Visual identification intelligent mobile vehicle and use method

Abstract

The present application relates to the technical field of rescue vehicles, in particular to a visual recognition intelligent mobile vehicle and a use method, comprising: a mobile bearing assembly, comprising a vehicle chassis frame provided with four Macadam wheels, and a top chassis frame installed above the vehicle chassis frame, used to provide a mobile and bearing basis; a temporary storage assembly installed on the top chassis frame, used to bear and collect clamped objects; a clamping jaw part, comprising a mechanical arm rotatably installed on the top chassis frame, and a clamping jaw unit installed at the front end of the mechanical arm and used to clamp target objects; and a visual assembly installed at the front end of the top chassis frame, used to collect images for visual recognition; the device can integrate visual recognition, mechanical arm grabbing and temporary storage functions, realize automatic target recognition, accurate grabbing and safe transfer, and overcome the defects of single function, low operation efficiency and dependence on manual control of existing equipment.

Description

Technical Field

[0001] This invention relates to the field of rescue vehicle technology, specifically to a visual recognition intelligent mobile vehicle and its usage method. Background Technology

[0002] In emergency rescue scenarios such as earthquakes, building collapses, fires, mine accidents, and confined spaces, the working environment is complex and dangerous. Manual search and rescue is difficult and dangerous, and it is difficult to quickly enter narrow gaps, deep ruins, and other areas to carry out operations. Blind spots are likely to occur, delaying the best rescue opportunity. Traditional rescue mobile vehicles mostly have problems such as structural instability, high temperature and dense smoke, and limited visibility.

[0003] Currently, most mobile vehicles lack autonomous environmental perception and target recognition capabilities, and cannot automatically identify trapped personnel, obstacles, and dangerous areas. They also exhibit poor stability and low obstacle avoidance and driving efficiency under adverse conditions such as darkness, smoke, and obstruction. Furthermore, they have limited functionality and do not integrate functions such as real-time image transmission, multi-dimensional environmental monitoring, sound and light warnings, and simple rescue execution, making it difficult to meet the actual needs of efficient, safe, and autonomous search at complex disaster sites.

[0004] Therefore, how to provide an intelligent mobile vehicle with autonomous visual recognition and structural stability has become an urgent problem to be solved by those skilled in the art; in view of this, we propose a visual recognition intelligent mobile vehicle and its usage method. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings mentioned in the background section and to provide a visual recognition intelligent mobile vehicle and its usage method.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A vision-recognition intelligent mobile vehicle, comprising: The mobile load-bearing assembly includes a chassis frame with four McAmm wheels and a top frame mounted above the chassis frame for providing a mobile and load-bearing base; A temporary storage component, installed on the top tray frame, is used to carry and hold the collected items; The gripper section includes a robotic arm rotatably mounted on the top plate frame, and a gripper unit mounted at the front end of the robotic arm for gripping the target object; A vision component, installed at the forward end of the top plate frame, is used to acquire images for visual recognition.

[0007] Preferably, side mounting plates are vertically installed on both sides of the vehicle chassis frame at positions corresponding to the four McAmm wheels, and an inner positioning plate is vertically installed on the inner side of the side mounting plate; The inner positioning plate and the corresponding side mounting plate are horizontally rotatably connected to the McAmm wheel via a transmission shaft, and a driven gear is coaxially mounted on the transmission shaft. A drive gear is rotatably mounted on the side mounting plate via the output shaft of a drive motor, and the drive gear meshes with the driven gear for transmission.

[0008] Preferably, the temporary storage component includes a battery compartment installed at the rear end of the top plate frame, and a storage box installed horizontally above the battery compartment.

[0009] Preferably, the robotic arm includes a base fixedly mounted on the top plate frame by a bracket, and a rotary drive seat mounted above the base. The rotary drive seat is equipped with a chassis motor for providing rotary driving force, and a turntable is coaxially mounted on the output shaft of the chassis motor. The turntable is connected to an arm connection, and the arm connection is equipped with an arm motor for driving the mechanical arm to rotate via upper arm screws. The forearm is fixedly connected to the front end of the mechanical upper arm via a claw connection.

[0010] Preferably, the gripper unit includes a connector that is fixedly connected to the forearm by a gripper screw, and a gripping electric cylinder that is fixedly installed at the outer end of the connector. The output shaft of the clamping electric cylinder is fixedly connected to a hinge block via a push rod. Multiple clamping push arms are hinged around the clamping electric cylinder. The outer end of the clamping push arm is hinged to the gripper body, and the inner end of the gripper body is hinged to the hinge block.

