A dual-mode rescue platform based on mechanical terrain perception

Abstract

The application relates to a dual-mode rescue platform based on mechanical terrain sensing, and relates to the field of rescue vehicles, which mainly comprises a platform, four rollers are installed on the platform, characterized in that two parallel spiral wheels are further arranged, spiral blades are integrally arranged on the outer side walls of the spiral wheels, and the interiors of the two spiral wheels are provided with first driving mechanisms; cantilevers are rotatably arranged at the two ends of the spiral wheels, a second driving mechanism for driving the cantilevers to rotate is fixedly arranged on the platform; a limiting plate is fixedly connected between the two cantilevers, a limiting mechanism for limiting the position of the limiting plate when the spiral wheel works is fixedly arranged on the platform; and a terrain detection device for sensing the terrain is fixedly arranged on the platform. The application can improve the adaptability of the rescue vehicle to different terrains.

Description

Technical Field

[0001] This application relates to the field of rescue vehicles, and in particular to a dual-modal rescue platform based on mechanical terrain perception. Background Technology

[0002] The challenge of disaster relief in challenging terrain lies in the fact that traditional wheeled rescue vehicles are prone to getting stuck, slipping, or losing traction in rubble, steep slopes, and loose gravel, while legged or tracked robots, although adaptable to rugged environments and soft terrain, suffer from drawbacks such as high energy consumption and slow speed when traveling on flat ground. Therefore, achieving robust and efficient mobility and terrain adaptability has become one of the core challenges in the development of disaster relief equipment.

[0003] In existing technologies, common rescue vehicles are mainly wheeled. Wheeled rescue vehicles mainly consist of a platform with four wheels mounted on it, which are driven by a roller drive mechanism mounted on the platform. In recent years, wheel-tracked and wheel-legged hybrid robots have become a research hotspot, but the control of driving mode switching is often very complex. In addition, existing rescue robots mostly rely on vision or lidar for terrain recognition, and their perception capabilities are significantly reduced in dusty, dark, or obstructed conditions.

[0004] Based on the above requirements, this application integrates a dual-mode drive system that combines high-speed wheeled travel with a propeller-driven system. By using mechanical terrain perception, the drive mode of the rescue vehicle is switched according to the terrain of the environment, which can ensure the speed of the rescue vehicle while improving its adaptability. Utility Model Content

[0005] To improve the adaptability of rescue vehicles to different terrains, this application provides a dual-modal rescue platform based on mechanical terrain perception.

[0006] The dual-modal rescue platform based on mechanical terrain perception provided in this application adopts the following technical solution: A dual-modal rescue platform based on mechanical terrain perception includes a platform on which four rollers are installed. The platform is characterized by further including two parallel spiral wheels. Spiral blades are integrally formed on the outer side wall of the spiral wheels. The spiral blades of the two spiral wheels are symmetrically arranged, and a first drive mechanism is installed inside each of the two spiral wheels. Both ends of the spiral wheel are rotatably mounted with cantilever arms, and a second drive mechanism for driving the cantilever arms to rotate is fixedly mounted on the platform. A limiting plate is fixedly connected between the two cantilever arms, and a limiting mechanism is fixedly installed on the platform to limit the position of the limiting plate when the auger is working; A terrain detection device for sensing terrain is fixedly installed on the platform. The signal input terminals of the first drive mechanism, the second drive mechanism, the limiting mechanism, and the terrain detection device are connected to the signal output terminal of the control board on the platform. The signal output terminal of the terrain detection device is connected to the signal input terminal of the control board.

[0007] By adopting the above technical solution, in actual use, the terrain detection device detects the terrain of the site to determine whether the geology is soft or hard. If the geology is hard, the control panel on the platform controls the roller drive mechanism to drive the four rollers to rotate, thus moving the rescue platform. If the geology is soft, the rollers are prone to getting stuck or slipping. In this case, the control panel controls the second drive mechanism to drive the cantilever to rotate, causing the spiral wheel installed on the cantilever to lower. Simultaneously, the first drive mechanism inside the spiral wheel drives the spiral wheel to rotate. The thrust generated by the spiral wheel blades moves the rescue platform. This achieves the technical effect of switching the drive mode of the rescue platform based on the site's location, making the rescue platform suitable for both hard and soft terrain, effectively improving its adaptability. By using a limit plate in conjunction with the platform's upper limit mechanism, when the spiral wheel is lowered, the limit mechanism can limit the limit plate between the two cantilever arms, raising the position of the cantilever arms at both ends of the spiral wheel and reducing the adverse effects of cantilever swaying on the spiral wheel's rotation.

