Crawler-type mobile platform improvement device suitable for forest complex terrain environment

Abstract

The utility model belongs to the technical field of forest fire rescue, and particularly relates to a crawler-type mobile platform improvement device suitable for a forest complex terrain environment, which comprises a crawler-type walking device, a fixed platform is arranged at the top of the crawler-type walking device, and the upper surface of the fixed platform is connected with a leveling platform through an adjusting support; the adjusting bracket comprises a horizontal adjusting bracket and a fixed bracket, and the horizontal adjusting bracket and the fixed bracket are arranged and connected up and down through a connecting shaft; a cleaning device is arranged on the surface of the leveling platform, comprises a spray head and a compressed air system and is used for cleaning sundries and accumulated dust on the surface of the air cushion. According to the utility model, the problem that some fire-fighting rescue tasks or fire-fighting drill tasks cannot be effectively carried out due to the fact that a take-off and landing site of the unmanned aerial vehicle cannot be provided in actual forest fire-fighting rescue tasks and fire-fighting drills in a forest complex terrain scene is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of forest fire rescue, and in particular relates to an improved crawler type mobile platform device suitable for complex forest terrain environment. Background Art

[0002] Existing firefighting drones usually need to take off and land in complex terrain when performing forest fire fighting tasks. In actual applications, due to the limitations of takeoff and landing of drones in complex terrain, they are unable to complete fire fighting and rescue tasks, affecting the efficiency of forest fire fighting operations.

[0003] The Chinese utility model patent with announcement number CN219428405U discloses "a road-to-air collaborative reconnaissance system", including a ground unmanned vehicle and an aerial drone. A landing platform for the drone to land is formed on the top of the ground unmanned vehicle. The drone is electrically connected to the battery of the ground unmanned vehicle through a tethered structure to provide power for the drone's endurance. However, in this ground unmanned vehicle, the landing platform is a fixed device, and it is impossible to lift and lower the drone in complex terrain. That is, in actual forest fire fighting and rescue missions and fire drills, for complex forest terrain scenes, the ground is uneven, and the parking position of the ground unmanned vehicle cannot be guaranteed to be flat, which results in the landing platform being unable to be guaranteed to be flat, and the drone cannot take off and land. Due to the inability to provide a take-off and landing site for drones, some fire fighting and rescue missions or fire drills cannot be carried out effectively.

[0004] Therefore, for fire fighting and rescue missions or fire drills in complex forest terrain, it is urgent to solve the problem of take-off and landing operations of UAVs in complex forest terrain. Utility Model Content

[0005] The purpose of the utility model is to provide an improved crawler mobile platform device suitable for complex forest terrain environments, so as to solve the problem that in actual forest fire fighting and rescue tasks and fire drills, some fire fighting and rescue tasks or fire drill tasks cannot be effectively carried out due to the inability to provide drone take-off and landing sites in complex forest terrain scenes.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An improved crawler mobile platform device suitable for complex forest terrain environment comprises: a crawler walking device, a fixed platform is installed on the top of the crawler walking device, and the upper surface of the fixed platform is connected to a leveling platform through an adjusting bracket;

[0008] The adjustment bracket comprises: a horizontal adjustment bracket and a fixed bracket, wherein the horizontal adjustment bracket and the fixed bracket are connected vertically through a connecting shaft;

[0009] The leveling platform table is provided with a cleaning device, which includes a nozzle and a compressed air system and is used for cleaning debris and dust on the surface of the air cushion.

[0010] Furthermore, the fixed bracket includes two groups of inverted V-shaped structures, the top inner sides of the two groups of inverted V-shaped structures are fixedly connected by a connecting shaft, and the bottoms are fixedly connected by a fixing rod.

[0011] Furthermore, a telescopic oil cylinder is rotatably provided on the fixed rod, and a telescopic rod of the telescopic oil cylinder is rotatably connected to the bottom of the leveling platform.

[0012] Furthermore, the horizontal adjustment bracket includes two groups of V-shaped structures, the bottoms of the two groups of V-shaped structures are rotatably arranged on the connecting shafts, and the tops of the two groups of V-shaped structures are fixed to the bottom of the leveling platform.

