Unmanned emergency robot chassis control system

Abstract

The invention discloses an unmanned emergency robot chassis control system which solves the problems that the size of a motor is increased and the turning radius and maneuverability are limited by replacing a traditional direct current motor with a hydraulic motor and combining power provided by a hydraulic driving system and a diesel engine. By introducing an intelligent control system, the working state of the hydraulic motor is further optimized, and the load adaptability and energy efficiency of the system are improved. In addition, a hybrid power design is adopted, a hydraulic driving system and an electric driving system cooperate with each other, and the stability and high efficiency of the robot are guaranteed when the load is heavy. According to the technical scheme, the adaptability and flexibility of the robot chassis in the complex environment can be remarkably improved, the bottleneck problem in the traditional technology is solved, and development of the indoor unmanned robot technology is promoted.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned emergency robot chassis control, and in particular to an unmanned emergency robot chassis control system. Background Art

[0002] With the continuous development of automation technology, unmanned robots are increasingly used in various industries, especially in indoor environments. Indoor unmanned robots are widely used in logistics handling, warehouse management, cleaning services and other scenarios. In order to achieve more efficient movement and operation, the robot's chassis drive system needs to have high flexibility, high load capacity and small size to adapt to complex and narrow indoor environments. However, existing chassis control technology still faces many challenges, especially when the load changes greatly. How to maintain good maneuverability and stability is a key issue in the design of the robot chassis system.

[0003] At present, most indoor unmanned robot chassis control systems on the market use DC motor drive technology. The rotation of the DC motor drives the mechanical structure to move, thereby realizing the movement of the robot. This type of technology has been widely used in many fields, but as the load increases, the torque demand of the motor will increase significantly, resulting in an increase in the size of the motor. The increase in the size of the motor makes the distance between the left and right tires fixed, and it cannot be reasonably adjusted as the size of the motor expands, which in turn affects the flexibility of the robot, especially the turning radius and the ability to turn around on the spot. In addition, the traditional electric drive system has high requirements for installation space, which limits the maneuverability of the robot in a small space. Summary of the invention

[0004] The present application provides an unmanned emergency robot chassis control system, which aims to solve the problem in the prior art that the increase in motor volume results in a fixed distance between the left and right tires, and cannot be reasonably adjusted as the motor volume expands, thereby affecting the flexibility of the robot, especially affecting the turning radius and ability of the robot to turn around on the spot.

[0005] An unmanned emergency robot chassis control system, the system comprising:

[0006] A power system, comprising a generator, an inverter and a battery, wherein the generator is used to output power electricity, the inverter is used to convert the power electricity into electric energy suitable for the chassis control system, and store the electric energy in the battery; the battery is used to provide a backup power supply for the chassis control system when the generator stops working;

[0007] A driving system, including a hydraulic motor and a hydraulic motor, wherein the hydraulic motor is used to drive the driving wheels of the chassis to control the movement of the robot; the hydraulic motor is connected to the hydraulic motor and works in coordination with the hydraulic motor to provide the required power output;

[0008] A power management system, including a power converter, which is used to convert the electric energy output by the battery into a 24V voltage to provide power for the robot control system and the backup hardware module;

[0009] PLC control system, used to control the robot movement, the working status of each module and the coordinated operation with other hardware modules;

[0010] A UWB positioning system is connected to the PLC control system, and the UWB positioning system is used to provide accurate position data of the robot in the environment and support path planning and navigation.

[0011] In the above scheme, optionally, the generator in the power system is connected to the battery through an inverter, and the inverter can automatically switch to the battery power supply mode when the generator stops working. The inverter and the battery are connected through a power management module, and the power management module is used to monitor the battery power in real time and adjust the power distribution.

[0012] In the above scheme, optionally, the hydraulic motor and the hydraulic motor in the drive system are connected through a hydraulic pipeline, the hydraulic pipeline adopts a high-pressure sealing design, and the hydraulic pipeline includes a pressure sensor, which is used to monitor the working pressure of the hydraulic system in real time and transmit the monitoring data to the PLC control system.

