Marking device and mine sweeping robot thereof

Abstract

The utility model belongs to the field of mine sweeping, and particularly relates to a marking device and a mine sweeping robot thereof, and the marking device comprises a support, a paint spraying tank and a paint spraying control assembly; an embedding structure is arranged on the support, and the paint spraying tank is detachably embedded into the embedding structure; the paint spraying control assembly comprises a supporting plate and a linear driving piece arranged on the supporting plate, and the output end of the linear driving piece faces a pressing spray head of the paint spraying tank. The mine clearing robot with the marking function is simple in structure, convenient to replace and supplement paint, easy to connect and fix with an existing walking device, capable of being assembled without changing any structure of the existing walking device, and capable of being rapidly built.

Description

Technical Field

[0001] The utility model belongs to the field of mine sweeping, and particularly relates to a marking device and a mine sweeping robot thereof. Background Art

[0002] With the development of high-tech intelligent robot technology, robots are gradually in demand for some dangerous military tasks. In some complex battlefield environments, it is becoming more and more widely used to replace humans with intelligent robots to perform some battlefield mine detection tasks. However, current mine sweeping robots generally upload the position information of mines to the combat center after scanning out the mines, and there is no marking function near the mine positions. At this time, for non-combatants or combatants who do not understand the mine position data, there are still great potential safety hazards. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a marking device and a mine sweeping robot thereof with simple and reliable structure and convenient assembly.

[0004] The utility model provides a marking device, which comprises a bracket, a paint spray can and a paint spraying control component;

[0005] An engaging structure is arranged on the bracket, and the paint spray can is detachably engaged into the engaging structure;

[0006] The paint spraying control component comprises a support plate and a linear driving member arranged on the support plate, and the output end of the linear driving member faces the pressing nozzle of the paint spray can.

[0007] Furthermore, the support plate is linearly movably arranged on the bracket along the axial direction of the paint spray can.

[0008] Furthermore, a positioning sleeve is also arranged on the support plate, the other end of the positioning sleeve abuts against the head of the paint spray can, and through holes for spraying paint are arranged on the side wall of the positioning sleeve;

[0009] The linear driving member is arranged in the positioning sleeve.

[0010] Furthermore, an observation hole is arranged on the side wall of the positioning sleeve, and the observation hole and the through hole are coaxial.

[0011] Furthermore, a guiding hole is arranged on the bracket, a guiding rod is arranged on the support plate, and the guiding rod is slidably arranged in the guiding hole; a locking structure for locking the positions of the support plate and the bracket is also included.

[0012] Furthermore, the locking structure is a self-locking buckle.

[0013] Further, the bracket includes a bottom plate and a tail plate. The fitting structure is arranged on the bottom plate, and the bottom of the paint spray can abuts against the tail plate.

[0014] Further, the bracket further includes two side plates arranged on the bottom plate and a cover plate hinged to one of the side plates;

[0015] The bottom plate, the tail plate, the side plates, the cover plate and the support plate enclose a rectangular space. One side of the side plates and the cover plate protrudes from the bottom plate, and there is a paint spray opening from one side of the bottom plate to the gap of the support plate.

[0016] Further, multiple groups of the fitting structure, the paint spray can and the linear driving member are arranged at intervals, and the colors of at least two paint spray cans are inconsistent.

[0017] The utility model further provides a mine-sweeping robot, which includes a traveling device, a mine-sweeping device and a marking device arranged on the traveling device. The pressing nozzle of the paint spray can in the marking device protrudes from the fuselage of the traveling device and faces the bottom of the traveling device.

[0018] The beneficial effect of the utility model is that the marking device provided by the utility model is arranged on the mine-sweeping robot, and after the mine-sweeping robot detects a landmine, it paints and marks the position of the landmine to perform warning and marking work. Compared with the current conventional mine-sweeping robot that only transmits the position data back to the combat center after detecting a landmine, its warning function can well warn non-combatants or combatants who do not know the landmine position data. In addition, it can also enable the mine-clearing personnel to directly and quickly find the position of the landmine, improving the mine-clearing efficiency and safety.