[0008] Preferably, an internal gear ring is fixedly connected to the middle of the inner wall of the spiral wheel, and the first drive mechanism includes two servo motors arranged in opposite directions; The cylinders of both servo motors are fixedly mounted on the inner wall of the helical wheel, and the drive shafts of the two servo motors are equipped with first gears, both of which mesh with the internal gear ring.

[0009] By adopting the above technical solution, two servo motors can simultaneously drive the internal gear ring to rotate through the first gear, which can synchronously drive the helical wheel to rotate.

[0010] Preferably, a connecting rod is fixedly installed between the ends of the two cantilever arms near the platform, and two second gears are coaxially fixedly installed on the connecting rod. The platform has four first through holes for exposing the second gears. The second drive mechanism includes four first servo motors, which are fixedly installed on the sides of the four first through holes. Each of the four first servo motors has a third gear fixedly installed on its drive shaft end, and the four third gears mesh with the four second gears respectively.

[0011] By adopting the above technical solution, when the terrain detection device detects that the geological conditions of the site are relatively soft, the control board can control the four first servo motors to drive the second gear to rotate simultaneously through the third gear, so that the cantilever on both sides of the spiral wheel rotates 90 degrees to lower the spiral wheel, while raising the platform, so that the bottom of the four rollers separates from the ground, and the two spiral wheels generate thrust to drive the rescue platform to move.

[0012] Preferably, the limiting mechanism includes two second servo motors fixedly mounted on the platform, and baffles are fixedly mounted on the drive shaft ends of the two second servo motors; Two second through holes adapted to the baffles are opened through the platform, and the two baffles and the two second through holes are located inside the two limiting plates.

[0013] By adopting the above technical solution, after the first servo drives the cantilever to rotate and lower the helical wheel, the two second servo drives the two baffles to rotate. The two baffles extend into the lower part of the platform through the second through hole and are limited to the inside of the two limit plates. This can prevent the cantilever from rotating inward during the operation of the helical wheel and improve the stability of the helical wheel operation.

[0014] Preferably, a support is fixedly connected to the top of the platform, and the terrain detection device includes a first connecting frame and a second connecting frame. A thin wheel is rotatably mounted on the first connecting frame, and a cylindrical thick wheel is rotatably mounted on the second connecting frame. Both the first connecting frame and the second connecting frame are fixedly installed with connecting shafts. One end of the connecting shaft is rotatably connected to the bracket, and the other end of the connecting shaft is fixedly connected to a fourth gear. Two potentiometers are fixedly installed on the bracket, and the potentiometer gears of the two potentiometers respectively mesh with the two fourth gears; The signal output terminals of the two potentiometers are connected to the signal input terminals of the control board.

[0015] By adopting the above technical solution, when the site has hard geology, the rotation angles of the first connecting frame and the second connecting frame are basically consistent; when the site has soft geology, due to the thinner wheel and the thicker wheel, the thinner wheel cuts into the soft soil or mud, while the thicker wheel remains on the surface of the ground. The rotation angles of the first connecting frame and the second connecting frame are different. The fourth gear, which is synchronized with the first connecting frame and the second connecting frame respectively, meshes with the two potentiometer gears. The potential difference measured by the two potentiometer gears is large, which can indicate that the current terrain is soft.

[0016] Preferably, a motion status display is fixedly installed on the platform, and the signal input terminal of the motion status display is connected to the signal output terminals of two potentiometers and the roller drive mechanism.

[0017] By adopting the above technical solution, the difference between the two potentiometers and the current motion status of the rescue platform driven by four wheels / spiral wheels can be displayed through the status display.

[0018] Preferably, the outer side of the end of the cantilever near the helical wheel is curved.

[0019] By adopting the above technical solution, and by setting the outer side of the cantilever near the auger in a curved shape, the occurrence of the cantilever getting stuck in the sand when the rescue platform is moving in soft terrain can be reduced.

