Material conveying robot based on mountain forest natural disasters

Abstract

The utility model discloses a material conveying robot based on mountain forest natural disasters, which belongs to the technical field of material conveying robots and comprises a frame, and front wheels, rear wheels, a storage device, a driving system, a balance system, a sensor system, a main control system and a power supply module which are mounted on the frame, the front wheel and the rear wheel are rotationally connected to two ends of the bottom of the rack; the storage device is fixedly connected to the top of the rack; the driving system is used for driving front wheels and rear wheels; the balance system is arranged between the front wheel and the rear wheel and used for keeping the machine body balanced. The sensor system is arranged at the front end of the rack and used for detecting the machine body inclination angle, angular speed and obstacle distance. The main control system is electrically connected with the sensor system, the driving system and the balance system, and intelligent control over the robot is achieved. The power supply module provides power support for the robot. Through cooperative work of multiple systems, safe and efficient material transportation under mountain forest disaster scenes is achieved, and the technical blank of traditional vehicle and manual transportation is filled.

Description

Technical Field

[0001] This utility model belongs to the field of material transport robot technology, and in particular relates to a material transport robot based on natural disasters in mountainous areas. Background Technology

[0002] Existing technologies are clearly inadequate in transporting relief supplies for natural disasters in mountainous areas.

[0003] After natural disasters such as earthquakes, mudslides, and fires, the terrain in mountainous areas becomes extremely complex. Steep slopes make it difficult for conventional transport vehicles to find suitable routes; narrow roads limit the width of vehicles, making it difficult for ordinary four-wheeled vehicles to pass smoothly in such environments. This results in relief supplies not being delivered to the disaster area in a timely and effective manner during critical rescue moments. For example, in some mountain earthquake disasters, due to blocked roads, large quantities of urgently needed supplies such as food and medicine were stranded on the roads, preventing affected people from receiving timely assistance and seriously threatening their lives and property.

[0004] Motorcycles, with their convenience and maneuverability, possess a certain capacity for transporting supplies in complex mountainous and forested terrain. However, using motorcycles for supply transport presents numerous problems. On one hand, riders face significant safety risks. Secondary disasters such as aftershocks, landslides, and forest fires can all seriously threaten their lives. In some forest fire rescue operations, riders have been injured due to sudden changes in the fire's intensity. On the other hand, the massive volume of supplies transported places a tremendous challenge on the rider's physical strength. Long, high-intensity transport tasks can easily lead to rider fatigue, thus affecting transport efficiency and safety. Furthermore, severe weather conditions, such as heavy rain and strong winds, significantly increase the difficulty of riding; a lack of logistical support, such as insufficient repair stations and difficulties in rest and resupply, further limits the effectiveness of motorcycle transport.

[0005] In summary, existing technologies have significant shortcomings in the transportation of supplies for natural disasters in mountainous areas, and a new technological solution is urgently needed to address these issues. Utility Model Content

[0006] To address the aforementioned technical problems, this utility model proposes a material transport robot based on natural disasters in mountainous areas.

[0007] In order to achieve the above object, the utility model provides a kind of based on mountain natural disaster's material transport robot, comprising: rack and the front wheel, rear wheel, storage device, drive system, balancing system, sensor system, main control system and power supply module installed on the rack;The front wheel and the rear wheel are rotatably connected to the bottom of the rack both ends respectively;The storage device is fixedly connected to the top of the rack;The drive system is used to drive the front wheel and the rear wheel;The balancing system is arranged between the front wheel and the rear wheel, for keeping body balance;The sensor system is arranged at the front end of the rack, for detecting body inclination, angular velocity and obstacle distance;The main control system is electrically connected with the sensor system and the drive system, the balancing system;The power supply module provides power support for robot.