[0013] In the above scheme, optionally, the power management system further includes an intelligent charging control module, and the charging control module is used to automatically adjust the charging mode according to the power of the battery, and the charging control module can automatically adjust the charging current according to environmental conditions.

[0014] In the above scheme, optionally, the system also includes a wireless communication module, which is connected to the PLC control system, and the wireless communication module is used to transmit data with an external device via a wireless network, and the data includes the robot position, working status and target sensor information.

[0015] In the above scheme, optionally, the system includes an environment monitoring module, which is used to detect the surrounding environment of the robot. The environment monitoring module includes a temperature sensor, a humidity sensor and a smoke sensor. The environment monitoring module is connected to the PLC control system for real-time collection of environmental information.

[0016] In the above scheme, optionally, the hydraulic motor and the hydraulic motor are connected via a multi-stage hydraulic valve control unit, and the hydraulic valve control unit is used to adjust the movement state of the hydraulic motor and the hydraulic motor to ensure the smooth movement of the robot.

[0017] In the above scheme, optionally, the UWB positioning system is connected to the PLC control system, and the UWB positioning system includes a plurality of UWB sensors, which are distributed in the robot and the working environment and are used to obtain the positioning data of the robot in a multi-dimensional space.

[0018] In the above scheme, optionally, the PLC control system obtains the operating status and environmental data of the robot through a sensor module, and the sensor module includes a current sensor, a voltage sensor, a temperature sensor and an acceleration sensor, and the sensor module is used to monitor the status of the robot system.

[0019] In the above solution, optionally, the system includes an emergency stop module, which is connected to the PLC control system and is used to stop the movement of the robot by controlling the hydraulic motor and the hydraulic motor when an emergency occurs.

[0020] Compared with the prior art, this application has at least the following beneficial effects:

[0021] Based on further analysis and research of the problems of the prior art, this application recognizes that the increase in the size of the motor in the prior art makes the distance between the left and right tires fixed, and it is impossible to make reasonable adjustments as the motor size expands, thereby affecting the flexibility of the robot, especially affecting the turning radius and the ability to turn around on the spot of the robot. This application uses a hydraulic motor to replace the traditional DC motor, and combines the power provided by the hydraulic drive system and the diesel engine to solve the problems of increased motor size, limited turning radius and limited maneuverability. The present invention also further optimizes the working state of the hydraulic motor and improves the load adaptability and energy efficiency of the system by introducing an intelligent control system. In addition, a hybrid power design is adopted to enable the hydraulic and electric drive systems to cooperate with each other to ensure the stability and efficiency of the robot when the load is heavy. The technical solution proposed in this application can significantly improve the adaptability and flexibility of the robot chassis in complex environments, solve the bottleneck problem in traditional technology, and promote the development of indoor unmanned robot technology.

[0022] The unmanned emergency robot chassis control system of the present invention solves multiple key problems in the prior art through innovative design, and significantly improves the robot's operating ability in complex environments. First, by optimizing the power system, especially automatically switching to battery power when the generator stops, the present invention solves the problem that traditional robots are prone to power shortage when running under high load or for a long time, ensuring that the robot can still work stably when the power is suddenly interrupted or the task is performed for a long time. Secondly, the use of a hydraulic drive system avoids the situation that the electric drive system increases in volume and is limited in space under high load, improves the maneuverability of the robot, and enables it to move flexibly in a small environment. In addition, the power management system ensures the efficient use and long life of the battery and optimizes the power use efficiency by intelligently regulating charging and power distribution. Finally, combined with the UWB positioning system, the present invention solves the problem that traditional GPS cannot accurately locate indoors or in complex environments, so that the robot has accurate positioning and navigation capabilities and supports real-time path planning. These technical innovations jointly improve the autonomy, stability and adaptability of the robot, especially in high-load and complex tasks such as emergency rescue, which are more reliable and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A block diagram of the module architecture of an unmanned emergency robot chassis control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] In one embodiment, Figure 1 As shown, an unmanned emergency robot chassis control system is provided, the system comprising:

