An unmanned vehicle remote monitoring system for aerospace search and rescue

Abstract

The utility model discloses an unmanned vehicle remote monitoring system for space search and rescue relates to space search and rescue device technical field. Including: unmanned vehicle, the unmanned vehicle top is provided with two automatic open -and -shut door, the unmanned vehicle is provided with two lifting mechanisms in, and optical equipment and mechanical arm are arranged on two lifting mechanisms respectively, propellant concentration detection equipment is connected on mechanical arm, remote operating platform is connected with unmanned vehicle. When using, open automatic open -and -shut door, through lifting mechanism, optical equipment and mechanical arm are lifted to the outside of unmanned vehicle, and the staff controls unmanned vehicle shape to go through remote operating platform, realizes to the return cabin air tracking and close -range shooting through optical equipment, carries out propellant concentration detection through propellant concentration detection equipment on mechanical arm, realizes unmanned remote monitoring of return cabin landing site, realizes quick arrival, remote unmanned monitoring, effectively promotes the security of on -the -spot disposal.

Description

Technical Field

[0001] This utility model relates to the field of aerospace search and rescue equipment technology, and in particular to a remote monitoring system for unmanned vehicles used in aerospace search and rescue. Background Technology

[0002] Space search and rescue refers to a series of search and rescue activities conducted during the launch, operation, and return of spacecraft in response to potential emergencies.

[0003] In space search and rescue missions, propellant testing is a crucial and extremely dangerous step. Especially for manned spacecraft return capsules, which may carry unused propellant, such as fuel and oxidizer, these substances are typically highly toxic, corrosive, flammable, and explosive. Rigorous testing must be conducted before search and rescue personnel approach spacecraft wreckage or the return capsule to ensure the safety of rescuers, astronauts, and the public.

[0004] However, in existing technologies, monitoring personnel must wear airtight chemical protective suits to resist the corrosion and penetration of propellants, but there are still certain risks. Therefore, there is an urgent need for an unmanned vehicle remote monitoring system for aerospace search and rescue. Utility Model Content

[0005] To address the problems of existing technologies, this utility model provides a remote monitoring system for unmanned vehicles used in space search and rescue, comprising:

[0006] The unmanned vehicle has two automatically opening and closing doors on its top and two lifting mechanisms inside, each equipped with an optical device and a robotic arm.

[0007] A propellant concentration detection device is connected to the robotic arm;

[0008] A remote control console is connected to the unmanned vehicle.

[0009] Furthermore, the automatic opening and closing door includes:

[0010] An opening is created on the top of the driverless vehicle;

[0011] A groove is formed on the two opposite inner walls of the opening;

[0012] The door body is located at the opening and is slidably connected within the groove;

[0013] A receiving cavity is formed on the inner wall of the opening and adjacent to the slide groove, for accommodating the door body;

[0014] A drive mechanism, connected to the top inside the unmanned vehicle, is used to drive the door to slide.

[0015] Furthermore, the drive mechanism includes:

[0016] A straight rack is connected to the side wall of the door body;

[0017] A rotating shaft is rotatably connected to the top of the inside of the unmanned vehicle;

[0018] A gear is connected to the rotating shaft and meshes with the spur rack;

[0019] A drive motor is connected to the top inside the unmanned vehicle;

[0020] The drive wheel is connected to the output end of the drive motor;

[0021] The driven wheel is connected to one end of the rotating shaft;

[0022] A belt is fitted onto the driving pulley and the driven pulley.

[0023] Furthermore, each of the lifting mechanisms includes:

[0024] A lead screw motor is connected inside the unmanned vehicle;

[0025] A ball nut seat is threadedly connected to the lead screw of the lead screw motor;

[0026] A fixing plate is connected to the ball nut seat via a support rod;

[0027] The optical device and the robotic arm are connected to the fixed plate.

[0028] Furthermore, the unmanned vehicle is equipped with a radio, a switchboard, and audio / video encoding equipment.