[0013] Furthermore, the surface of the leveling platform is also provided with an identification position, the air cushion and an air cushion control device; the air cushion is centrally placed on the surface of the leveling platform, and the identification position is set at the center position of the surface of the air cushion for position calibration of the drone; the air cushion control device is connected to the air cushion via an air pipe.

[0014] Furthermore, the crawler-type walking device is a six-track four-swing-arm structure.

[0015] Furthermore, a two-dimensional code is set on the surface of the identification bit, which is used for the auxiliary landing of the drone with an optical flow sensor auxiliary module.

[0016] Furthermore, a protective net is installed on the outer side of the leveling platform, and the protective net is driven by a controller.

[0017] Furthermore, the leveling platform is a square or rectangular platform.

[0018] Compared with the prior art, the beneficial effects of the utility model are:

[0019] (1) The utility model installs a fixed platform on the top of the crawler walking device, and arranges an adjustment bracket on the fixed platform. On the one hand, the adjustment bracket is divided into two parts: a fixed bracket and a horizontal adjustment bracket. The horizontal adjustment bracket is driven by a telescopic cylinder to rotate around a connecting shaft, and is used to adjust the front and rear height difference of the leveling platform. Through this adjustment bracket, the UAV can be parked stably on the surface of the leveling platform; on the other hand, a cleaning device including a nozzle and a compressed air system is arranged on the leveling platform to clean debris and dust on the surface of the air cushion. In summary, through this combination, a mobile UAV take-off and landing platform is provided, which ensures that the horizontal state of the UAV take-off and landing platform can be always adjusted and maintained according to the actual complex terrain, and ensures the smooth progress of fire fighting and rescue tasks or fire drills in complex forest terrain.

[0020] (2) The utility model is used for the take-off and landing of the UAV by installing a leveling platform on the top of the crawler walking device, and setting an identification position, an air cushion and an air cushion control device on the leveling platform. When the UAV needs to land, the air cushion control device adjusts the size of the air cushion according to the actual terrain, and finally the UAV completes the precise landing on the air cushion surface according to the identification position. The combined use of the above components further solves the problem of the UAV not having a suitable take-off and landing platform when facing complex terrain, and reduces the risk of damage to the UAV.

[0021] (3) The utility model improves the obstacle-crossing capability of the device by using a crawler-type walking device with six crawlers and four swing arms, thus ensuring that the UAV can be used in complex geographical conditions.

[0022] (4) The utility model ensures accurate landing of a drone equipped with an optical flow sensor auxiliary module by setting a two-dimensional code on the surface of the identification position.

[0023] (5) The utility model uses an air cushion control device composed of an air pump and an air pressure sensor. The air pressure sensor detects the air pressure of the drone under different terrains, and then fills the air cushion according to the air pressure reading, thereby reducing the probability of damage to the drone.

[0024] (6) The utility model further ensures the take-off and landing of the UAV and the protection of the UAV by arranging a protective net driven by a controller on the leveling platform and controlling the driving device to open, erect and fold the protective net through the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional diagram of the utility model;

[0026] Figure 2 This is a diagram of an adjustment bracket of the utility model;

[0027] Figure 3 It is a partial enlarged view of the leveling platform of the utility model;

[0028] Figure 4 It is a front view of the utility model.

[0029] In the figure: 1. crawler walking device; 2. fixed platform; 3. leveling platform; 30. cleaning device; 31. identification position; 32. air cushion; 33. air cushion control device; 34. protective net; 40. horizontal adjustment bracket; 41. fixed bracket; 42. telescopic cylinder; 43. connecting shaft; 44. fixing rod. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, purpose and efficacy of the utility model easy to understand, the utility model is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the utility model, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the utility model. The experimental methods in the following embodiments are all conventional methods unless otherwise specified, and the materials, reagents, etc. used in the following embodiments are all commercially available unless otherwise specified.

[0031] like Figure 1-Figure 4 In this embodiment, it includes three parts: a crawler-type walking device 1, a fixed platform 2 and a leveling platform 3. The crawler-type walking device 1 is located at the bottom layer, and a fixed platform 2 is set up on the top of the device. The surface of the fixed platform 2 is connected to the leveling platform 3 through an adjustment bracket, wherein the adjustment bracket is divided into two parts, a horizontal adjustment bracket 40 and a fixed bracket 41, through a connecting shaft 43.