[0020] In summary, the dual-modal rescue platform based on mechanical terrain perception proposed in this application has at least one of the following beneficial technical effects: 1. When the ground is hard, the rotation angles of the first and second connecting frames remain basically the same. When the ground is soft, due to the thinner and thicker discs, the thinner disc cuts into the soft soil or mud, while the thicker disc remains on the surface. The rotation angles of the first and second connecting frames are different. The fourth gear, which is synchronized with the first and second connecting frames respectively, meshes with two potentiometer gears. The large potential difference measured by the two potentiometer gears indicates that the current terrain is soft. At the same time, the first drive mechanism inside the spiral wheel drives the spiral wheel to rotate. The thrust generated by the spiral wheel blades moves the rescue platform. This achieves the technical effect of switching the drive mode of the rescue platform based on the site, making the rescue platform suitable for both hard and soft terrain, effectively improving the adaptability of the rescue platform. 2. After the first servo drives the cantilever to rotate and lower the helical wheel, the two second servos drive the two baffles to rotate. The two baffles extend into the lower part of the platform through the second through hole and are limited to the inside of the two limit plates. This can prevent the cantilever from rotating inward during the operation of the helical wheel and improve the stability of the helical wheel operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the top structure of the rescue platform in an embodiment of this application.

[0022] Figure 2 This is a schematic diagram illustrating the bottom structure of the rescue platform in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram illustrating the internal structure of the spiral wheel in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram illustrating the overall structure of the terrain detection device in an embodiment of this application.

[0025] Explanation of reference numerals in the attached drawings: 1. Platform; 11. Roller; 12. First through hole; 13. Second through hole; 14. Motion status display; 2. Helical wheel; 3. Cantilever; 31. Limiting plate; 32. Internal gear ring; 33. Servo motor; 34. First gear; 35. Connecting rod; 36. Second gear; 4. First servo motor; 41. Third gear; 5. Second servo motor; 51. Baffle; 6. Terrain detection device; 61. First connecting frame; 62. Second connecting frame; 63. Thin wheel; 64. Thick wheel; 65. Connecting shaft; 66. Fourth gear; 67. Third connecting frame; 68. Middle wheel; 7. Bracket; 8. Potentiometer; 81. Potentiometer gear. Detailed Implementation

[0026] The following combination Figures 1-4 This application will be described in further detail.

[0027] Example 1 This application discloses a dual-modal rescue platform based on mechanical terrain perception. (Refer to...) Figures 1-4 It mainly includes a platform 1, on which four rollers 11 are installed. It also includes two parallel spiral wheels 3, on which spiral blades are integrally formed on the outer wall of the spiral wheels 3. The spiral blades of the two spiral wheels 3 are symmetrically arranged, and a first drive mechanism is installed inside each of the two spiral wheels 3. Cantilever arms 2 are rotatably installed at both ends of the spiral wheels 3. A second drive mechanism for driving the rotation of the cantilever arms 2 is fixedly installed on the platform 1. A limit plate 31 is fixedly connected between the two cantilever arms 2. A limiting mechanism for limiting the position of the limit plate 31 when the spiral wheels 3 are working is fixedly installed on the platform 1.

[0028] A terrain detection device 6 for sensing terrain is fixedly installed on platform 1. The signal input terminals of the first drive mechanism, the second drive mechanism, the limit mechanism, and the terrain detection device 6 are connected to the signal output terminals of the control board (model Arduino Mega2560) on platform 1. The signal output terminal of the terrain detection device 6 is connected to the signal input terminal of the control board.

[0029] It should be noted that, in this embodiment, in order to reduce the possibility of the cantilever 2 getting stuck in the sand after it is lowered and during the movement of the spiral wheel 3, the outer side of the end of the cantilever 2 near the spiral wheel 3 is curved.

[0030] In actual use, the terrain detection device 6 detects the terrain of the site and determines whether the soil is soft or hard. If the soil is hard, the control panel on the platform 1 controls the roller 11 drive mechanism to drive the four rollers 11 to rotate, thereby driving the rescue platform 1 to move. If the soil is soft, the rollers 11 are prone to getting stuck or slipping. In this case, the control panel controls the second drive mechanism to drive the cantilever 2 to rotate, so that the spiral wheel 3 installed on the cantilever 2 is lowered. At the same time, the first drive mechanism inside the spiral wheel 3 is controlled to drive the spiral wheel 3 to rotate. The thrust generated by the blades of the spiral wheel 3 drives the rescue platform 1 to move. This can achieve the technical effect of switching the drive mode of the rescue platform 1 based on the site, making the rescue platform 1 suitable for both hard and soft terrain, effectively improving the adaptability of the rescue platform 1.

[0031] By using the limit plate 31 in conjunction with the upper limit mechanism of the platform 1, when the spiral wheel 3 is lowered, the limit plate 31 between the two cantilever 2 can be limited by the limit mechanism, which can raise the position of the cantilever 2 at both ends of the spiral wheel 3 and reduce the adverse effects of the swing of the cantilever 2 on the rotation of the spiral wheel 3.