[0026] A power system, comprising a generator, an inverter and a battery, wherein the generator is used to output power electricity, the inverter is used to convert the power electricity into electric energy suitable for the chassis control system, and store the electric energy in the battery; the battery is used to provide a backup power supply for the chassis control system when the generator stops working;

[0027] A driving system, including a hydraulic motor and a hydraulic motor, wherein the hydraulic motor is used to drive the driving wheels of the chassis to control the movement of the robot; the hydraulic motor is connected to the hydraulic motor and works in coordination with the hydraulic motor to provide the required power output;

[0028] A power management system, including a power converter, which is used to convert the electric energy output by the battery into a 24V voltage to provide power for the robot control system and the backup hardware module;

[0029] PLC control system, used to control the robot movement, the working status of each module and the coordinated operation with other hardware modules;

[0030] A UWB positioning system is connected to the PLC control system, and the UWB positioning system is used to provide accurate position data of the robot in the environment and support path planning and navigation.

[0031] The unmanned emergency robot chassis control system of this embodiment combines the power system, drive system, power management system, PLC control system and UWB positioning system. Through the organic combination of these key modules, the unmanned emergency robot can operate autonomously and efficiently in complex environments. The power system of this embodiment includes a generator, an inverter and a battery. The generator is used to provide the power electricity required by the robot, and converts the power electricity into electrical energy suitable for the chassis control system through the inverter. The output power of the generator is not only used to drive the main actions of the robot, but also converts the electricity into electrical energy that can be stored in the battery through the inverter. The inverter can convert the power electricity of the generator into a voltage and current that matches the system requirements to ensure the stable operation of the chassis control system.

[0032] When the generator stops working, the system automatically switches to battery power mode. In this mode, the battery acts as a backup power source to provide continuous power supply to the robot. The power management module connects the battery and inverter to monitor the battery power and health in real time. Through the power management module, the system can intelligently adjust the battery's power distribution and power supply priority to ensure the stability of the robot under long-term work or high-load conditions.

[0033] This design can effectively solve the problem of insufficient power of the unmanned emergency robot under high-load operation mentioned in the background technology, allowing the robot to operate stably for a long time. Even when the generator stops working, it can rely on the battery to provide continuous power to the system.

[0034] The drive system of this embodiment adopts a combination of a hydraulic motor and a hydraulic motor, which solves the problem of the motor being too large and taking up space when the load of the traditional electric drive system increases. In the hydraulic drive system, the hydraulic motor transmits power through hydraulic fluid to drive the drive wheels of the chassis. The hydraulic motor and the hydraulic motor are connected through high-pressure hydraulic pipelines and work together to provide the power output required by the robot. The compact structure of the hydraulic motor allows the robot to maintain a small size and efficient driving capability even under high load conditions.

[0035] The design of the hydraulic system enables the system to automatically adjust the hydraulic flow when facing different loads, ensuring the stability of the drive wheels and the accuracy of motion control. Compared with traditional electric drive systems, this drive system will not increase the size of the motor and limit the installation space when the load increases, thus improving the maneuverability of the robot in complex environments, especially enabling more flexible operation in narrow spaces.

[0036] The power management system converts the power output of the battery into 24V voltage through the power converter, providing stable power for the robot control system and other hardware modules (such as hydraulic system, PLC controller, sensor, etc.). In this system, the power converter adjusts the output voltage and current according to the power requirements of each module of the robot to ensure that each module can obtain the best power supply.

[0037] The power management system also includes a battery monitoring function that can monitor the battery power and health status in real time to avoid over-discharge or over-charging and extend the battery life. During the operation of the robot, the system will automatically switch the power source (such as switching from generator to battery) according to the changes in battery power to ensure that the robot can operate stably for a long time.

[0038] The PLC control system is the core control module in the present invention, which is responsible for all motion control of the robot, the working state management of each module, and the coordinated operation with other hardware modules. The PLC control system adjusts the motion state of the robot and the working mode of each hardware module in real time by receiving feedback information from modules such as sensors, positioning systems, and hydraulic systems.

