rollover device for a ground unmanned vehicle; the device comprises a fixing device, a detection device, a supporting device and a flipping device, wherein the fixing device is mounted on the outside of the unmanned vehicle; the detection device is mounted on the fixing device, and the detection device is used to detect whether the vehicle has a rollover risk according to different degrees of inclination of the unmanned vehicle and cooperate with the supporting device to prevent the vehicle from rolling over; the supporting device is mounted on both sides of the unmanned vehicle, and the supporting device is used to provide support for the unmanned vehicle when it is tilted to prevent it from rolling over; the flipping device is mounted on the top of the unmanned vehicle, and the flipping device is used to flip the unmanned vehicle again for normal driving when it is flipped by external force.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle equipment, and in particular to an anti-rollover device for a ground unmanned vehicle. Background Art

[0002] Unmanned vehicles, as an outstanding representative of modern technology, are gradually changing the way we travel with their intelligent, autonomous and efficient features. Equipped with advanced sensors and AI algorithms, they can perceive the surrounding environment in real time, plan routes autonomously, and ensure safe and stable driving. Unmanned vehicles not only reduce labor costs and improve transportation efficiency, but also demonstrate their unique advantages in special environments, such as cargo transportation in bad weather and exploration of complex terrain.

[0003] It is currently used in various industries. Among them, on-site inspections are usually required at coal mines in many places. Since there are many dangerous factors in the mines, unmanned vehicles come in handy. However, there are many bricks and rubble in the mines, and the road conditions in the mine environment are uneven due to the repeated driving of transport vehicles. When existing unmanned vehicles are patrolling in the mines, they are prone to rollover when passing through large potholes, thereby interrupting the patrol work; at the same time, when the vehicle rolls over, it will also cause varying degrees of damage to the vehicle, causing unnecessary economic losses.

[0004] Therefore, the present invention designs a ground unmanned vehicle anti-rollover device to solve the above-mentioned technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is as follows: there are many bricks, stones and rubbles in the existing mines, and the road conditions in the mines are uneven due to the repeated travel of transport vehicles. When the existing unmanned vehicles are patrolling in the mines, they are prone to rollover when passing through large potholes, thereby interrupting the patrol work; at the same time, when the vehicles roll over, they will also cause varying degrees of damage to the vehicles, causing unnecessary economic losses.

[0006] The present invention provides the following technical solutions: a ground unmanned vehicle anti-rollover device, comprising a fixing device, a detection device, a supporting device and a flipping device, wherein the fixing device is installed on the outside of the unmanned vehicle; the detection device is installed on the fixing device, and the detection device is used to detect whether the vehicle has a rollover risk according to different inclination degrees of the unmanned vehicle and cooperate with the supporting device to prevent the vehicle from rolling over; the supporting device is installed on both sides of the unmanned vehicle, and the supporting device is used to provide support for the unmanned vehicle when it is tilted to prevent it from rolling over; the flipping device is installed on the top of the unmanned vehicle, and the flipping device is used to flip the unmanned vehicle again for normal driving when it is flipped by external force.

[0007] Preferably, the detection device includes a detection cavity, a fixed axis, a rotating rod and a sensing sheet. The detection cavity is opened on the unmanned vehicle. The detection cavity is a circular cavity. A fixed axis is installed at the center of the circular cavity. A rotating rod is installed on the fixed axis. Sensing sheets are installed on the rotating rod and on the inner wall of the detection cavity. The length of the rotating rod is consistent with the diameter of the detection cavity.

[0008] Preferably, weighted balls are installed at both ends of the rotating rod.

[0009] Preferably, the supporting device comprises a fixing frame, a storage slot, a No. 1 telescopic rod, a stabilizing spring and an anti-skid pad. The fixing frame is fixedly installed around the unmanned vehicle. The fixing frame is provided with a storage slot, in which a No. 1 telescopic rod is installed, in which a stabilizing spring is installed, and an anti-skid pad is installed at the bottom of the No. 1 telescopic rod.