[0008] According to the utility model provides a kind of based on mountain natural disaster's material transport robot, the balancing system includes flywheel, brushless DC motor and brake device, the flywheel cover is equipped with flywheel cover, the flywheel is rotated by the brushless DC motor drive, brake device is generated by braking to flywheel, reaction inertia moment to realize body re-erecting balance, the brushless DC motor and the brake device are electrically connected with the main control system.

[0009] According to the utility model provides a kind of based on mountain natural disaster's material transport robot, the brake device includes brake pad, the brake pad is correspondingly set on the side surface of the flywheel, brake pad is fixedly connected with brake top rod on the side away from the flywheel, the brake top rod, the brake top rod is slidably connected with fixed seat outside, the fixed seat is fixedly connected on the rack, brake top plate is fixedly connected on the end of the brake top rod away from the brake pad, spring is sleeved on the brake top rod in the fixed seat;Brake top plate is correspondingly provided with cam on the end away from the brake pad, the cam is drivingly connected with brake motor, the brake motor is electrically connected with the main control system.

[0010] According to the utility model provides a kind of based on mountain natural disaster's material transport robot, the sensor system includes angle detection sensor, ultrasonic sensor and image wireless sensor, the angle detection sensor is used to detect body inclination, angular velocity, the ultrasonic sensor is used to detect obstacle distance, the image wireless sensor is used to real-time monitoring picture, the angle detection sensor, ultrasonic sensor and image wireless sensor are electrically connected with the main control system.

[0011] According to the utility model provides a kind of based on mountain natural disaster's material transport robot, still include remote control system, the remote control system includes bluetooth module and cell -phone APP, for remote control body movement and receive real-time data.

[0012] The utility model provides a kind of based on mountain natural disaster's material transport robot, the drive system includes drive motor and synchronous belt, the drive motor is fixedly connected on the rack, the rear wheel is rotatably connected in the rack bottom rear end, the drive motor is driven the rear wheel rotation by synchronous belt.

[0013] The utility model provides a kind of based on mountain natural disaster's material transport robot, the drive system further includes front rudder, front handlebar and front fork, the front rudder is fixedly connected on the rack front end by rudder fixed frame, the front fork is rotatably connected below the rudder fixed frame, the front wheel is rotatably connected in the front fork lower end, front handlebar is fixedly connected on the both sides of the front fork, and the front rudder is electrically connected with the main control system.

[0014] The utility model provides a kind of based on mountain natural disaster's material transport robot, the main control system adopts STM32F03C8T6 single-chip microcomputer, and integrates PID control algorithm.

[0015] Compared with prior art, the utility model has the following advantages and technical effects:

[0016] The material transport robot based on mountain natural disaster in the application is two-wheeled robot, can be flexible in narrow, rugged mountain road conditions, with high adaptability.Sensor system can detect the body posture and obstacles, and pass detection data to the main control system, and the main control system drives the balance system according to the data to realize the dynamic balance of the robot, and the body moves through the drive system to cooperate, realize obstacle avoidance, and the main control system can also control the drive system to realize the movement of the robot, further realize no rider operation, avoid the risk of secondary disaster for rescue personnel.Rack top storage device supports bulk material transportation, meets the emergency needs of disaster area.Therefore, the robot realizes safe and efficient material transportation in mountain disaster scene through the cooperative work of multiple systems, fills the technical blank of traditional vehicle and artificial transportation. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide further understanding of the present application, and the illustrative embodiments of the present application and their description are used to explain the present application, and do not constitute undue limitation on the present application.In the drawings:

[0018] Figure 1 It is the structure schematic view of the utility model based on mountain natural disaster's material transport robot;

[0019] Figure 2 It is the internal structure schematic view of the utility model based on mountain natural disaster's material transport robot;

[0020] Figure 3Another perspective internal structure schematic view of the material conveying robot based on mountain forest natural disasters of the utility model;

[0021] Figure 4 The non-braking state structure schematic view of the brake device in the utility model;

[0022] Figure 5 The braking state structure schematic view of the brake device in the utility model.