[0039] The PLC control system is highly programmable and can be flexibly configured according to different task requirements. For example, when performing emergency firefighting tasks, the PLC system can automatically adjust the robot's movement speed and control the opening and closing of the injection device according to the status of the hydraulic system; when performing navigation tasks, the PLC system can dynamically plan the robot's route based on the location information provided by the UWB positioning system.

[0040] The UWB (ultra-wideband) positioning system is connected to the PLC control system to provide accurate positioning information for the robot. The UWB system receives signals from base stations in the environment and combines it with the positioning module of the robot to calculate the precise position of the robot in real time. This system can support the path planning and autonomous navigation of the robot. The UWB positioning system has high positioning accuracy and can provide stable positioning data in complex environments (such as indoors, basements or dense urban environments), solving the difficulties of using traditional positioning technologies (such as GPS) in complex environments. By linking with the PLC control system, the UWB positioning system can provide accurate navigation information for the robot and support the robot's autonomous navigation in different environments.

[0041] This embodiment solves multiple technical problems in the existing unmanned emergency robot chassis control system through comprehensive design, and has significant technical effects:

[0042] In this embodiment, the generator in the power system is connected to the battery through an inverter. The inverter can automatically switch to the battery power supply mode when the generator stops working. The inverter and the battery are connected through a power management module. The power management module is used to monitor the battery power in real time and adjust the power distribution.

[0043] This embodiment ensures that the robot can continue to work when the generator stops by seamlessly switching between the inverter and the battery, thereby solving the problem that the traditional unmanned robot cannot continue to work in the case of power outage. The efficient regulation of the power management module ensures the maximum utilization of power resources, enabling the robot to perform long-term tasks in complex environments. This technical solution provides the robot with a more reliable and flexible power management capability. When facing power outages or equipment failures, the robot can smoothly switch to the backup power supply to ensure that the robot can continue to operate, especially in tasks such as emergency rescue, the robot does not need to worry about stopping midway due to insufficient power, thereby improving the emergency response capability of the robot. The intelligent battery management and charging control strategy effectively avoids over-discharge and over-charging, prolongs the service life of the battery, and ensures the efficient operation of the battery. The power management module adjusts the charge and discharge state of the battery in real time according to different working environments and task requirements, thereby optimizing the overall performance of the battery. Through the precise regulation of the power management module on the distribution of electric energy, the system can avoid excessive use of unnecessary electricity, thereby reducing energy waste. This is especially important for unmanned emergency robots that need to run for a long time, because it can significantly improve the robot's operating time and task completion rate, especially in unattended environments.

[0044] The design of this embodiment not only optimizes the power utilization efficiency of the robot through efficient power switching and intelligent power management, but also enhances the reliability and safety of the system, allowing the unmanned emergency robot to operate more stably and continuously in complex environments.

[0045] In one embodiment, the hydraulic motor and the hydraulic motor in the drive system are connected through a hydraulic pipeline. The hydraulic pipeline adopts a high-pressure sealing design, and the hydraulic pipeline includes a pressure sensor. The pressure sensor is used to monitor the working pressure of the hydraulic system in real time and transmit the monitoring data to the PLC control system.

[0046] This embodiment solves the problems of low efficiency, excessive or insufficient load in the hydraulic drive system of the traditional unmanned emergency robot through the precise design of the hydraulic motor, hydraulic motor and hydraulic pipeline and the real-time monitoring of the pressure sensor. Through precise pressure control and regulation, the robot of the present invention can operate stably in a complex and high-load environment, ensuring that the robot will not fail due to unstable pressure when performing emergency tasks.

[0047] In addition, through real-time data feedback and intelligent adjustment mechanisms, this embodiment significantly improves the operating efficiency of the hydraulic system, reduces energy waste, and effectively avoids hydraulic system failures caused by overload or overpressure. This enables the robot to maintain stable operation under long-term and high-load conditions, ensuring its continuous operation capability in complex environments.