[0029] The beneficial effects of the technical solution provided by this utility model are as follows: This utility model is equipped with an unmanned vehicle and a remote control console. The unmanned vehicle has two automatic opening and closing doors on its top and two lifting mechanisms inside. Optical equipment and a robotic arm are respectively installed on the two lifting mechanisms. When in use, the automatic opening and closing doors are opened, and the optical equipment and robotic arm are raised to the outside of the unmanned vehicle through the lifting mechanisms. The staff controls the movement of the unmanned vehicle through the remote control console, uses the optical equipment to track the return capsule in the air and take close-up pictures, and uses the propellant concentration detection equipment on the robotic arm to detect the propellant concentration. This enables unmanned remote monitoring of the return capsule landing site, achieving rapid arrival and remote unmanned monitoring, and effectively improving the safety of on-site handling. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a remote monitoring system for unmanned vehicles used in aerospace search and rescue provided by this utility model;

[0031] Figure 2This is a structural schematic diagram of an unmanned vehicle provided by this utility model;

[0032] Figure 3 This is a schematic diagram of a structure provided by this utility model;

[0033] Figure 4 This is a structural schematic diagram of an automatic opening and closing door provided by this utility model;

[0034] Figure 5 This is a structural schematic diagram of a lifting mechanism provided by this utility model;

[0035] Figure 6 This utility model provides an electrical connection topology diagram.

[0036] Reference numerals: 1-Unmanned vehicle; 2-Automatic opening and closing door; 3-Optical equipment; 4-Robotic arm; 5-Propellant concentration detection equipment; 6-Remote control panel; 7-Opening; 8-Slide groove; 9-Door body; 10-Accommodation cavity; 11-Rack and pinion; 12-Rotating shaft; 13-Gear; 14-Drive motor; 15-Driving wheel; 16-Driven wheel; 17-Belt; 18-Screw motor; 19-Ball nut seat; 20-Fixing plate; 21-Support rod; 22-Notch. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0039] It should be noted that in this embodiment, the orientation or positional relationship indicated by terms such as "bottom," "top," "left," and "right" is based on the orientation or positional relationship shown in the accompanying drawings. It is used only for the convenience of describing this application and for simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0040] It should also be noted that, in this embodiment, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] See Figures 1-6 A remote monitoring system for unmanned vehicles used in space search and rescue includes an unmanned vehicle 1 and a remote control console 6.

[0042] It should be noted that, in this embodiment, the unmanned vehicle 1 includes a chassis, a sensor suite, a control system, and actuators: the chassis is the frame that supports the entire vehicle and includes a drive system (electric motor or internal combustion engine), a steering system, and a braking system; the sensor suite includes: lidar, ultrasonic sensors, GPS, etc.; the control system includes: a central processing unit (CPU / GPU), a communication module, an electronic control unit (ECU), etc.; the actuators include: a steering system, an acceleration and braking system, and lighting and signaling devices; all of the above are existing technologies.

[0043] The remote control console 6 includes: a display screen, steering wheel, pedals (accelerator / brake), joystick, etc., for the driver to input commands; a communication module for real-time transmission of commands and vehicle status data; the remote control console 6 is also an existing mechanism. When controlling the unmanned vehicle, the driver inputs steering, acceleration, deceleration, and other commands through the console's steering wheel, pedals, etc. The controller at the unmanned vehicle's receiving end parses the remote commands and transmits them to the actuators (such as motors, steering systems, and braking systems) to drive the vehicle to complete specific actions. The vehicle status (such as speed, position, and fault information) is transmitted back to the remote control console in real time, forming a closed-loop control.

[0044] It should also be noted that the unmanned vehicle in this application is used for space search and rescue, enabling air tracking and close-up photography of the return capsule, as well as propellant detection. Therefore, in addition to the camera on the unmanned vehicle used for filming its movement, it is also equipped with optical equipment hidden inside the unmanned vehicle. The optical equipment can be a 360-degree camera, which can extend out of the unmanned vehicle to enable air tracking and close-up photography of the return capsule. In addition, a robotic arm 4 is also hidden inside the unmanned vehicle. The robotic arm 4 is connected to a propellant concentration detection device 5, which can extend out of the unmanned vehicle when needed to detect propellant concentration. The model of the robotic arm 4 can be IRB 120 or LR Mate 200iD / 200iD / 200iD / 200iD-S. The propellant concentration detection device 5, the optical equipment, and the robotic arm 4 are all electrically connected to the unmanned vehicle controller.