[0011] Preferably, the vision component includes a housing fixedly mounted on the top plate frame, and at least one camera is provided on the outside of the housing; A connecting plate is installed on the camera, and a connecting seat for rotating the connecting plate is installed on the outer wall of the box.

[0012] Preferably, a steering motor for driving the camera to adjust the visual recognition direction is installed inside the housing.

[0013] A method for using a vision-recognition intelligent mobile vehicle includes the following steps: S1: The trolley enters the work area, the background control system receives the handling and clamping command, and moves according to the target position coordinates; S2: The camera on the vision component collects environmental images in real time, the steering motor adjusts the shooting angle, and the background control system uses image recognition algorithms to detect obstacles, move and hold target objects and safe areas. S3: The control system controls the mobile load-bearing component to travel to the target position based on the recognition results, and completes autonomous obstacle avoidance and precise positioning; S4: Drive the robotic arm to adjust its position and control the gripper unit to grab the target object and transfer the target object to the storage box of the temporary storage component; S5: After the storage box is full, the trolley drives to the safe area, the control system controls the baffle to open and cooperates with the ramp to tilt the storage box, dumping the target object into the safe area; S6: After the tipping is completed, the trolley resets and waits for the next work instruction or returns to the standby area.

[0014] Preferably, step S2 employs a color recognition and contour matching algorithm to improve the accuracy of target recognition and positioning in low-light, smoke, and occluded environments.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The visual recognition intelligent mobile vehicle and its usage method adopt a Mecanum wheel omnidirectional movement structure, which can improve the vehicle's ability to pass through and locate in narrow and complex rescue environments, and solve the problems of poor mobility and difficulty in entering narrow areas of traditional rescue vehicles; 2. This device integrates visual recognition, robotic arm grasping, and temporary storage functions to achieve automatic target recognition, precise grasping, and safe transfer, overcoming the shortcomings of existing equipment such as single function, low operating efficiency, and reliance on manual operation. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mobile load-bearing component of the present invention; Figure 3 This is a schematic diagram showing the installation relationship between the mobile support component and the temporary storage component of the present invention; Figure 4 This is a schematic diagram of the robotic arm of the present invention; Figure 5 This is a schematic diagram of the visual component of the present invention.

[0017] The meanings of the labels in the diagram are as follows: 1. Mobile load-bearing assembly; 11. Chassis frame; 12. Top frame; 13. Drive motor; 14. Side mounting plate; 15. Inner positioning plate; 16. Drive shaft; 17. Driven gear; 18. Drive gear; 19. McAmm wheel; 2. Temporary storage components; 201. Slope plate; 202. Baffle; 203. Battery compartment; 204. Storage box; 3. Robotic arm; 301. Upper robotic arm; 302. Upper arm motor; 303. Upper arm screw; 304. Arm connector; 305. Turntable; 306. Chassis motor; 307. Bracket; 308. Base; 309. Rotary drive seat; 310. Claw connector; 311. Forearm; 4. Gripper unit; 401. Connector; 402. Gripping electric cylinder; 403. Gripping push arm; 404. Gripper body; 405. Gripper screw; 406. Push rod; 5. Vision component; 51. Box body; 52. Steering motor; 53. Camera; 54. Connecting plate; 55. Connecting base. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-5 The present invention will describe the above technical solution in detail through the following embodiments: This embodiment discloses a vision-based intelligent rescue vehicle, which includes a mobile support component 1, a temporary storage component 2, a robotic arm 3, a gripper unit 4, a vision component 5, and a control system. The control system is an application of existing technology and will not be described in detail. The temporary storage component 2 is fixedly installed on the upper part of the mobile support component 1, the robotic arm 3 is installed on the upper part of the mobile support component 1 and located on one side of the temporary storage component 2, the gripper unit 4 is installed at the end of the robotic arm 3, and the vision component 5 is installed at the forward end of the mobile support component 1. The control system is electrically connected to the mobile support component 1, the temporary storage component 2, the robotic arm 3, the gripper unit 4, and the vision component 5, respectively, and is used to receive image information collected by the vision component 5 and perform vision recognition to control the vehicle to complete driving, obstacle avoidance, target grasping, and material transfer operations.