[0048] This embodiment not only improves the reliability and intelligence of the hydraulic drive system of the unmanned emergency robot, but also enhances the robot's emergency response capabilities in various high-load operating environments, and has important technological breakthroughs and innovative value.

[0049] In this embodiment, the power management system further includes an intelligent charging control module, which is used to automatically adjust the charging method according to the power of the battery, and the charging control module can automatically adjust the charging current according to environmental conditions.

[0050] Through the application of the intelligent charging control module, the present invention can achieve efficient and safe battery charging management. The charging process is not only intelligent and automated, but also can be dynamically adjusted according to the external environment and battery status, thereby effectively extending the service life of the battery and ensuring the reliability and stability of the power system under various environmental conditions. Especially in complex emergency environments, the intelligent charging control module can ensure that the unmanned emergency robot continues to operate and complete tasks, greatly improving the robot's efficiency and operational capabilities.

[0051] In addition, the intelligent charging control module ensures that the robot always maintains sufficient power support during long-term high-load operation through seamless integration with the PLC system and collaboration with the power management system. This solves the defects of traditional robots' low charging efficiency and the system's inability to cope with complex environmental problems, and improves the robot's reliability during emergency operations.

[0052] In one embodiment, the system further includes a wireless communication module, which is connected to the PLC control system and is used to transmit data with an external device via a wireless network, wherein the data includes the robot position, working status and target sensor information.

[0053] By introducing a wireless communication module, this embodiment of the present invention can realize real-time data interaction and remote control between the robot and external devices. The integration of the wireless communication module effectively solves the problem of remote monitoring and control of unmanned emergency robots in complex environments, allowing the robot to transmit its position, working status and sensor information to the remote control center or operator in real time during the execution of the task, ensuring that the task can be executed efficiently and in a timely manner. In addition, the system can also operate the robot through remote commands to flexibly respond to dynamic changes on site.

[0054] The application of wireless communication modules improves the autonomy and intelligence of robots, ensuring that robots can obtain remote support and adjust work strategies in a timely manner when performing complex tasks. Through stable and reliable data transmission, operators can fully understand the working status of robots, so as to intervene or correct them in time, ensuring that robots can complete emergency tasks safely and stably in extreme environments.

[0055] In one embodiment, the system includes an environment monitoring module, which is used to detect the surrounding environment of the robot. The environment monitoring module includes a temperature sensor, a humidity sensor and a smoke sensor. The environment monitoring module is connected to the PLC control system for real-time collection of environmental information.

[0056] This embodiment solves the need for unmanned emergency robots to monitor surrounding conditions in real time in complex environments by adding an environmental monitoring module. The module can detect key environmental parameters such as temperature, humidity and smoke in real time, providing a basis for intelligent decision-making for the robot. The collaborative work of the environmental monitoring module and the PLC control system enables the robot to dynamically adjust its operating strategy according to environmental changes, avoid operating under extreme conditions, and ensure the safety and reliability of the robot in high temperature, high humidity or harmful gas environments. At the same time, real-time environmental data collection and remote transmission functions improve the robot's autonomy and flexibility, enabling the robot to perform emergency tasks in complex and dangerous environments, and provide effective environmental perception capabilities, further improving emergency response capabilities and work efficiency.

[0057] In one embodiment, the hydraulic motor and the hydraulic motor are connected via a multi-stage hydraulic valve control unit, and the hydraulic valve control unit is used to adjust the motion state of the hydraulic motor and the hydraulic motor to ensure the smooth movement of the robot.

[0058] Through the introduction of the hydraulic valve control unit in this embodiment, the present invention significantly improves the robot's motion control performance, especially its maneuverability in complex environments. The hydraulic valve control unit can achieve fine flow and pressure regulation, so that the robot can smoothly and flexibly adjust the motion state when performing various tasks, avoiding the problems of reduced control accuracy and unstable motion caused by traditional robots under high load conditions. In addition, the control unit can also automatically adjust the pressure and flow of the hydraulic system according to the load and environmental conditions of the robot, thereby improving energy efficiency and extending the service life of the hydraulic system. Overall, the hydraulic valve control unit greatly improves the robot's adaptability in complex and dynamic environments, and enhances the reliability and accuracy of the robot when performing emergency tasks.