[0045] The unmanned vehicle 1 has two automatically opening and closing doors 2 on its roof. The door corresponding to the optical equipment is located in the front center of the roof to facilitate optimal field of view for the optical lens; the door corresponding to the robotic arm is located on the left or right side of the roof of the unmanned vehicle. See also Figure 4 Both automatic opening and closing doors 2 include: an opening 7 on the top of the unmanned vehicle 1; a sliding groove 8 on the two opposite inner walls of the opening 7; a door body 9 slidably connected within the sliding groove 8; a receiving cavity 10 on the inner wall of the opening 7 adjacent to the sliding groove 8; when the door body 9 needs to be opened and slid, it can slide into the receiving cavity 10; a rack 11 is connected to the side wall of the door body 9 facing the inside of the unmanned vehicle; two bearing seats are connected to the top inside the unmanned vehicle 1; a rotating shaft 12 is rotatably connected to the two bearing seats via bearings; a gear 13 is connected to the rotating shaft 12; the gear 13 meshes with the rack 11; a driven wheel 16 is connected to one end of the rotating shaft 12; a drive motor 14 is connected to the top inside the unmanned vehicle 1; a drive wheel 15 is connected to the output end of the drive motor 14; a belt 17 is connected to the drive wheel 15 and the driven wheel 16; a notch 22 is provided on the inner wall of the receiving cavity 10 to accommodate the rack.

[0046] It should be noted that the drive motor 14 is electrically connected to the unmanned vehicle controller, and two sets of first and second control buttons are set on the remote control console and electrically connected to the remote control console controller. They are used to control the opening and closing of the two automatic opening and closing doors 2, respectively. When the operator presses the first control button, a forward rotation signal is sent, and the drive motor drives the drive wheel 15 to rotate clockwise for a preset time (the time when the automatic opening and closing door just opens). The drive wheel 15 drives the rotating shaft 12 to rotate through the belt 17. The rotating shaft 12 drives the gear 13 to rotate clockwise. The gear 13 drives the rack 11 to slide the door into the receiving cavity, thus opening the door. When closing, the second control button is used to control the drive motor to rotate counterclockwise for a preset time.

[0047] In addition, two lifting mechanisms are installed inside the unmanned vehicle, located directly below the two automatic opening and closing doors. Each lifting mechanism includes a lead screw motor 18 connected inside the unmanned vehicle 1. A ball nut seat 19 is threaded onto the lead screw of the lead screw motor 18. A guide rod is also connected to the lead screw motor 18. The guide rod is slidably connected to the ball nut seat 19. A fixing plate 20 is connected to the top of the ball nut seat 19 through a support rod 21. The optical equipment 3 and the robotic arm 4 are connected to the corresponding fixing plates 20.

[0048] It should be noted that the lead screw motor 18 is electrically connected to the unmanned vehicle controller, and two sets of third and fourth control buttons are set on the remote control console and electrically connected to the remote control console controller. These buttons are used to control the lifting of the two lifting mechanisms. When the operator presses the third control button, a forward rotation and lifting signal is sent, and the lead screw motor 18 rotates forward to drive the ball nut seat 19 to rise for a preset time (the time when the optical device 3 and the robotic arm 4 extend out of the unmanned vehicle), so that the optical device 3 and the robotic arm 4 rise to the outside of the unmanned vehicle. When descending, the fourth control button is used to control the drive motor to rotate counterclockwise for a preset time.

