All-terrain unmanned rescue transfer vehicle

Abstract

The utility model discloses a kind of all-terrain unmanned rescue transfer vehicles, belong to the technical field of field wounded person treatment, including vehicle body, track, two protective steel sheets, laser radar, camera, rescue board, handle, hook, moving part and tow component, rescue board is slidably connected with vehicle body, and is located above vehicle body, handle is fixedly connected with rescue board, and is located above rescue board, hook is set on the surface of rescue board, moving part is set below rescue board, tow component is set above vehicle body, when vehicle body moves to the side of wounded person, control moving part and lower rescue board, can be independently held by wounded person hook or the buckle connection of hook and clothing, control tow component and pull hook and drag wounded person to the top of rescue board at this time, finally control moving part and recover rescue board above vehicle body, wounded person rescue work can be completed, to reduce the difficulty of rescue.

Description

Technical Field

[0001] This invention belongs to the field of field casualty rescue and provides an all-terrain unmanned rescue and transport vehicle. Background Technology

[0002] With the development of modern transportation and the popularization of outdoor activities, various emergencies are gradually increasing, especially the demand for emergency rescue and transportation in complex terrain environments. Traditional rescue vehicles are large and have poor mobility, making it difficult to quickly reach remote, rugged or dangerous areas, which affects the timeliness and effectiveness of emergency rescue.

[0003] Advances in autonomous driving and intelligent control technologies have provided new possibilities for the innovation of rescue equipment. Unmanned rescue transport vehicles, designed based on all-terrain adaptability, can traverse complex terrain obstacles to achieve efficient and automated material delivery and personnel transfer, significantly improving rescue efficiency and safety. In addition, unmanned rescue vehicles can reduce the risk of rescuers being exposed to dangerous environments and improve the safety and sustainability of the overall rescue operation.

[0004] However, with existing technology, injured people cannot board the all-terrain unmanned rescue and transport vehicle on their own, which makes rescue more difficult. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an all-terrain unmanned rescue and transport vehicle, which aims to solve the problem that the injured cannot get into the vehicle on their own when using the all-terrain unmanned rescue and transport vehicle, resulting in greater difficulty in rescue.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides an all-terrain unmanned rescue and transport vehicle, including a vehicle body, tracks, two protective steel plates, a lidar, a camera, and rescue components. The tracks are rotatably connected to the vehicle body and located below the vehicle body. The two protective steel plates are detachably connected to the vehicle body and located on both sides of the vehicle body. The lidar is detachably connected to the vehicle body and located above the vehicle body. The camera is detachably connected to the vehicle body and located above the vehicle body.

[0008] The rescue assembly includes a rescue plate, a handle, a hook, a moving part, and a dragging part. The rescue plate is slidably connected to the vehicle body and located above the vehicle body. The handle is fixedly connected to the rescue plate and located above the rescue plate. The hook is disposed on the surface of the rescue plate. The moving part is disposed below the rescue plate. The dragging part is disposed above the vehicle body.

[0009] Furthermore, the moving component includes a threaded rod, a guide rod, a first moving block, a second moving block, and a rotating unit. The threaded rod is rotatably connected to the vehicle body and located inside the vehicle body. The guide rod is detachably connected to the vehicle body and located inside the vehicle body. The first moving block is threadedly connected to the threaded rod and wraps around the threaded rod, and the first moving block is slidably connected to the vehicle body. The second moving block is slidably connected to the guide rod and wraps around the guide rod, and the second moving block is slidably connected to the vehicle body. The rotating unit is disposed between the first moving block and the second moving block.

[0010] Furthermore, the rotating unit includes a rotating rod and a rotating block. The rotating rod is detachably connected to the first moving block and is located between the first moving block and the second moving block. The rotating rod is also detachably connected to the second moving block. The rotating block is rotatably connected to the rotating rod and wraps around the rotating rod. The rotating block is also detachably connected to the rescue plate.

[0011] Furthermore, the towing component includes a limiting block, a towing rope, a protective shell, and a drive unit. The limiting block is detachably connected to the rescue plate and is located on the surface of the rescue plate. The towing rope is slidably connected to the limiting block and passes through the limiting block. The towing rope is detachably connected to the hook. The protective shell is detachably connected to the vehicle body and is located above the vehicle body. The drive unit is disposed inside the protective shell.

[0012] Furthermore, the drive unit includes a mounting plate and a drive roller. The mounting plate is fixedly connected to the vehicle body and located above the vehicle body. The drive roller is rotatably connected to the mounting plate and located inside the protective shell. The drive roller is detachably connected to the towing rope.

[0013] The combination of the lidar and the camera enhances the vehicle's environmental perception, assisting in obstacle detection and avoidance. The protective steel plate protects the injured person inside the vehicle. When the vehicle moves to the side of the injured person, the moving motor is activated, driving the threaded rod to rotate, which in turn moves the first moving block within the vehicle. With the cooperation of the second moving block and the guide rod, the rescue board can be moved to one end of the vehicle. Since the center of gravity of the rescue board is close to the part beyond the vehicle, it will tilt and contact the ground with the assistance of the rotating unit. At this time, the injured person can independently grasp the hook or connect the hook to the buckle on clothing and activate the towing motor to drive the drive roller to rotate and retrieve the towing rope, pulling the injured person above the rescue board. At the same time, the rescue board is retrieved until it is completely retracted into the vehicle, thus completing the process of the injured person getting into the vehicle independently, thereby reducing the difficulty of the rescue.