[0032] Specifically, the fixed bracket 41 is composed of two groups of inverted V-shaped structures, wherein the top angle of the inverted V-shaped structure is the top of the structure, the inner sides of the tops of the two groups of inverted V-shaped structures are fixedly connected by a connecting shaft 43, and the bottoms are fixedly connected by a fixing rod 44.

[0033] Specifically, the horizontal adjustment bracket 40 is composed of two groups of V-shaped structures, wherein the bottom angle of the V-shaped structure is the bottom of the structure, the bottom is rotatably set on the axis of the connecting shaft 43, and the top of the V-shaped structure is fixed to the bottom of the leveling platform 3.

[0034] It should be noted that in the complex terrain of the forest, the crawler walking device 1 is parked on the slope, resulting in a high tilt of the crawler walking device front and back. At this time, the telescopic cylinder 42 is contracted to drive the leveling platform 3 and the leveling platform 3 drives the horizontal adjustment bracket 40 to rotate counterclockwise around the connecting shaft 43, so that the higher end of the leveling platform 3 is lowered, that is, the end of the leveling platform 3 at the front end of the slope is lowered, and the lower end of the leveling platform 3 at the rear end of the slope is raised, so as to achieve the leveling of the height difference between the front and rear ends of the leveling platform 3, that is, the leveling platform 3 remains in a horizontal state, providing a horizontal take-off and landing platform for the UAV.

[0035] The leveling platform 3 includes: an air cushion 32 located in the center of the table, and an air cushion 32 control device and a cleaning device 30 arranged near the edge of the leveling platform 3. The air cushion 32 control device is connected to the air cushion 32 through an air pipe, and an identification position 31 is installed at the center of the air cushion 32.

[0036] In this embodiment, the crawler-type walking device 1 is a six-track four-swing-arm structure walking device, which can improve the obstacle-crossing capability of the device.

[0037] In this embodiment, the controller controls the adjustment bracket by controlling the telescopic cylinder 42 to retract and extend. The cylinder tail of the telescopic cylinder 42 is rotatably set on the fixed rod 44, and the telescopic rod of the telescopic cylinder 42 is rotatably connected to the bottom of the leveling platform 3. Therefore, the leveling platform 3 can be driven to move by controlling the telescopic cylinder 42 to retract and extend, thereby adjusting the front and rear height difference.

[0038] Specifically, when the telescopic cylinder 42 starts to work, it will drive the leveling platform 3 to rotate, and at the same time, the cylinder tail rotates synchronously relative to the fixing rod 44, thereby achieving the leveling of the leveling platform 3.

[0039] In this embodiment, a QR code is set on the surface of the identification position 31 for accurate landing of a drone with an optical flow sensor auxiliary module.

[0040] In this embodiment, the air cushion 32 control device includes an air pump and an air pressure sensor. The air pressure sensor transmits air pressure data under different terrains to the air pump, and the air pump controls the size of the air cushion 32.

[0041] In this embodiment, the cleaning device 30 includes a nozzle and a compressed air system, and the nozzle and the compressed air system are arranged vertically.

[0042] In this embodiment, a protective net 34 is installed on the outside of the leveling platform 3, and the driving device of the protective net 34 is connected to the controller, so that the protective net 34 can be controlled to be opened, erected or folded. When the protective net 34 is opened, that is, the protective net 34 is in a horizontally unfolded state, it can effectively expand the area of ​​the leveling platform 3 and provide a larger take-off and landing area for the drone in an unexpected situation; when the protective net 34 is in an erected state, the erected protective net 34 surrounds the leveling platform 3 in a circle to provide protection for the landing drone; when the protective net 34 is in a folded state, the protective net 34 is located below the table of the leveling platform 3.

[0043] Specific working principle:

[0044] When performing fire fighting and rescue missions or fire drill missions in complex forest terrain, when the UAV needs to take off and land, the crawler mobile platform is first moved to the required position, the crawler walking device stops, and then the front and rear height difference of the leveling platform 3 is adjusted by adjusting the bracket according to the actual terrain, that is, the surface of the leveling platform 3 is adjusted to a horizontal state. The adjustment of the leveling platform 3 is achieved by controlling the contraction and extension of the telescopic cylinder 42 to drive the leveling platform 3, and then the leveling platform 3 drives the horizontal adjustment bracket 40 to rotate around the connecting shaft 43, so that the higher end of the leveling platform 3 is lowered and the lower end is raised, so as to achieve the leveling of the height difference at both ends, that is, the horizontal state of the surface of the leveling platform 3, thereby providing a horizontal lifting platform for the UAV.