[0023] In the figure: 1, rack; 2, brushless DC motor; 3, flywheel; 4, flywheel cover; 5, storage device; 6, synchronous belt; 7, front handle; 8, power supply module; 9, main control system; 10, front fork; 11, fixed seat; 12, spring; 13, brake top plate; 14, cam; 15, brake motor; 16, brake pad; 17, rear wheel; 18, front wheel; 19, drive motor; 20, front steering engine; 21, steering engine fixed frame. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0025] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the utility model will be further described in detail below with reference to the drawings and specific embodiments.

[0026] Referring to Figures 1 to 5 The embodiment provides a kind of material conveying robot based on mountain forest natural disasters, including: rack 1 and install on rack 1 on front wheel 18, rear wheel 17, storage device 5, drive system, balancing system, sensor system, main control system 9 and power supply module 8;Front wheel 18 and rear wheel 17 are respectively rotationally connected in the bottom of rack 1 both ends;Storage device 5 is fixedly connected to the top of rack 1;Drive system is used to drive front wheel 18 and rear wheel 17;Balancing system is arranged between front wheel 18 and rear wheel 17, for keeping body balance;Sensor system is arranged in the front end of rack 1, for detecting body inclination, angular velocity and obstacle distance;Main control system 9 is electrically connected with sensor system and drive system, balancing system;Power supply module 8 provides power support for robot.

[0027] The material delivery robot based on mountain natural disasters in the application is a two-wheeled robot, which can flexibly pass through narrow and rugged mountain road conditions and has high adaptability. The sensor system can detect the body posture and obstacles and transmit the detection data to the main control system 9. The main control system 9 drives the balancing system according to the data to realize the dynamic balance of the robot, and drives the body movement through the driving system to realize obstacle avoidance. At the same time, the main control system 9 can also control the driving system to realize the movement of the robot, thereby realizing no rider operation and avoiding the risk of secondary disaster for rescue personnel. The rack 1 top storage device 5 supports batch material transportation to meet the emergency needs of disaster areas. Therefore, the robot realizes safe and efficient material transportation in the mountain disaster scene through the cooperation of multiple systems, filling the technical gap of traditional vehicles and manual transportation.

[0028] The embodiment provides a material delivery robot based on mountain natural disasters. The balancing system comprises a flywheel 3, a brushless direct current motor 2 and a brake device. The flywheel 3 is provided with a flywheel cover 4. The flywheel 3 is driven to rotate by the brushless direct current motor 2. The brake device generates a reaction inertia torque to realize the body balance by braking the flywheel 3. The brushless direct current motor 2 and the brake device are electrically connected with the main control system 9.

[0029] The main control system 9 continuously obtains the data transmitted by the sensor system and performs calculation and adjustment to drive the brushless direct current motor 2. The flywheel 3 is rapidly swung by the brake device to realize the body balance and dynamic stability control. The obstacle avoidance is realized by controllable body swing, so that the unmanned balancing vehicle can autonomously drive in a complex environment and keep balance.

[0030] The embodiment provides a material delivery robot based on mountain natural disasters. The brake device comprises a brake pad 16. The brake pad 16 is correspondingly arranged on the side surface of the flywheel 3. The brake pad 16 is fixedly connected with a brake top rod away from the flywheel 3. The brake top rod is slidably connected with a fixed seat 11 outside. The fixed seat 11 is fixedly connected with the rack 1. The brake top rod is fixedly connected with a brake top plate 13 away from the brake pad 16. The brake top plate 13 is provided with a cam 14 away from the brake pad 16. The cam 14 is drivingly connected with a brake motor 15. The brake motor 15 is electrically connected with the main control system 9.