[0020] Specifically, the mobile load-bearing component 1 includes a chassis frame 11, a top frame 12, a drive motor 13, side mounting plates 14, an inner positioning plate 15, a drive shaft 16, a driven gear 17, a drive gear 18, and a McAmm wheel 19. The top frame 12 is fixedly installed above the chassis frame 11, the side mounting plates 14 are symmetrically fixed on both sides of the chassis frame 11, and the inner positioning plate 15 is fixedly connected between the two side mounting plates 14 to form a stable support frame. The drive motor 13 is fixedly mounted on the chassis frame 11. The output shaft of the drive motor 13 is fixedly connected to the drive gear 18, and the drive gear 18 meshes with the driven gear 17 for transmission. The transmission shaft 16 is rotatably inserted through the side mounting plate 14 and the inner positioning plate 15. The transmission shaft 16 is fixedly connected to the driven gear 17, and the other end is fixedly connected to the McAmm wheel 19. When the drive motor 13 is working, the power is transmitted to the transmission shaft 16 through the drive gear 18 and the driven gear 17, thereby driving the McAmm wheel 19 to rotate, realizing omnidirectional movement and precise positioning of the vehicle.

[0021] The temporary storage component 2 includes a ramp 201, a baffle 202, a battery compartment 203, and a storage box 204. The battery compartment 203 is fixedly installed on the upper surface of the top plate frame 12 to provide power to the vehicle's electrical system. The storage box 204 is fixedly installed above the battery compartment 203 to temporarily store the captured rescue target. The ramp 201 is fixedly installed at the bottom of the storage box 204, and the baffle 202 is closable and installed at the discharge port of the storage box 204. When loading the target, the baffle 202 remains closed to prevent the material from falling. When unloading, the baffle 202 opens, the storage box 204 tilts, and the target slides smoothly out along the ramp 201, completing the material dumping.

[0022] The robotic arm 3 includes a mechanical upper arm 301, an upper arm motor 302, an upper arm screw 303, an arm connector 304, a turntable 305, a chassis motor 306, a bracket 307, a base 308, a rotary drive seat 309, a claw connector 310, and a forearm 311. The rotary drive seat 309 and the base 308 are fixedly installed on the upper surface of the top plate frame 12. The chassis motor 306 is fixedly installed inside the base 308. The output end of the chassis motor 306 is fixedly connected to the turntable 305, driving the turntable 305 to achieve horizontal rotation. The upper arm motor 302 is fixedly installed on the mechanical upper arm 301 and is used to drive the mechanical upper arm 301 and the forearm 311 to complete pitch and extension movements. The end of the forearm 311 is fixedly connected to the gripper unit 4 through the claw connector 310, driving the gripper unit 4 to complete spatial posture adjustment.

[0023] The gripper unit 4 includes a connector 401, a gripping electric cylinder 402, a gripping push arm 403, a gripper body 404, a gripper screw 405, and a push rod 406. The connector 401 is fixedly connected to the end of the forearm 311 of the robotic arm 3 through the gripper screw 405. The gripping electric cylinder 402 is fixedly installed on the connector 401. The gripping electric cylinder 402 is driven to hinge through the gripping push arm 403, the gripper body 404, and the hinge block at the front end of the push rod 406. When the gripping electric cylinder 402 is running, it drives the gripping push arm 403 and the gripper body 404 to open and close through the linear motion of the push rod 406, thereby achieving stable gripping and release of the target object.

[0024] The vision component 5 includes a housing 51, a steering motor 52, a camera 53, a connecting plate 54, and a connecting seat 55. The housing 51 is fixedly installed at the front end of the mobile support component 1, and the connecting seat 55 is fixedly installed in the housing 51. The steering motor 52 is fixedly installed inside the housing 51. The steering motor 52 drives the camera 53 to rotate and adjust the shooting angle. The camera 53 collects images of the surrounding environment in real time and transmits the image signals to the control system for identifying obstacles, rescue targets, and safe areas, providing visual basis for the vehicle's driving and operation.

[0025] After the trolley enters the work area, the control system receives instructions from the host computer and obtains the target location and the coordinates of the safe zone. The camera 53 of the vision component 5 continuously collects images, and the steering motor 52 adjusts the shooting angle according to the work requirements. The control system completes target detection and obstacle recognition through image recognition algorithms. Subsequently, the control system controls the mobile carrier component 1 to travel to the target location, autonomously avoids obstacles, and achieves precise docking. After reaching the target location, the control system drives the robotic arm 3 to adjust its posture, controls the gripper unit 4 to grab the target object, and transfers the target object into the storage box 204. When the storage box 204 is full, the trolley travels to the safe zone, and the control system controls the baffle 202 to open, which, together with the ramp 201, dumps the target object in the storage box 204 into the safe zone. After dumping, all mechanisms of the trolley reset, and it returns to the standby area to await the next instruction, completing the complete rescue and transfer process.