[0045] After the leveling platform 3 is leveled, the controller controls the high-pressure nozzle of the cleaning device 30 to spray and clean the surface of the leveling platform 3 to ensure that no other debris damages the drone. Then, when the drone hovers above the device, the air pressure sensor obtains the current contact pressure value between the drone and the ground and transmits it to the air pump. The air pump adjusts the size of the air cushion 32 according to the value. Finally, the drone recognizes the QR code through the optical flow sensor auxiliary module and accurately falls onto the surface of the air cushion 32, completing the landing.

[0046] When an unconventional accident occurs, the controller can control the protective net 34 to open, that is, to be in a horizontally deployed state, which can provide a larger take-off and landing area for the drone. The protective net 34 can also be controlled to stand up, so as to surround the leveling platform 3 in a circle, which can provide protection for the drone, especially when transporting the drone.

[0047] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An improved crawler mobile platform suitable for complex forest terrain environment, comprising: A crawler-type walking device (1), characterized in that: a fixed platform (2) is installed on the top of the crawler-type walking device (1), and the upper surface of the fixed platform (2) is connected to a leveling platform (3) through an adjustment bracket; The adjustment bracket comprises: a horizontal adjustment bracket (40) and a fixed bracket (41), wherein the horizontal adjustment bracket (40) and the fixed bracket (41) are connected vertically via a connecting shaft (43); The surface of the leveling platform (3) is provided with a cleaning device (30), and the cleaning device (30) comprises a nozzle and a compressed air system, and is used to clean debris and dust on the surface of the air cushion (32).

2. The improved crawler mobile platform device suitable for complex forest terrain environment according to claim 1 is characterized by: The fixed bracket (41) comprises two groups of inverted V-shaped structures, the top inner sides of the two groups of inverted V-shaped structures are fixedly connected via a connecting shaft (43), and the bottoms are fixedly connected via a fixing rod (44).

3. The improved crawler mobile platform suitable for complex forest terrain environment according to claim 2 is characterized by: A telescopic oil cylinder (42) is rotatably provided on the fixed rod (44), and the telescopic rod of the telescopic oil cylinder (42) is rotatably connected to the bottom of the leveling platform (3).

4. The improved crawler mobile platform device suitable for complex forest terrain environment according to claim 3 is characterized by: The horizontal adjustment bracket (40) comprises two groups of V-shaped structures, the bottoms of the two groups of V-shaped structures are rotatably arranged on the connecting shaft (43), and the tops of the two groups of V-shaped structures are fixed to the bottom of the leveling platform (3).

5. The improved crawler-type mobile platform suitable for complex forest terrain environment according to claim 1 is characterized in that: The table top of the leveling platform (3) is also provided with an identification position (31), the air cushion (32) and an air cushion control device (33); the air cushion (32) is centrally placed on the table top of the leveling platform (3), and the identification position (31) is arranged at the center position of the surface of the air cushion (32) for calibrating the position of the drone; the air cushion control device (33) is connected to the air cushion (32) via an air pipe.

6. The improved crawler mobile platform suitable for complex forest terrain environment according to claim 1 is characterized by: The crawler-type walking device (1) is a six-crawler four-swing-arm structure.

7. The improved crawler mobile platform device suitable for complex forest terrain environment according to claim 5 is characterized by: A two-dimensional code is arranged on the surface of the identification position (31), which is used for assisting the landing of the unmanned aerial vehicle with an optical flow sensor auxiliary module.

8. The improved crawler mobile platform device suitable for complex forest terrain environment according to claim 1 is characterized by: A protective net (34) is installed on the outside of the leveling platform (3), and the protective net (34) is driven by a controller.

9. The improved crawler mobile platform suitable for complex forest terrain environment according to claim 1 is characterized by: The leveling platform (3) is a square or rectangular platform.

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