[0031] The fixed seat 11 is provided with a spring 12, which is fixed by a brake top plate 13, so that the spring 12 is in a slightly compressed state; at the same time, the brushless DC motor 2 drives the flywheel 3 to rotate, and a flywheel cover 4 is arranged outside the flywheel 3 to protect the flywheel 3 from external interference, and is fixed on the rack 1. The main control system 9 detects the posture of the robot body, and drives the flywheel 3 to change the speed in the acceleration process according to the posture of the robot body. At this time, the brake motor 15 fixed on the rack 1 will drive the cam 14 to rotate. When the cam 14 rotates by a certain angle, the spring 12 is compressed, driving the brake pad 16 to move towards the high-speed rotating flywheel 3, so that the flywheel 3 is braked urgently. At this time, the generated reaction inertia moment makes the body quickly swing, the brake motor 15 drives the brake pad 16 to reset quickly, so that the body restores the straight and static balance state within a certain angle range, and has a certain anti-interference ability.

[0032] The embodiment provides a material transport robot based on mountain natural disasters, a sensor system includes an angle detection sensor, an ultrasonic sensor and an image wireless sensor, the angle detection sensor is used for detecting the body inclination angle and angular velocity, the ultrasonic sensor is used for detecting the obstacle distance, and the image wireless sensor is used for monitoring the picture in real time. The angle detection sensor, the ultrasonic sensor and the image wireless sensor are electrically connected with the main control system 9.

[0033] The angle detection sensor selects a micro-electromechanical system (MEMS) inertial measurement unit (IMU) sensor with a model of MPU-6050, which integrates a three-axis accelerometer and a three-axis gyroscope, can measure the acceleration and angular velocity of an object, and outputs data through an I2C or SPI interface.

[0034] The embodiment provides a material transport robot based on mountain natural disasters, and further includes a remote control system, the remote control system includes a Bluetooth module and a mobile phone APP, and is used for remotely controlling the body movement and receiving real-time data.

[0035] The mobile phone APP sends a signal to the main control system 9 through Bluetooth, so that the remote control of the robot can be realized.

[0036] The embodiment provides a material transport robot based on mountain natural disasters, and a driving system includes a driving motor 19 and a synchronous belt 6, the driving motor 19 is fixed to the rack 1, the rear wheel 17 is rotatably connected to the bottom rear end of the rack 1, and the driving motor 19 drives the rear wheel 17 to rotate through the synchronous belt 6.

[0037] The driving motor 19 is controlled by the main control system 9 and transmits torque to the motor driven wheel through the synchronous belt 6, so as to drive the rear wheel 17 to rotate, realizing the forward and backward movement of the robot.

[0038] The embodiment provides a material conveying robot based on mountain forest natural disasters, and the driving system further comprises a front steering engine 20, a front handle 7 and a front fork 10, the front steering engine 20 is fixedly connected to the front end of the rack 1 through a steering engine fixing frame 21, the front fork 10 is rotationally connected below the steering engine fixing frame 21, the front wheel 18 is rotationally connected to the lower end of the front fork 10, the front handle 7 is fixedly connected to the two sides of the front fork 10, and the front steering engine 20 is electrically connected with the master control system 9.

[0039] The front steering engine 20 is controlled by the master control system 9, can drive the front fork 10 to rotate left and right, and further drives the front wheel 18 to rotate, so that the left and right movements of the robot are realized.

[0040] The embodiment provides a material conveying robot based on mountain forest natural disasters, and the master control system 9 adopts an STM32F103C8T6 single-chip microcomputer and integrates a PID control algorithm.

[0041] The control system adopts an STM32F103C8T6 single-chip microcomputer as the processor of the master control system 9, has excellent system performance, and can effectively process the data of external equipment. The single-chip microcomputer has a fast digital operation speed, can respond to digital signals of state sensors and motor coding elements in time, and thus realizes accurate control of the robot. Through a control program written in advance, the STM32 can send instructions to a motor driving chip, so that stable and balanced control of the robot is realized.

[0042] The utility model discloses not exhaustively be the conventional technical means of the person skilled in the art.

[0043] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore can not be understood as limiting the utility model.