[0019] By adopting the installation and control methods of the bracket, the fitting structure and the paint spraying control component, the paint source can directly use the existing paint spray can, which is convenient for replacing and replenishing the paint, and is easy to be connected and fixed with the existing traveling device. It can be assembled completely without changing any structure of the existing traveling device, and a mine-sweeping robot with a marking function can be quickly built. Description of the Drawings

[0020] Att Figure 1 is a schematic structural diagram of the first angle of the utility model;

[0021] Att Figure 2 is a schematic structural diagram of the second angle of the utility model;

[0022] Att Figure 3 is a schematic structural diagram of the third angle of the utility model;

[0023] Att Figure 4 is a schematic structural diagram of the utility model in the state where the cover plate is opened;

[0024] AttFigure 5 is an enlarged partial view of part A in Figure 4 ;

[0025] is Figure 6 a schematic structural view of the support plate sliding out in the present utility model;

[0026] is Figure 7 a schematic structural view of the present utility model after removing the paint spray can;

[0027] is Figure 8 a bottom view of the marking device in the present utility model;

[0028] is Figure 9 is an Figure 8 A-A sectional view in

[0029] In the figure, 1 - bracket; 11 - bottom plate; 12 - tail plate; 13 - side plate; 14 - cover plate; 15 - guide hole; 16 - paint spray opening; 17 - fitting structure; 2 - paint spray can; 21 - pressing nozzle; 22 - can body; 23 - can bottom; 3 - paint spray control assembly; 31 - support plate; 311 - guide rod; 32 - linear drive member; 33 - positioning sleeve; 331 - through hole; 332 - observation hole; 4 - self-locking buckle; 5 - hinge; 6 - traveling device. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, in the present utility model, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, "a plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In the present utility model, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0034] In addition, the technical solutions between various embodiments of the present utility model can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0035] As shown in the attached Figure 1 - attached Figure 9 As shown, a marking device of the present utility model is used to identify a dangerous area, make warnings and markings, which helps to remind people to stay away from this area to prevent accidents and injuries. It is convenient for subsequent mine clearance personnel or mine clearance equipment to quickly understand the location of landmines. It includes a bracket 1, a paint spray can 2, and a paint spray control component 3. The bracket 1 is used as a support installation structure for installing the paint spray can 2 on a traveling device 6; the paint spray can 2 can adopt the existing self-paint spray can, which is easy to obtain and replace, but is not limited to the self-paint spray can, and an improved spray pipe 2 more suitable for marking on the ground can also be adopted. The paint spray can 2 includes a pressing nozzle 21, a can body 22, and a can bottom 23 arranged in sequence. When pressing the pressing nozzle 21, the pressing nozzle 21 sprays the compressed paint in the can body 22. When releasing the pressing nozzle 21, the pressing nozzle 21 stops spraying the paint. Since the paint spray can 2 itself is not an object of improvement, it will not be elaborated in detail here; the paint spray control component 3 is used to press and release the pressing nozzle 21, thereby opening and closing the paint spray can 2 and controlling the paint spraying work;

[0036] An engaging structure 17 is provided on the bracket 1, and the paint spray can 2 is detachably engaged in the engaging structure 17. With this setting, it is extremely convenient to replace the new paint spray can 2 after the paint in the paint spray can 2 is used up, and it is also convenient to replace paint spray cans 2 of different colors. In a preferred embodiment, the engaging structure 17 is an arc-shaped engaging groove, and the arc length of the arc-shaped engaging groove exceeds the axis of symmetry of its circle, so as to stably engage the cylindrical can body 22. The arc-shaped engaging groove is arranged on a plate body, and the plate body has a certain amount of deformation, and the can body 22 can be engaged and released through the elastic deformation of the plate body. Of course, the engaging structure 17 can also adopt a fixing method such as a semi-circular groove combined with a binding band;

[0037] The paint spraying control component 3 includes a support plate 31 and a linear drive member 32 disposed on the support plate 31. The output end of the linear drive member 32 faces the pressing nozzle 21 of the paint spraying can 2. The linear drive member 32 can be an electric cylinder, a pneumatic cylinder or a hydraulic cylinder, and a small model can be used. The support plate 31 can be fixedly arranged on the traveling device 6 or arranged on the bracket 1. The relative position between the support plate 31 and the bracket 1 can be fixed or adjustable. In this embodiment, by driving the pressing and releasing of the pressing nozzle 21 of the paint spraying can 2 by the linear drive member 32, the paint spraying operation of the paint spraying can 2 can be controlled, and the control is extremely simple and convenient.