[0010] Preferably, the first telescopic rod is L-shaped, and a movable roller is installed at the bottom of the first telescopic rod.

[0011] Preferably, an adjusting motor is installed between the movable roller and the first telescopic rod, and the adjusting motor is used to adjust the moving direction of the movable roller.

[0012] Preferably, a support frame is installed on the side of the unmanned vehicle, an electric push rod is installed in the support frame, a card joint is provided at one end of the electric push rod, and a card groove that cooperates with the card joint is installed in the No. 1 telescopic rod.

[0013] Preferably, the hinged part between the No. 1 telescopic rod and the fixing frame adopts an articulated ball joint, and a limit baffle is provided in parallel with the storage groove. The limit baffle is fan-shaped, and when the No. 1 telescopic rod is in a vertical state, the limit baffle does not block it.

[0014] Preferably, a rotating motor is installed on the articulated ball, and the rotating motor is used to control the left and right rotation of the No. 1 telescopic rod; an arc groove for the rotating motor to rotate is opened in the fixing frame.

[0015] Preferably, electric baffles are installed in an array in the arc-shaped slot, and a cavity for accommodating the rotating motor is formed between the electric baffles and the arc-shaped slot.

[0016] Preferably, the flipping device includes a protective frame, a support column, a second telescopic rod, a fixed foot, a hinged head and a flipping motor. The protective frame is symmetrically installed at the front and rear ends of the top of the unmanned vehicle. The hinged heads are symmetrically installed in the protective frame, and the support column is installed on the hinged head; the second telescopic rod is installed on the support column, and a fixed foot is installed at one end of the second telescopic rod; and the flipping motor is installed on the hinged head.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. The present invention sets a detection device and a supporting device, and determines whether the unmanned vehicle is tilted by the self-gravity of the detection rod in the detection device. After determining the tilt degree of the unmanned vehicle by the sensing sheet, the motor in the supporting device drives the No. 1 telescopic rod to extend. Since the No. 1 push rod is hinged in the storage slot, the motor in the supporting device can fine-tune the tilt angle of the No. 1 telescopic rod while controlling the extension of the No. 1 telescopic rod, thereby ensuring that the supporting device can better support the unmanned vehicle, avoiding the unmanned vehicle from rolling over when passing through a large pothole section during patrol work in the mine.

[0019] 2. The present invention provides a flipping device. When the unmanned vehicle flips due to external force, the second telescopic rod in the support column begins to extend to lift the entire unmanned vehicle. At this time, the flipping motor controls the unmanned vehicle to rotate. At the same time, the support device extends while flipping, thereby protecting the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is an overall schematic diagram of the present invention;

[0022] Figure 2 is a schematic diagram of a detection device of the present invention;

[0023] Figure 3 is a schematic diagram of the interior of the detection chamber of the present invention;

[0024] Figure 4 It is a schematic diagram of the supporting device of the present invention when it is working;

[0025] Figure 5 It is a working schematic diagram of the regulating motor of the present invention;

[0026] Figure 6 This is a schematic diagram of the working state of the present invention when rolling over;

[0027] Figure 7 This is a schematic diagram of the working state of the present invention when flipping;

[0028] Figure 8 This is a schematic diagram of the working state of the present invention after flipping and resetting;

[0029] Fig. 9 It is an enlarged view of point A of the present invention;

[0030] Fig.10 It is a schematic diagram of the position of the articulated ball of the present invention;

[0031] Fig.11 It is a schematic diagram of the distribution position of the electric baffle of the present invention.