[0026] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A visual recognition intelligent mobile vehicle, characterized in that: include: The mobile load-bearing assembly (1) includes a chassis frame (11) with four McAmm wheels (19) mounted on it, and a top frame (12) mounted on the chassis frame (11) for providing a mobile and load-bearing base; The temporary storage component (2) is installed on the top tray frame (12) and is used to carry the collected clamped items; The gripper section includes a robotic arm (3) rotatably mounted on the top plate frame (12), and a gripper unit (4) mounted on the front end of the robotic arm (3) for gripping the target object. A vision component (5) is installed at the forward end of the top plate frame (12) for acquiring images for visual recognition.

2. The visual recognition intelligent mobile vehicle as described in claim 1, characterized in that: Side mounting plates (14) are vertically installed on both sides of the chassis frame (11) at positions corresponding to the four McAmm wheels (19), and an inner positioning plate (15) is vertically installed on the inner side of the side mounting plate (14). The inner positioning plate (15) is horizontally rotatably connected to the corresponding side mounting plate (14) via a transmission shaft (16) and the driven gear (17) is coaxially mounted on the transmission shaft (16). A drive gear (18) is rotatably mounted on the side mounting plate (14) via the output shaft of the drive motor (13), and the drive gear (18) meshes with the driven gear (17) for transmission.

3. The visual recognition intelligent mobile vehicle as described in claim 1, characterized in that: The temporary storage component (2) includes a battery compartment (203) installed at the rear end of the top plate frame (12) and a storage box (204) installed horizontally above the battery compartment (203).

4. The visual recognition intelligent mobile vehicle as described in claim 1, characterized in that: The robotic arm (3) includes a base (308) fixedly mounted on the top plate frame (12) by a bracket (307), and a rotary drive seat (309) mounted above the base (308). A chassis motor (306) for providing rotary driving force is mounted on the rotary drive seat (309), and a turntable (305) is coaxially mounted on the output shaft of the chassis motor (306). An arm connection (304) is connected to the turntable (305), and an arm motor (302) for driving the mechanical upper arm (301) to rotate is installed on the arm connection (304) by an upper arm screw (303). The front end of the mechanical upper arm (301) is fixedly connected to the forearm (311) via a claw connector (310).

5. The visual recognition intelligent mobile vehicle as described in claim 4, characterized in that: The gripper unit (4) includes a connector (401) that is fixedly connected to the forearm (311) by a gripper screw (406), and a gripping electric cylinder (402) that is fixedly installed at the outer end of the connector (401). The output shaft of the clamping electric cylinder (402) is fixedly connected to a hinge block via a push rod (406). Multiple clamping push arms (403) are hinged around the clamping electric cylinder (402). The outer end of the clamping push arm (403) is hinged to the gripper body (404), and the inner end of the gripper body (404) is hinged to the hinge block.

6. The visual recognition intelligent mobile vehicle as described in claim 1, characterized in that: The vision component (5) includes a box (51) fixedly mounted on the top plate frame (12), and at least one camera (53) is provided on the outside of the box (51). A connecting plate (54) is installed on the camera (53), and a connecting seat (55) for rotating the connecting plate (54) is installed on the outer wall of the box (51).

7. The visual recognition intelligent mobile vehicle as described in claim 6, characterized in that: The housing (51) is equipped with a steering motor (52) for driving the camera (53) to adjust the visual recognition direction.

8. A method of using a vision-recognition intelligent mobile vehicle, applicable to the vision-recognition intelligent mobile vehicle according to any one of claims 1-7, characterized in that: Includes the following steps: S1: The trolley enters the work area, the background control system receives the handling and clamping command, and moves according to the target position coordinates; S2: The camera (53) on the vision component (5) collects environmental images in real time, the steering motor (52) adjusts the shooting angle, and the background control system detects obstacles, transports and holds target objects and safe areas through image recognition algorithms; S3: The control system controls the mobile carrier component (1) to travel to the target position according to the recognition result, and completes autonomous obstacle avoidance and precise positioning; S4: Drive the robotic arm (3) to adjust its position, control the gripper unit (4) to grab the target object, and transfer the target object to the storage box (204) of the temporary storage component (2); S5: After the storage box (204) is fully loaded, the trolley drives to the safe area, the control system controls the baffle (202) to open and cooperate with the ramp (201) to tilt the storage box (204) and dump the target object into the safe area; S6: After the tipping is completed, the trolley resets and waits for the next work instruction or returns to the standby area.

9. The method of using the visual recognition intelligent mobile vehicle as described in claim 8, characterized in that: Step S2 employs color recognition and contour matching algorithms to improve the accuracy of target recognition and positioning in low-light, smoke, and occluded environments.

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