[0059] In one embodiment, the UWB positioning system is connected to the PLC control system, and the UWB positioning system includes a plurality of UWB sensors, which are distributed in the robot and the working environment and are used to obtain positioning data of the robot in a multi-dimensional space.

[0060] By integrating the UWB positioning system with the PLC control system, this embodiment of the invention can provide the unmanned emergency robot with high-precision, real-time positioning capabilities, greatly improving the reliability of robot navigation and path planning in complex working environments. The accuracy and anti-interference capabilities of UWB positioning technology ensure that the robot can move freely in any small and complex environment and accurately perform tasks. Combined with other control modules and hardware components, the UWB positioning system provides the robot with higher autonomy, enhances the efficiency and reliability of the robot when performing tasks, and can significantly improve the safety and success rate of robot operations, especially in high-risk tasks such as emergency rescue and disaster response.

[0061] In one embodiment, the PLC control system obtains the operating status and environmental data of the robot through a sensor module, and the sensor module includes a current sensor, a voltage sensor, a temperature sensor and an acceleration sensor. The sensor module is used to monitor the status of the robot system.

[0062] Enhanced system stability: Through real-time monitoring by multiple sensors, the robot can accurately grasp the operating status, load, ambient temperature and humidity, and other factors to ensure that the system does not crash due to abnormal conditions (such as overload, overheating, etc.). This design enables the unmanned emergency robot to operate stably in complex working environments.

[0063] Improve fault prevention capabilities: With comprehensive monitoring by sensor modules, the robot can warn before a fault occurs and start protection mechanisms early. For example, current sensors can sound an alarm when the power system is about to be overloaded, and temperature sensors can start cooling measures when the battery or motor is overheated, which greatly reduces work interruptions caused by equipment failures.

[0064] Optimize system responsiveness: Through real-time status feedback and control response, the PLC control system can respond promptly to changes in sensor data. For example, when the robot encounters an obstacle or tilts, the data provided by the acceleration sensor can help adjust the movement posture or speed, thereby ensuring the smooth movement of the robot in a complex environment.

[0065] Improve robot working safety: The comprehensive use of current, voltage, temperature and acceleration sensor monitoring functions not only improves the robot's operating efficiency, but also greatly improves the robot's safety. The robot can detect situations that may cause system failures in a timely manner and take protective measures to reduce potential dangers to operators and the robot itself.

[0066] In one embodiment, the system includes an emergency stop module, which is connected to the PLC control system and is used to stop the movement of the robot by controlling the hydraulic motor and the hydraulic motor when an emergency occurs.

[0067] The design of the emergency stop module can significantly improve the safety of unmanned emergency robots in complex and dangerous environments, ensuring that the robot can stop running immediately in an emergency to avoid accidents. The specific technical effects are as follows:

[0068] Through real-time monitoring and timely shutdown, the robot can be effectively prevented from continuing to move when encountering emergencies, reducing the risk of accidents and ensuring that the robot can stop quickly and safely in an emergency to protect the operator and equipment.

[0069] The design of the emergency stop module not only relies on human operation, but also combines sensor data and system automatic judgment, enhancing the robot system's self-protection ability in abnormal situations. The system can automatically adjust the response according to the working status to ensure that each emergency stop can be executed efficiently.

[0070] Rapid shutdown response can prevent the robot from experiencing more serious failures or damage. Especially when the hydraulic system or power system is abnormal, timely shutdown can reduce further damage to the equipment and extend the service life of the system.

[0071] The emergency stop module meets the standards and requirements for safe operation of modern industrial robots. For robots that involve high pressure, high temperature or dangerous working environments, the emergency stop function is an essential component to ensure the safety of operators and machines.

[0072] The emergency shutdown module described in this embodiment effectively improves the robot's emergency response capability in dangerous situations through precise control logic and real-time response capabilities, ensuring the safety and reliability of the unmanned emergency robot system.