[0032] In the figure: 1. fixing device; 2. detection device; 21. detection cavity; 22. fixed axis; 23. rotating rod; 24. induction sheet; 25. counterweight ball; 3. supporting device; 31. fixing frame; 311. arc groove; 312. electric baffle; 313. cavity; 32. storage slot; 321. limit baffle; 33. telescopic rod No. 1; 331. hinged ball; 332 rotating motor; 34. stabilizing spring; 35. anti-skid pad; 36. moving roller; 37. supporting frame; 38. electric push rod; 381. card joint; 39. adjusting motor; 4. flipping device; 41. protection frame; 42. supporting column; 43. telescopic rod No. 2; 44. fixed foot; 45. hinge joint; 46. flipping motor. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0036] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The disclosed embodiment aims to solve the problem that there are many bricks and rubbles in the existing mines, and the road conditions of the mine environment are uneven due to the multiple driving of transport vehicles. When the existing unmanned vehicles are patrolling in the mines, they are easy to roll over when passing through large potholes, thereby interrupting the patrol work; at the same time, when the vehicle rolls over, it will also cause different degrees of damage to the vehicle, causing unnecessary economic losses. In view of this, the disclosed embodiment proposes a ground unmanned vehicle anti-rollover device, which can determine whether the unmanned vehicle is tilted by the self-gravity of the detection rod in the detection device, and after determining the tilt degree of the unmanned vehicle by the sensor sheet, the motor in the support device drives the No. 1 telescopic rod to extend, and the No. 1 push rod is hinged in the storage slot, so the motor in the support device can control the extension of the No. 1 telescopic rod while fine-tuning the inclination angle of the No. 1 telescopic rod, thereby ensuring that the support device can better support the unmanned vehicle, and avoid the unmanned vehicle from rolling over when passing through large potholes when patrolling in the mine.

[0038] like Figures 1 to 9 As shown, a ground unmanned vehicle rollover prevention device comprises a fixing device 1, a detection device 2, a supporting device 3 and a flipping device 4, wherein the fixing device 1 is mounted on the outside of the unmanned vehicle; the detection device 2 is mounted on the fixing device 1, and the detection device 2 is used to detect whether the vehicle has a rollover risk according to different tilt degrees of the unmanned vehicle and cooperate with the supporting device 3 to prevent the vehicle from rolling over; the supporting device 3 is mounted on both sides of the unmanned vehicle, and the supporting device 3 is used to provide support for the unmanned vehicle when it tilts to prevent it from rolling over; the flipping device 4 is mounted on the top of the unmanned vehicle, and the flipping device 4 is used to flip the unmanned vehicle again for normal driving when it is flipped by external force;

[0039] The above-mentioned detection device 2 can automatically detect the degree of inclination of the vehicle when the unmanned vehicle is driving, so as to determine whether the unmanned vehicle has the risk of overturning. At the same time, during the detection process of the detection device 2, the support device 3 is also driven to further support the unmanned vehicle, thereby ensuring the stability of the unmanned vehicle during driving, and after the unmanned vehicle flips over after encountering an unstoppable external force, the flipping device 4 can be used to flip the vehicle again to ensure the normal driving of the unmanned vehicle during patrol.

[0040] like Figures 2 to 3 As shown, the detection device 2 includes a detection cavity 21, a fixed shaft 22, a rotating rod 23 and a sensing sheet 24. The detection cavity 21 is opened on the unmanned vehicle, and the detection cavity 21 is used to prevent the rotating rod 23 from rotating; the detection cavity 21 is a circular cavity, and the circular cavity is used for the rotating rod 23 to rotate; a fixed shaft 22 is installed at the center of the circular cavity, and the fixed shaft 22 is used to fix the rotating rod 23; a rotating rod 23 is installed on the fixed shaft 22, and the rotating rod 23 is used to rotate to determine the inclination degree of the unmanned vehicle; sensing sheets 24 are installed on the rotating rod 23 and the inner wall of the detection cavity 21, and the sensing sheet 24 is used to sense the rotation degree of the rotating rod 23 and then determine the inclination degree of the unmanned vehicle to drive the supporting device 3 to support the unmanned vehicle; the length of the rotating rod 23 is consistent with the diameter of the detection cavity 21.