[0038] That is, the marking device provided by the present utility model is arranged on the mine sweeping robot, and after the mine sweeping robot detects a landmine, it paints and marks the position of the landmine to perform warning and marking work. Compared with the current conventional mine sweeping robot that only transmits the position data back to the combat center after detecting a landmine, its warning function can well warn non-combatants or combatants who do not understand the landmine position data. In addition, it can also enable the mine clearing personnel to directly and quickly find the location of the landmine, improving the mine clearing efficiency and safety.

[0039] With its installation and control methods of the bracket 1, the fitting structure 17 and the paint spraying control component 3, the paint source can directly adopt the existing paint spraying can 2, which is convenient for replacing and replenishing the paint, and is easy to be connected and fixed with the existing traveling device 6. It is completely possible to complete the assembly without changing any structure of the existing traveling device 6, and a mine sweeping robot with a marking function can be quickly built.

[0040] In one preferred embodiment, the support plate 31 is linearly movably arranged on the bracket 1 along the axial direction of the paint spraying can 2, that is, the distance between the linear drive member 32 and the paint spraying can 2 is adjustable, thereby facilitating the installation of the paint spraying can 2.

[0041] In one preferred embodiment, a positioning sleeve 33 is further arranged on the support plate 31. The other end of the positioning sleeve 33 abuts against the head of the paint spraying can 2. Furthermore, the paint spraying control component 3 can also limit the position of the paint spraying can 2, thereby improving the installation stability of the paint spraying can 2 and preventing the paint spraying can 2 from detaching from the bracket 1. A through hole 331 for spraying paint is arranged on the side wall of the positioning sleeve 33. Furthermore, the pressing nozzle 21 sprays paint through the through hole 331 to prevent the positioning sleeve 33 from blocking the spraying of the paint;

[0042] The linear drive member 32 is arranged inside the positioning sleeve 33. On the one hand, it can provide physical protection for the linear drive member 32, and on the other hand, it is also convenient for the linear drive member 32 to be aligned with the pressing nozzle 21, improving the alignment stability.

[0043] In one preferred embodiment, an observation hole 332 is provided on the side wall of the positioning sleeve 33. The observation hole 332 and the through hole 331 are coaxial. The side wall allows the staff to observe whether the linear drive member 32 is aligned with the pressing nozzle 21 when controlling the positioning sleeve 33 to abut against the head of the paint spray can 2.

[0044] In one preferred embodiment, a guiding hole 15 is provided on the bracket 1. In one preferred embodiment, the guiding hole 15 is provided on the end face of the side plate 13. A guiding rod 311 is provided on the support plate 31. The guiding rod 311 is slidably arranged in the guiding hole 15, which facilitates the linear movement of the support plate 31 towards the bracket 1 and simplifies the alignment difficulty between the positioning sleeve 33 and the head of the paint spray can 2. In this embodiment, a locking structure for locking the positions of the support plate 31 and the bracket 1 is further included, which can lock the relative positions of the support plate 31 and the bracket 1, thereby ensuring that the linear drive member 32 can press the pressing nozzle 21.

[0045] In one embodiment, the locking structure can be a buckle, a magic tape, a bolt, etc. In one preferred embodiment, the locking structure is a self-locking buckle 4. The self-locking buckle 4 has a simple and reliable structure and a self-locking function, and can maintain the locking stability in a vibration environment, improving the reliability of the marking device.