[0049] By setting up an automatic opening and closing door and a lifting mechanism, the automatic opening and closing door can be opened when in use, and the optical device 3 and the robotic arm 4 can be raised to the outside of the unmanned vehicle through the lifting mechanism. When not in use, the optical device 3 and the robotic arm 4 can be lowered to the inside of the unmanned vehicle through the lifting mechanism, avoiding the screen from being exposed for a long time and aging easily.

[0050] It should also be noted that the propellant concentration detection device 5 can be a three-electrode electrochemical sensor used to detect the concentration of anhydrous hydrazine. It can be attached to the end of the robotic arm 4 and electrically connected to the unmanned vehicle controller. In addition, physical buttons that can control the movement of the robotic arm are set on the remote control console. The operator can control the joint rotation of the robotic arm by using the physical buttons through the screen displayed on the remote control console to approach the return capsule to detect the concentration of anhydrous hydrazine, and send the detection data to the remote control console through the communication module of the unmanned vehicle.

[0051] In addition, the unmanned vehicle is equipped with a radio host, a Mesh self-organizing network device host (HK-MESH900), a switch (Moxa EDS-405A), audio and video encoding equipment, and a 24V DC power supply. The Mesh self-organizing network device antenna is connected to the top of the unmanned vehicle. The 24V DC power supply powers the robotic arm 4, propellant concentration detection device 5, optical device 3, radio host, Mesh self-organizing network device host, switch, audio and video encoding equipment, drive motor 14, and lead screw motor 18. The audio and video encoding equipment, drive motor 14, lead screw motor 18, Mesh self-organizing network device host, controller of robotic arm 4, and propellant concentration detection device 5 are all electrically connected to the switch. The Mesh self-organizing network device host communicates with the remote control console through the Mesh self-organizing network device antenna, and the audio and video encoding equipment is electrically connected to the optical device 3.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A remote monitoring system for unmanned vehicles used in space search and rescue, characterized in that, include: An unmanned vehicle (1) is provided with two automatic opening and closing doors (2) on its top. The unmanned vehicle (1) is provided with two lifting mechanisms inside, and optical equipment (3) and a robotic arm (4) are respectively provided on the two lifting mechanisms. A propellant concentration detection device (5) is connected to the robotic arm (4); The remote control console (6) is connected in communication with the unmanned vehicle (1).

2. The remote monitoring system for unmanned vehicles used in space search and rescue according to claim 1, characterized in that, The automatic opening and closing door (2) includes: An opening (7) is provided on the top of the unmanned vehicle (1); A groove (8) is formed on the two opposite inner walls of the opening (7); The door body (9) is located at the opening (7) and is slidably connected in the groove (8); A receiving cavity (10) is formed on the inner wall of the opening (7) and adjacent to the slide (8) for accommodating the door body (9); A drive mechanism is connected to the top of the inside of the unmanned vehicle (1) and is used to drive the door (9) to slide.

3. The remote monitoring system for unmanned vehicles used in space search and rescue according to claim 2, characterized in that, The drive mechanism includes: A straight rack (11) is connected to the side wall of the door body (9); A rotating shaft (12) is rotatably connected to the top of the inner side of the unmanned vehicle (1); A gear (13) is connected to the rotating shaft (12) and meshes with the rack (11); A drive motor (14) is connected to the top of the inside of the unmanned vehicle (1); The drive wheel (15) is connected to the output end of the drive motor (14); Driven wheel (16) is connected to one end of the rotating shaft (12); A belt (17) is fitted onto the driving pulley (15) and the driven pulley (16).

4. The remote monitoring system for unmanned vehicles used in space search and rescue according to claim 1, characterized in that, The lifting mechanisms all include: A lead screw motor (18) is connected inside the unmanned vehicle (1); A ball nut seat (19) is threadedly connected to the lead screw of the lead screw motor (18); The fixing plate (20) is connected to the ball nut seat (19) by a support rod (21); The optical device (3) and the robotic arm (4) are connected to the fixed plate (20).

5. The remote monitoring system for unmanned vehicles used in space search and rescue according to claim 1, characterized in that, The unmanned vehicle (1) is equipped with a radio, a switchboard, and audio / video encoding equipment.

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