[0041] During operation, the unmanned vehicle will tilt when passing through a bumpy road section due to its movement in the mining area during driving, while the detection device 2 is in a horizontal state when the unmanned vehicle is on a stable road section. When the unmanned vehicle tilts, the detection device 2 tilts due to its own gravity, and then tilts along with the tilt of the unmanned vehicle. Therefore, the rotating rod 23 rotates around the fixed axis 22 and drives the sensing sheet 24 to contact the sensing sheet 24 in the detection cavity 21. At this time, the support device 3 starts to work to further stabilize the unmanned vehicle; when the unmanned vehicle gradually stabilizes, the detection device 2 gradually returns to the horizontal position, thereby causing the support device 3 to also return to the horizontal position.

[0042] By using the above-mentioned detection device 2, it is possible to determine in real time whether the unmanned vehicle has a risk of rollover based on the degree of inclination. This method does not require additional energy supply and has high accuracy. Moreover, since the detection device 2 is located in a closed environment, dust can be effectively prevented from entering the detection chamber 21, thereby preventing dust from jamming the rotating rod 23.

[0043] like Figure 3As shown, counterweight balls 25 are installed at both ends of the rotating rod 23. The counterweight balls 25 are used to increase the gravity at both ends of the rotating rod 23, making it more sensitive to the tilt degree of the unmanned vehicle, avoiding the situation where the unmanned vehicle tilts but the detection device 2 does not detect it. At the same time, this method also effectively avoids the friction between the end of the rotating rod 23 and the detection cavity 21, further increasing the service life of the sensor sheet 24.

[0044] like Figures 4 to 6 As shown, the supporting device 3 includes a fixing frame 31, a receiving slot 32, a No. 1 telescopic rod 33, a stabilizing spring 34 and an anti-skid pad 35. The fixing frame 31 is fixedly installed around the unmanned vehicle, and the fixing frame 31 is used to fix the No. 1 telescopic rod 33; the fixing frame 31 is provided with a receiving slot 32, and the receiving slot 32 is used to receive the No. 1 telescopic rod 33; the No. 1 telescopic rod 33 is installed in the receiving slot 32, and the No. 1 telescopic rod 33 is used to support the unmanned vehicle when the unmanned vehicle tilts; the No. 1 telescopic rod 33 is installed with a stabilizing spring 34, and the stabilizing spring 34 is used to reduce the shock of the No. 1 telescopic rod 33, thereby ensuring the service life of the No. 1 telescopic rod 33; the bottom of the No. 1 telescopic rod 33 is installed with an anti-skid pad 35, and the anti-skid pad 35 is used to ensure the stability of its support;

[0045] During operation, when the detection device 2 detects that the unmanned vehicle is tilted, the motor in the support device 3 drives the No. 1 telescopic rod 33 to extend, and since the No. 1 push rod is hinged in the storage slot 32, the motor in the support device 3 can fine-tune the inclination angle of the No. 1 telescopic rod 33 while controlling the extension of the No. 1 telescopic rod 33, thereby ensuring that the support device 3 can better support the unmanned vehicle. At the same time, the unmanned vehicle is still moving forward while supporting it. When the No. 1 telescopic rod 33 moves, the stabilizing spring 34 located in the No. 1 telescopic rod 33 will dampen it, thereby increasing the service life of the No. 1 telescopic rod 33.