[0046] In one embodiment, the bracket 1 includes a bottom plate 11 and a tail plate 12. The fitting structure 17 is provided on the bottom plate 11. The body 22 of the paint spray can 2 is fitted in the fitting structure 17. The bottom 23 of the paint spray can 2 abuts against the tail plate 12, thereby completing the positioning of the axis and the radial direction of the paint spray can 2. In the embodiment where the support plate 31 is linearly moved along the axis direction of the paint spray can 2 and arranged on the bracket 1 and the positioning sleeve 33 is provided on the support plate 31, the positioning sleeve 33 restricts the displacement of the paint spray can 2 in another axis direction, thereby completing the full range of freedoms of the paint spray can 2.

[0047] In one embodiment, the bracket 1 further includes two side plates 13 provided on the bottom plate 11 and a cover plate 14 hinged to one of the side plates 13. In this embodiment, the cover plate 14 can prevent the paint spray can 2 from disengaging from the fitting structure 17, further improving the fixing reliability of the paint spray can 2. Moreover, the cover plate 14 is hinged to one of the side plates 13 through a hinge 5 and can be opened and closed, facilitating the installation and disassembly of the paint can 2. The other end of the cover plate 14 is preferably cooperated with the other side plate 13 through a self-locking buckle 4, which is convenient for controlling the opening and closing of the cover plate 14.

[0048] The bottom plate 11, the tail plate 12, the side plates 13, the cover plate 14 and the support plate 31 enclose a rectangular space for accommodating the paint spray can 2 and providing an all-round physical protection for the paint spray can 2. One side of the side plates 13 and the cover plate 14 protrudes from the bottom plate 11. There is a paint spraying opening 16 between one side of the bottom plate 11 and the support plate 31, and the paint spraying opening 16 is used for spraying paint from the rectangular space to a designated position.

[0049] In one embodiment, multiple sets of the fitting structures 17, the paint spray cans 2 and the linear driving members 32 are arranged at intervals. This marking device can install multiple paint spray cans 2 at one time. When at least two paint spray cans 2 have the same color, such an arrangement can increase the paint spraying capacity, and thus increase the number of marks. When at least two of the paint spray cans 2 have different colors, different marking information can be provided. For example, when the mine sweeping device scans different types of landmines, different colors are used for marking so that the demining personnel can quickly understand the type information of the landmines; also, when the mine sweeping device scans landmines at different depths, different colors are used for marking so that the demining personnel can quickly understand the depth information of the landmines; also, when the mine sweeping device scans the possibility of suspected landmine objects, such as when 90% of the suspected objects are scanned as landmines and 60% of the suspected objects are scanned as landmines, different colors are used for marking so that the demining personnel can quickly understand the demining priority of the landmines (the higher the percentage, the more priority). In addition, when there are more than two colors, the colors can also be combined and arranged to achieve multiple information markings.

[0050] In this embodiment, multiple linear driving members 32 are independently controlled and used, and are all electrically connected to the controller of the mine sweeping robot.

[0051] Reference attached Figure 1 - attached Figure 4 - attached Figure 6 - attached Figure 7 For a complete process of disassembling the paint spray can 2, attached Figure 1 The middle cover plate 14 is in a closed state, which is the working state at this time. The paint spray can 2 is limited in all directions, and the paint spray can 2 is fixed stably and reliably in the rectangular space. Attached Figure 4 For the state of opening the cover plate 14, attached Figure 6 For the state of pulling out the support plate 31. At this time, the end of the positioning sleeve 33 is separated from the head of the paint spray can 2, that is, the limit of the positioning sleeve 33 on the paint spray can 2 is cancelled. At this time, the paint spray can 2 can be pulled out from the fitting structure 17. Attached Figure 6 Then it is a schematic diagram after the paint spray can 2 is pulled out. Attached Figure 7 - attached Figure 6 - attached Figure 4 - attached Figure 1 For a complete process of installing the paint spray can 2, which is exactly the opposite of the disassembly process and will not be elaborated here.

[0052] The present utility model also provides a mine-sweeping robot, which includes a traveling device 6, a mine-sweeping device and a marking device arranged on the traveling device 6. The pressing nozzle 21 of the paint spray can 2 in the marking device protrudes from the fuselage of the traveling device 6 and faces the bottom of the traveling device 6. Among them, the traveling device 6 preferably adopts a tracked robot, which has extremely strong passability and can adapt to the mine-laying environment with bomb craters. In a preferred embodiment, the traveling device 6 adopts a six-track four-swing-arm obstacle-crossing robot, and the marking device is fixedly arranged on the platform of the six-track four-swing-arm obstacle-crossing robot through a bottom plate 11, and the paint spraying opening 16 is placed outside the platform.