[0073] In one embodiment of the present application, by optimizing the coordination of power management, power output, control system and communication functions, it is ensured that the robot can operate stably under high load, long working hours and different power supply conditions, and can achieve emergency response and autonomous operation through intelligent control.

[0074] Powertrain design:

[0075] The power source of this system is mainly composed of a generator, an inverter, a power conversion module, a frequency converter, and a battery. The power electricity generated by the generator when working is converted into electricity suitable for the control system through the inverter, and this part of the electricity is stored in the battery. This design ensures that when the generator stops working, the battery can provide backup power for the control system to ensure the normal operation of the robot. The design of the inverter enables the power supply to automatically switch to the battery after the generator stops working, which improves the stability and continuity of the system.

[0076] Power management system:

[0077] The system includes a power converter, which mainly converts the power output of the battery into 24V voltage to provide a stable power supply for hardware modules such as the robot control system, hydraulic system, PLC controller and sensor. In addition, the power management module can monitor the battery power in real time and automatically adjust the distribution of power according to the system load to ensure efficient and stable operation of the system. In the mains charging mode, the charger shedding operation can be started at any time, so as to realize efficient charging of the battery and optimize the battery life.

[0078] Switching control between generator and mains:

[0079] The system is designed to implement a priority selection mechanism between generators and mains. When mains is available, mains is used to charge the battery first, thereby reducing dependence on generators, energy consumption and mechanical burden. In terms of generator start and stop control, the system can receive remote control instructions in real time through the input and output ports of the PLC controller to control the start and stop of the generator. The generator controller includes 5 input and 5 output points. Users can select different function options (such as power on and off) according to their needs, and control the on and off status of the generator through relays.

[0080] Remote control and real-time monitoring:

[0081] The robot chassis control system is equipped with a remote control screen and a remote controller, which transmit data with external devices through wireless communication technology. The remote control system can view the robot status in real time and execute remote commands, including the start and stop of the generator, the control of the robot movement, and the status switching of other modules. The system ensures efficient communication between the robot and the control end through wireless data transmission, enhancing the adaptability and flexibility of the robot.

[0082] PLC control system:

[0083] The PLC control system is the brain of the entire chassis control system, responsible for managing and coordinating the work of each module of the robot. The PLC controller receives input signals from different sensors (such as current sensors, voltage sensors, etc.), and controls the output signals through preset algorithms and logic to achieve functions such as robot movement, generator start and stop, and hydraulic system adjustment. The powerful computing power of PLC enables the system to maintain high flexibility and reliability in various complex situations.

[0084] Positioning and navigation:

[0085] The UWB positioning system is one of the key technologies of this system, which can achieve accurate positioning in the robot and its working environment. Through multiple UWB sensors distributed on the robot and its surrounding environment, the system can obtain the robot's position data in real time and transmit it to the PLC control system. This technology can effectively solve the problem that traditional GPS positioning technology cannot accurately locate in complex environments such as indoors and underground, ensuring that the robot can independently complete path planning and navigation, achieving the goal of high precision and high reliability.

[0086] Emergency stop function:

[0087] The system is also equipped with an emergency stop module, which can quickly stop the robot movement through the PLC control system command in the event of an emergency. This design can ensure that the robot stops in time in dangerous situations to avoid harm to the surrounding environment or operators. In addition, the control between the hydraulic motor and the hydraulic motor also ensures the smooth stop of the robot and reduces mechanical damage.

[0088] This technical solution effectively solves multiple problems in the existing unmanned emergency robot chassis control system through comprehensive design, and has the following technical effects:

[0089] Reliability of power supply: The dual power supply method of generator and battery solves the problem of power outage or shortage in traditional systems, ensuring that the robot can continue to operate even when the power supply is unstable.

[0090] Dynamic power switching and control: Intelligent switching between the inverter and the battery enables the system to automatically adjust the power input under different power supply conditions, improving the stability and autonomy of the robot.