[0046] like Figure 4 As shown, the first telescopic rod 33 is L-shaped. The first telescopic rod 33 is set to be L-shaped to ensure that it can provide better support for the unmanned vehicle during movement, and a moving roller 36 is installed at the bottom of the first telescopic rod 33. The moving roller 36 is used to enable the support device 3 to better move with the unmanned vehicle during the support process. An adjustment motor 39 is installed between the moving roller 36 and the first telescopic rod 33, and the adjustment motor 39 is used to adjust the moving direction of the moving roller 36;

[0047] During operation, when the support device 3 drives the No. 1 telescopic rod 33 to extend, the No. 1 telescopic rod 33 drives the moving roller 36 to extend, and at the same time, the adjustment motor 39 drives the moving roller 36 to rotate so that it is consistent with the driving direction of the unmanned vehicle. When the unmanned vehicle returns to stability, the adjustment motor 39 drives the moving roller 36 to rotate. At this time, the No. 1 telescopic rod 33 is retracted so that the moving roller 36 is just stored in the storage groove 32, thereby better protecting the moving roller 36 when the support device 3 is not in use.

[0048] like Figure 4 As shown, a support frame 37 is installed on the side of the unmanned vehicle, and the support frame 37 is used to provide support for the No. 1 telescopic rod 33; an electric push rod 38 is installed in the support frame 37, and the electric push rod 38 is used to adjust the support frame 37 according to the tilt direction of the No. 1 telescopic rod 33; a clamping joint 381 is provided at one end of the electric push rod 38, and the clamping joint 381 is used to cooperate with the clamping groove to fix the electric push rod 38 and the No. 1 telescopic rod 33; a clamping groove that cooperates with the clamping joint 381 is installed in the No. 1 telescopic rod 33, and the clamping groove is used to clamp the clamping joint 381;

[0049] During operation, after the No. 1 telescopic rod 33 is extended, the No. 1 telescopic rod 33 is in an unstable state because the No. 1 telescopic rod 33 is hinged in the storage slot 32. At this time, the electric push rod 38 extends to drive the card joint 381 to extend, and the card joint 381 is carded on the No. 1 telescopic rod 33. At this time, a stable triangle is formed between the No. 1 telescopic rod 33, the outer wall of the unmanned vehicle and the electric push rod 38, so that the support device 3 can provide good support for the unmanned vehicle when the unmanned vehicle is tilted;

[0050] like Figure 10 to Figure 11 As shown, the hinged part of the No. 1 telescopic rod 33 and the fixed frame 31 is connected by a hinge ball 331. The hinge ball 331 is used to drive the support device 33 to unfold. At the same time, after the support device 3 is fully unfolded, it can be slightly adjusted in the vertical direction to cooperate with the unmanned vehicle to travel on roads in different sections and adjust according to road conditions; and a limit baffle 321 is arranged in a parallel position of the storage groove 32. The limit baffle 321 is a fan-shaped, and the fan-shaped limit baffle 321 is used to further support and limit the support device 3 when the support device 3 is horizontally unfolded, thereby increasing the stability of the support device 3; and when the No. 1 telescopic rod is in a vertical state, the limit baffle 321 does not block it.

[0051] like Figure 10 to Figure 11As shown, a rotating motor 332 is installed on the articulated ball 331, and the rotating motor 332 is used to drive the supporting device 3 to rotate in the horizontal direction. The rotating motor 332 is used to control the left and right rotation of the No. 1 telescopic rod; an arc groove 311 for the rotating motor 332 to rotate is opened in the fixed frame, and the arc groove 311 is used to cooperate with the supporting device 3 for adjustment under different road conditions, that is, to provide space for the rotating motor 332 to rotate.

[0052] like Figure 10 to Figure 11 As shown, the electric baffles 312 are installed in an array in the arc groove 311, and the electric baffles 312 are used to limit the rotation motor 332, thereby limiting the rotation of the support device 3 in the vertical direction; a cavity 313 for accommodating the rotation motor 332 is formed between the electric baffles 312 and the arc groove 311, and the cavity 313 is used to better limit the rotation motor 332;

[0053] The electric baffles 312 can open different electric baffles 312 according to the tilt angle detected by the detection device; taking the tilt angle of 30 degrees as an example, when the detection device detects that the tilt angle of the unmanned vehicle is 30 degrees, the support device 3 is unfolded to the extreme position at this time, and all the electric baffles 312 are opened. According to the tilt angle and the position of the rotating motor 332 after the support device 3 is stable, the two electric baffles 312 at the specified position are closed, and the rotating motor 332 is limited, thereby enabling the unmanned vehicle to travel on inclined sections over long distances.