[0032] Reference Figure 3 An internal gear ring 32 is fixedly connected to the middle of the inner wall of the spiral wheel 3. The first drive mechanism includes two servo motors 33 of model 24GP-370 arranged in opposite directions. The cylinders of the two servo motors 33 are fixedly installed on the inner wall of the spiral wheel 3. The drive shaft ends of the two servo motors 33 are equipped with first gears 34, and the two first gears 34 mesh with the internal gear ring 32.

[0033] Two servo motors 33 simultaneously drive the internal gear ring 32 to rotate via the first gear 34, which can synchronously drive the spiral wheel 3 to rotate.

[0034] Reference Figure 1 and Figure 2 A connecting rod 35 is fixedly installed between the ends of the two cantilever arms 2 near the platform 1. Two second gears 36 are coaxially fixedly installed on the connecting rod 35. The platform 1 has four first through holes 12 for exposing the second gears 36. The second drive mechanism includes four first servo motors 4. The four first servo motors 4 are fixedly installed on the sides of the four first through holes 12, and a third gear 41 is fixedly installed on the drive shaft end of each of the four first servo motors 4. The four third gears 41 mesh with the four second gears 36 respectively.

[0035] When the terrain detection device 6 detects that the geological conditions of the site are relatively soft, the control panel can control the four first servo motors 4 to drive the second gear 36 to rotate simultaneously through the third gear 41, so that the cantilever 2 on both sides of the spiral wheel 3 rotates 90 degrees to lower the spiral wheel 3, while raising the platform 1, so that the bottom of the four rollers 11 separates from the ground, and the two spiral wheels 3 generate thrust to drive the rescue platform 1 to move.

[0036] Reference Figure 1 The limiting mechanism includes two second servo motors 5 fixedly mounted on the platform 1, and baffles 51 are fixedly mounted on the drive shaft ends of the two second servo motors 5. Two second through holes 13 adapted to the baffles 51 are opened through the platform 1, and the two baffles 51 and the two second through holes 13 are located inside the two limiting plates 31.

[0037] When the first servo motor 4 drives the cantilever 2 to rotate and lower the spiral wheel 3, the two second servo motors 5 drive the two baffles 51 to rotate. The two baffles 51 extend into the lower part of the platform 1 through the second through hole 13 and are limited to the inside of the two limit plates 31. This can prevent the cantilever 2 from rotating inward during the operation of the spiral wheel 3 and improve the stability of the spiral wheel 3.

[0038] It should be noted that in this embodiment, the first servo motor 4 and the second servo motor 5 are both PWM500US.

[0039] Reference Figure 1 and Figure 4 A bracket 7 is fixedly connected to the top of the platform 1. The terrain detection device 6 includes a first connecting frame 61 and a second connecting frame 62. A thin wheel 63 is rotatably mounted on the first connecting frame 61, and a cylindrical thick wheel 64 is rotatably mounted on the second connecting frame 62. A connecting shaft 65 is fixedly mounted on both the first connecting frame 61 and the second connecting frame 62. One end of the connecting shaft 65 is rotatably connected to the bracket 7, and the other end of the connecting shaft 65 is fixedly connected to a fourth gear 66. Two potentiometers 8 are fixedly mounted on the bracket 7. The potentiometer gears 81 of the two potentiometers 8 mesh with the two fourth gears 66 respectively. The signal output terminals of the two potentiometers 8 are connected to the signal input terminals of the control board.

[0040] When the ground is relatively hard, the rotation angles of the first connecting frame 61 and the second connecting frame 62 are basically the same. When the ground is relatively soft, because the thin disc 63 is thinner and the thick disc 64 is thicker, the thin disc 63 cuts into the loose soil or mud, while the thick disc 64 remains on the surface of the ground. The rotation angles of the first connecting frame 61 and the second connecting frame 62 are different. The fourth gear 66, which is synchronized with the first connecting frame 61 and the second connecting frame 62 respectively, meshes with the two potentiometer gears 81. The potential difference measured by the two potentiometer gears 81 is relatively large, which indicates that the current terrain is relatively soft.

[0041] Furthermore, a motion status display 14 is fixedly installed on platform 1. The signal input terminal of the motion status display 14 is connected to the signal output terminal of the two potentiometers 8 and the drive mechanism of the roller 11. The status display can show the difference between the two potentiometers 8 and the current motion status of the rescue platform 1 driven by the four wheels / spiral wheels 3.

[0042] Example 2

[0043] In this embodiment, a third connecting frame 67 is also installed on the bracket 7. A cylindrical middle wheel 68 is rotatably installed on the third connecting frame 67. The middle wheel 68 is located on the side of the thick wheel 64 away from the thin wheel 63, and the thickness of the middle wheel 68 is greater than that of the thin wheel 63 and less than that of the thick wheel 64.