[0091] Precise positioning and efficient navigation: Through the UWB positioning system, the robot can accurately locate and navigate in real time in complex environments, which solves the limitations of traditional GPS positioning technology and greatly improves the robot's operating capabilities and operating efficiency.

[0092] Intelligent control and remote operation: Equipped with remote control and intelligent monitoring systems, the robot can be remotely dispatched and monitored in real time, greatly improving the robot's operability and response speed.

[0093] Safety and emergency response: The cooperation between the emergency stop module and the PLC control system ensures that the robot can stop quickly when an abnormal situation occurs, ensuring the safety of the robot itself and the surrounding environment.

[0094] Through the above design, the robot can not only work efficiently in a variety of complex environments, but also ensure energy supply and system stability during long-term operation, greatly improving the reliability and adaptability of the unmanned emergency robot chassis control system.

[0095] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. An unmanned emergency robot chassis control system, characterized in that: The system comprises: A power system, comprising a generator, an inverter and a battery, wherein the generator is used to output power electricity, the inverter is used to convert the power electricity into electric energy suitable for the chassis control system, and store the electric energy in the battery; the battery is used to provide a backup power supply for the chassis control system when the generator stops working; A driving system, including a hydraulic motor and a hydraulic motor, wherein the hydraulic motor is used to drive the driving wheels of the chassis to control the movement of the robot; the hydraulic motor is connected to the hydraulic motor and works in coordination with the hydraulic motor to provide the required power output; A power management system, including a power converter, which is used to convert the electric energy output by the battery into a 24V voltage to provide power for the robot control system and the backup hardware module; PLC control system, used to control the robot movement, the working status of each module and the coordinated operation with other hardware modules; A UWB positioning system is connected to the PLC control system, and the UWB positioning system is used to provide accurate position data of the robot in the environment and support path planning and navigation.

2. The unmanned emergency robot chassis control system according to claim 1 is characterized in that: The generator in the power system is connected to the battery through an inverter. The inverter can automatically switch to the battery power supply mode when the generator stops working. The inverter and the battery are connected through a power management module. The power management module is used to monitor the battery power in real time and adjust the power distribution.

3. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The hydraulic motor and the hydraulic motor in the drive system are connected through a hydraulic pipeline. The hydraulic pipeline adopts a high-pressure sealing design, and the hydraulic pipeline includes a pressure sensor. The pressure sensor is used to monitor the working pressure of the hydraulic system in real time and transmit the monitoring data to the PLC control system.

4. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The power management system further includes an intelligent charging control module, which is used to automatically adjust the charging method according to the power of the battery, and the charging control module can automatically adjust the charging current according to environmental conditions.

5. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The system also includes a wireless communication module, which is connected to the PLC control system and is used to transmit data with an external device via a wireless network, wherein the data includes the robot position, working status and target sensor information.

6. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The system includes an environment monitoring module, which is used to detect the surrounding environment of the robot. The environment monitoring module includes a temperature sensor, a humidity sensor and a smoke sensor. The environment monitoring module is connected to the PLC control system and is used to collect environmental information in real time.

7. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The hydraulic motor and the hydraulic motor are connected via a multi-stage hydraulic valve control unit, and the hydraulic valve control unit is used to adjust the motion state of the hydraulic motor and the hydraulic motor to ensure the smooth movement of the robot.

8. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The UWB positioning system is connected to the PLC control system. The UWB positioning system includes a plurality of UWB sensors. The sensors are distributed in the robot and the working environment and are used to obtain positioning data of the robot in a multi-dimensional space.

9. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The PLC control system acquires the operating status and environmental data of the robot through a sensor module. The sensor module includes a current sensor, a voltage sensor, a temperature sensor and an acceleration sensor. The sensor module is used to perform status monitoring on the robot system.

10. The unmanned emergency robot chassis control system according to claim 1, characterized in that: The system comprises an emergency stop module, which is connected to the PLC control system and is used to stop the movement of the robot by controlling the hydraulic motor and the hydraulic motor when an emergency occurs.

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