[0054] like Figures 7 to 9 As shown, the flipping device 4 includes a protection frame 41, a support column 42, a second telescopic rod 43, a fixed foot 44, a hinged head 45 and a flipping motor 46. The protection frame 41 is symmetrically installed at the front and rear ends of the top of the unmanned vehicle, and the protection frame 41 is used to protect the flipping device 4; a hinged head 45 is installed in the protection frame 41, and the hinged head 45 is used to cooperate with the motor to adjust the support column 42; a support column 42 is installed on the hinged head 45; the support column 42 is used to support the unmanned vehicle after it is completely overturned, and a second telescopic rod 43 is installed on the support column 42, and the second telescopic rod 43 is used to extend a better support column 42 to support the unmanned vehicle; a fixed foot 44 is installed at one end of the second telescopic rod 43, and the fixed foot 44 is used to increase the friction between the support rod and the ground; a flipping motor 46 is installed on the hinged head 45, and the flipping motor 46 is used to cooperate with the support rod to flip the unmanned vehicle back.

[0055] During operation, when the unmanned vehicle rolls over, the support column 42 tilts, and then the No. 2 telescopic rod 43 begins to extend and fixes the fixed foot 44 on the ground, and continues to extend. At this time, the unmanned vehicle is subjected to a relative force and then flips over, so that it is adjusted from a rollover state to a normal state; when the unmanned vehicle is completely flipped over, the No. 2 telescopic rod 43 in the support column 42 begins to extend and lifts up the entire unmanned vehicle. At this time, the flipping motor 46 controls the rotation of the unmanned vehicle. At this time, the support device 3 extends while flipping, thereby protecting the unmanned vehicle.

[0056] The above-mentioned flipping device 4 can be used to return the vehicle to its normal position after flipping. At the same time, the support device 3 can also provide protection for the vehicle during flipping, thereby ensuring the normal working progress of the unmanned vehicle in the mine.

[0057] The overall working process is as follows: the unmanned vehicle will tilt when passing through a pothole section because it moves in a mining area during driving, and the detection device 2 is in a horizontal state when the unmanned vehicle is located on a stable road section. When the unmanned vehicle tilts, due to the gravity of the detection device 2 itself, it tilts along with the tilt of the unmanned vehicle. Therefore, the rotating rod 23 rotates around the fixed axis 22 and drives the sensing sheet 24 to contact the sensing sheet 24 in the detection chamber 21. At this time, the support device 3 starts to work, and the motor in the support device 3 drives the No. 1 telescopic rod 33 to extend, and the No. 1 push rod is hinged in the storage groove 32. Therefore, the motor in the support device 3 can control the extension of the No. 1 telescopic rod 33 while fine-tuning the inclination angle of the No. 1 telescopic rod 33, thereby ensuring that the support device 3 can better support the unmanned vehicle. At the same time, the unmanned vehicle is still moving forward while supporting it. When the No. 1 telescopic rod 33 moves, the stabilizing spring 34 located in the No. 1 telescopic rod 33 will dampen it, thereby increasing the service life of the No. 1 telescopic rod 33.

[0058] When the unmanned vehicle rolls over, the support column 42 tilts, and then the second telescopic rod 43 begins to extend and fixes the fixed foot 44 on the ground, and continues to extend. At this time, the unmanned vehicle is subjected to a relative force and then flips over, so that it is adjusted from a rollover state to a normal state; when the unmanned vehicle is completely flipped over, the second telescopic rod 43 in the support column 42 begins to extend and lifts up the entire unmanned vehicle. At this time, the flipping motor 46 controls the rotation of the unmanned vehicle. At this time, the support device 3 extends while flipping, thereby protecting the unmanned vehicle.