[0044] The above-described embodiments are only preferred modes of the utility model, and do not limit the scope of the utility model, and various deformations and improvements of the technical scheme of the utility model made by the person skilled in the art without departing from the design spirit of the utility model should fall within the protection scope of the utility model claim.

Claims

1. A material transport robot based on natural disasters in mountainous areas, characterized in that, include: The robot comprises a frame (1) and front wheels (18), rear wheels (17), storage device (5), drive system, balance system, sensor system, main control system (9), and power supply module (8) mounted on the frame (1). The front wheels (18) and rear wheels (17) are rotatably connected to the bottom ends of the frame (1). The storage device (5) is fixed to the top of the frame (1). The drive system is used to drive the front wheels (18) and rear wheels (17). The balance system is located between the front wheels (18) and rear wheels (17) to maintain the robot's balance. The sensor system is located at the front end of the frame (1) to detect the robot's tilt angle, angular velocity, and distance to obstacles. The main control system (9) is electrically connected to the sensor system, drive system, and balance system. The power supply module (8) provides power to the robot.

2. The material transport robot based on natural disasters in mountainous areas according to claim 1, characterized in that: The balancing system includes a flywheel (3), a brushless DC motor (2), and a braking device. The flywheel (3) is covered with a flywheel cover (4). The flywheel (3) is driven to rotate by the brushless DC motor (2). The braking device generates a reaction inertial torque by braking the flywheel (3) to achieve the body's repositioning balance. The brushless DC motor (2) and the braking device are electrically connected to the main control system (9).

3. The material transport robot based on natural disasters in mountainous areas according to claim 2, characterized in that: The braking device includes a brake pad (16), which is disposed on the side of the flywheel (3). A brake rod is fixedly connected to the side of the brake pad (16) away from the flywheel (3). A fixed seat (11) is slidably connected to the brake rod and fixedly connected to the frame (1). A brake plate (13) is fixedly connected to the end of the brake rod away from the brake pad (16). A spring (12) is sleeved on the brake rod inside the fixed seat (11). A cam (14) is disposed on the end of the brake plate (13) away from the brake pad (16). A brake motor (15) is drivenly connected to the cam (14). The brake motor (15) is electrically connected to the main control system (9).

4. The material transport robot based on natural disasters in mountainous areas according to claim 1, characterized in that: The sensor system includes an angle detection sensor, an ultrasonic sensor, and an image wireless sensor. The angle detection sensor is used to detect the tilt angle and angular velocity of the machine body. The ultrasonic sensor is used to detect the distance to obstacles. The image wireless sensor is used to monitor the screen in real time. The angle detection sensor, ultrasonic sensor, and image wireless sensor are all electrically connected to the main control system (9).

5. The material transport robot based on natural disasters in mountainous areas according to claim 1, characterized in that: It also includes a remote control system, which includes a Bluetooth module and a mobile APP, for remotely controlling the movement of the machine and receiving real-time data.

6. The material transport robot based on natural disasters in mountainous areas according to claim 1, characterized in that: The drive system includes a drive motor (19) and a timing belt (6). The drive motor (19) is fixed to the frame (1). The rear wheel (17) is rotatably connected to the bottom rear end of the frame (1). The drive motor (19) drives the rear wheel (17) to rotate through the timing belt (6).

7. The material transport robot based on natural disasters in mountainous areas according to claim 6, characterized in that: The drive system also includes a front servo (20), a front handlebar (7), and a front fork (10). The front servo (20) is fixed to the front end of the frame (1) via a servo mounting bracket (21). The front fork (10) is rotatably connected to the lower part of the servo mounting bracket (21). The front wheel (18) is rotatably connected to the lower end of the front fork (10). The front handlebar (7) is fixed to both sides of the front fork (10). The front servo (20) is electrically connected to the main control system (9).

8. The material transport robot based on natural disasters in mountainous areas according to claim 1, characterized in that: The main control system (9) uses an STM32F103C8T6 microcontroller and integrates a PID control algorithm.

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