[0053] The mine-sweeping device (not shown in the figure) is also arranged on the platform of the six-track four-swing-arm obstacle-crossing robot. It preferably uses a thermal imager for mine detection, that is, infrared thermal imaging technology for mine-sweeping operations. A mine refers to an explosive device buried on the surface (or underground, or under other objects) of the land or other objects and its surrounding area, which is designed to explode immediately once a person or vehicle approaches or touches it. The heat received by the mine from the sun during the day will be retained, and the thermal characteristics of the mine are more clearly visible at dawn and dusk because there is a large difference between them and the external temperature, forming a sharp contrast on the thermal imager. The mine-sweeping robot provided by the present utility model can achieve the expected goal by using a thermal imager for mine detection, replacing humans to perform mine-sweeping tasks, with low cost and small risk coefficient.

[0054] As described above, this is only an embodiment and does not impose any limitations on the present utility model. Any person skilled in the art, without departing from the scope of the technical solution of the present utility model, can make many possible changes, modifications or equivalent modifications to the technical solution of the present utility model by using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A marking device, characterized in that, It includes a bracket (1), a paint spray can (2) and a paint spray control component (3); A fitting structure (17) is provided on the bracket (1), and the paint spray can (2) is detachably fitted into the fitting structure (17); The paint spray control component (3) includes a support plate (31) and a linear drive (32) provided on the support plate (31), and the output end of the linear drive (32) faces the pressing nozzle (21) of the paint spray can (2).

2. The marking device according to claim 1, characterized in that, The support plate (31) is linearly movably arranged on the bracket (1) along the axial direction of the paint spray can (2).

3. The marking device according to claim 2, characterized in that, A positioning sleeve (33) is further provided on the support plate (31), the other end of the positioning sleeve (33) abuts against the head of the paint spray can (2), and a through hole (331) for spraying paint is provided on the side wall of the positioning sleeve (33); The linear drive (32) is arranged in the positioning sleeve (33).

4. The marking device according to claim 3, characterized in that, An observation hole (332) is provided on the side wall of the positioning sleeve (33), and the observation hole (332) is coaxial with the through hole (331).

5. The marking device according to claim 2, characterized in that, A guide hole (15) is provided on the bracket (1), a guide rod (311) is provided on the support plate (31), and the guide rod (311) is slidably arranged in the guide hole (15); and a locking structure for locking the positions of the support plate (31) and the bracket (1) is further included.

6. The marking device according to claim 5, characterized in that, The locking structure is a self-locking buckle (4).

7. The marking device according to any one of claims 2-6, characterized in that, The bracket (1) includes a bottom plate (11) and a tail plate (12), the fitting structure (17) is provided on the bottom plate (11), and the bottom of the paint spray can (2) abuts against the tail plate (12).

8. The marking device according to claim 7, characterized in that, The bracket (1) further includes two side plates (13) provided on the bottom plate (11) and a cover plate (14) hinged to one of the side plates (13); The bottom plate (11), the tail plate (12), the side plates (13), the cover plate (14) and the support plate (31) enclose a rectangular space, one side of the side plates (13) and the cover plate (14) protrudes from the bottom plate (11), and a paint spraying opening (16) is provided in the gap between one side of the bottom plate (11) and the support plate (31).

9. The marking device according to any one of claims 1-6 and 8, characterized in that, The fitting structure (17), the paint spray can (2) and the linear drive (32) are provided in multiple groups at intervals, and the colors of at least two of the paint spray cans (2) are different.

10. A mine-sweeping robot, characterized in that, It includes a traveling device (6) and a mine-sweeping device provided on the traveling device (6) and a marking device as described in any one of claims 1-9, and the pressing nozzle (21) of the paint spray can (2) in the marking device protrudes from the fuselage of the traveling device (6) and faces the bottom of the traveling device (6).

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