[0059] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A ground unmanned vehicle anti-rollover device, characterized in that: The invention comprises a fixing device (1), a detection device (2), a supporting device (3) and a flipping device (4), wherein the fixing device (1) is mounted on the outside of an unmanned vehicle; the detection device (2) is mounted on the fixing device (1), and the detection device (2) is used to detect whether the vehicle has a risk of rolling over according to different degrees of inclination of the unmanned vehicle and cooperate with the supporting device (3) to prevent the vehicle from rolling over; the supporting device (3) is mounted on both sides of the unmanned vehicle, and the supporting device (3) is used to provide support for the unmanned vehicle when it is tilted to prevent it from rolling over; the flipping device (4) is mounted on the top of the unmanned vehicle, and the flipping device (4) is used to flip the unmanned vehicle again to drive normally when it is flipped over by external force; The detection device (2) comprises a detection cavity (21), a fixed shaft (22), a rotating rod (23) and a sensing sheet (24); the detection cavity (21) is arranged on an unmanned vehicle; the detection cavity (21) is a circular cavity; a fixed shaft (22) is installed at the center of the circular cavity; a rotating rod (23) is installed on the fixed shaft (22); the sensing sheet (24) is installed on the rotating rod (23) and on the inner wall of the detection cavity (21); the length of the rotating rod (23) is consistent with the diameter of the detection cavity (21); The two ends of the rotating rod (23) are equipped with weighted balls (25); The support device (3) comprises a fixing frame (31), a storage slot (32), a first telescopic rod (33), a stabilizing spring (34) and an anti-skid pad (35); the fixing frame (31) is fixedly mounted around the unmanned vehicle; the fixing frame (31) is provided with a storage slot (32); a first telescopic rod (33) is mounted in the storage slot (32); a stabilizing spring (34) is mounted in the first telescopic rod (33); and an anti-skid pad (35) is mounted at the bottom of the first telescopic rod (33); the first telescopic rod (33) is L-shaped, and a moving roller (36) is mounted at the bottom of the first telescopic rod (33); An adjusting motor (39) is installed between the moving roller (36) and the first telescopic rod (33), and the adjusting motor (39) is used to adjust the moving direction of the moving roller (36); A support frame (37) is installed on the side of the unmanned vehicle, an electric push rod (38) is installed in the support frame (37), a card joint (381) is provided at one end of the electric push rod (38), and a card groove that cooperates with the card joint (381) is installed in the first telescopic rod (33); The hinged portion of the first telescopic rod (33) and the fixed frame (31) is connected by a hinge ball (331), and a limit baffle (321) is arranged in parallel with the receiving groove (32), the limit baffle (321) is in a fan-shaped shape, and when the first telescopic rod (33) is in a vertical state, the limit baffle (321) does not block it; A rotating motor (332) is installed on the articulated ball (331), and the rotating motor (332) is used to control the first telescopic rod (33) to rotate left and right; an arc groove (311) for the rotating motor (332) to rotate is provided in the fixed frame (31); Electric baffles (312) are installed in an array in the arc-shaped groove (311), and a cavity (313) for accommodating a rotating motor (332) is formed between two of the electric baffles (312) and between the arc-shaped groove (311).

2. The anti-rollover device for a ground unmanned vehicle according to claim 1, characterized in that: The flipping device (4) comprises a protection frame (41), a support column (42), a second telescopic rod (43), a fixed foot (44), a hinged head (45) and a flipping motor (46); the protection frame (41) is symmetrically mounted at the front and rear ends of the top of the unmanned vehicle; a hinged head (45) is mounted in the protection frame (41); the support column (42) is mounted on the hinged head (45); the second telescopic rod (43) is mounted on the support column (42); one end of the second telescopic rod (43) is mounted on the fixed foot (44); and the flipping motor (46) is mounted on the hinged head (45).

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