[0044] A fourth gear 66 is also fixedly installed on the connecting shaft 65 on the third connecting frame 67, and a third potentiometer 8 is installed on the bracket 7. The potentiometer gear 81 of the third potentiometer 8 meshes with the fourth gear 66 on the third connecting frame 67.

[0045] By setting the middle wheel 68, quantitative detection can be carried out in relatively moist but soft terrain, further improving the detection accuracy of terrain detection equipment.

[0046] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A dual-modal rescue platform based on mechanical terrain perception, comprising a platform (1) on which four wheels (11) are mounted, characterized in that, It also includes two parallel spiral wheels (3), with spiral blades integrally formed on the outer side wall of the spiral wheels (3), the spiral blades of the two spiral wheels (3) are symmetrically arranged, and a first drive mechanism is installed inside the two spiral wheels (3); Both ends of the spiral wheel (3) are rotatably mounted with cantilever (2), and a second drive mechanism for driving the cantilever (2) to rotate is fixedly mounted on the platform (1); A limiting plate (31) is fixedly connected between the two cantilever arms (2), and a limiting mechanism for limiting the position of the limiting plate (31) is fixedly installed on the platform (1) when the spiral wheel (3) is working; A terrain detection device (6) for sensing terrain is fixedly installed on the platform (1). The signal input terminals of the first drive mechanism, the second drive mechanism, the limiting mechanism and the terrain detection device (6) are connected to the signal output terminal of the control board on the platform (1). The signal output terminal of the terrain detection device (6) is connected to the signal input terminal of the control board.

2. The dual-modal rescue platform based on mechanical terrain perception according to claim 1, characterized in that, An internal gear ring (32) is fixedly connected to the middle of the inner wall of the spiral wheel (3), and the first drive mechanism includes two servo motors (33) arranged in opposite directions. The cylinders of the two servo motors (33) are fixedly mounted on the inner wall of the spiral wheel (3), and the drive shafts of the two servo motors (33) are equipped with first gears (34), and the two first gears (34) mesh with the internal gear ring (32).

3. A dual-modal rescue platform based on mechanical terrain perception according to claim 2, characterized in that, A connecting rod (35) is fixedly installed between the ends of the two cantilever (2) near the platform (1). Two second gears (36) are coaxially fixedly installed on the connecting rod (35). Four first through holes (12) are opened on the platform (1) to expose the second gears (36). The second drive mechanism includes four first servo motors (4), which are fixedly installed on the side of the four first through holes (12), and each of the four first servo motors (4) has a third gear (41) fixedly installed on the drive shaft end, and the four third gears (41) mesh with the four second gears (36) respectively.

4. A dual-modal rescue platform based on mechanical terrain perception according to claim 3, characterized in that, The limiting mechanism includes two second servo motors (5) fixedly installed on the platform (1), and baffles (51) are fixedly installed on the drive shaft ends of the two second servo motors (5). The platform (1) has two second through holes (13) that are adapted to the baffle (51). The two baffles (51) and the two second through holes (13) are located inside the two limiting plates (31).

5. A dual-modal rescue platform based on mechanical terrain perception according to claim 4, characterized in that, The top of the platform (1) is fixedly connected to a bracket (7), and the terrain detection device (6) includes a first connecting frame (61) and a second connecting frame (62). A thin wheel (63) is rotatably mounted on the first connecting frame (61), and a cylindrical thick wheel (64) is rotatably mounted on the second connecting frame (62). A connecting shaft (65) is fixedly installed on both the first connecting frame (61) and the second connecting frame (62). One end of the connecting shaft (65) is rotatably connected to the bracket (7), and the other end of the connecting shaft (65) is fixedly connected to a fourth gear (66). Two potentiometers (8) are fixedly installed on the bracket (7), and the potentiometer gears (81) of the two potentiometers (8) respectively mesh with the two fourth gears (66); The signal output terminals of the two potentiometers (8) are connected to the signal input terminals of the control board.

6. A dual-modal rescue platform based on mechanical terrain perception according to claim 5, characterized in that, A motion status display (14) is fixedly installed on the platform (1). The signal input terminal of the motion status display (14) is connected to the signal output terminal of the two potentiometers (8) and the roller (11) drive mechanism.

7. A dual-modal rescue platform based on mechanical terrain perception according to claim 1, characterized in that, The cantilever (2) is curved on the outer side of the end near the helical wheel (3).

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