[0014] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0015] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a front view of the present invention;

[0018] Figure 3 This is a side view of the present invention;

[0019] Figure 4 This is a cross-sectional view of the AA-line structure of this utility model;

[0020] Figure 5 This is a cross-sectional view of the BB line structure of this utility model.

[0021] Reference numerals: 101 is the vehicle body, 102 is the track, 103 is the protective steel plate, 104 is the lidar, 105 is the camera, 106 is the rescue plate, 107 is the handle, 108 is the hook, 109 is the threaded rod, 110 is the guide rod, 111 is the first moving block, 112 is the second moving block, 113 is the rotating rod, 114 is the rotating block, 115 is the limiting block, 116 is the towing rope, 117 is the protective shell, 118 is the mounting plate, 119 is the drive roller, 120 is the moving motor, and 121 is the towing motor. Detailed Implementation

[0022] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0023] like Figure 1-5As shown, the all-terrain unmanned rescue and transport vehicle of the present invention includes a vehicle body 101, tracks 102, two protective steel plates 103, a lidar 104, a camera 105, and rescue components. The tracks 102 are rotatably connected to the vehicle body 101 and are located below the vehicle body 101. The two protective steel plates 103 are detachably connected to the vehicle body 101 and are located on both sides of the vehicle body 101. The lidar 104 is detachably connected to the vehicle body 101 and is located above the vehicle body 101. The camera 105 is detachably connected to the vehicle body 101 and is located above the vehicle body 101.

[0024] The rescue assembly includes a rescue plate 106, a handle 107, a hook 108, a moving part, and a dragging part. The rescue plate 106 is slidably connected to the vehicle body 101 and is located above the vehicle body 101. The handle 107 is fixedly connected to the rescue plate 106 and is located above the rescue plate 106. The hook 108 is disposed on the surface of the rescue plate 106. The moving part is disposed below the rescue plate 106. The dragging part is disposed above the vehicle body 101.

[0025] In this embodiment, the LiDAR 104 and the camera 105 work together to improve the vehicle's environmental perception capabilities, assisting the vehicle in obstacle detection and avoidance. The protective steel plate 103 protects the injured person inside the vehicle body 101. When the vehicle body 101 moves to the side of the injured person, the moving motor 120 is activated to rotate the threaded rod 109, which in turn moves the first moving block 111 within the vehicle body 101. With the cooperation of the second moving block 112 and the guide rod 110, the rescue plate 106 can be moved to one end of the vehicle body 101. Since the center of gravity of the rescue plate 106 is close to the part extending beyond the vehicle body 101, with the assistance of the rotating unit, the rescue plate 106 will tilt and contact the ground. At this time, the injured person can hold the hook 108 independently, or connect the hook 108 to a buckle on clothing, and then activate the drag motor 121 to rotate the drive roller 119, retracting the drag rope 116 and pulling the injured person above the rescue plate 106. Simultaneously, the rescue plate 106 is retrieved until it is completely retracted into the vehicle body 101, which enables the injured person to get into the vehicle independently, thereby reducing the difficulty of the rescue.

[0026] Further, the moving component includes a threaded rod 109, a guide rod 110, a first moving block 111, a second moving block 112, and a rotating unit. The threaded rod 109 is rotatably connected to the vehicle body 101 and located inside the vehicle body 101. The guide rod 110 is detachably connected to the vehicle body 101 and located inside the vehicle body 101. The first moving block 111 is threadedly connected to the threaded rod 109 and wraps around the threaded rod 109, and the first moving block 111 is slidably connected to the vehicle body 101. The second moving block 112 is slidably connected to the guide rod 110 and wraps around the guide rod 110, and the second moving block 112 is slidably connected to the vehicle body 101. The rotating unit is disposed between the first moving block 111 and the second moving block 112.

[0027] In this embodiment, starting the mobile motor 120 drives the threaded rod 109 to rotate, which in turn moves the first moving block 111 within the vehicle body 101. With the cooperation of the second moving block 112 and the guide rod 110, the rescue plate 106 can be moved to one end of the vehicle body 101. Since the center of gravity of the rescue plate 106 is close to the part extending beyond the vehicle body 101, with the assistance of the rotating unit, the rescue plate 106 will tilt and contact the ground.

[0028] Furthermore, the rotating unit includes a rotating rod 113 and a rotating block 114. The rotating rod 113 is detachably connected to the first moving block 111 and is located between the first moving block 111 and the second moving block 112. The rotating rod 113 is detachably connected to the second moving block 112. The rotating block 114 is rotatably connected to the rotating rod 113 and wraps around the rotating rod 113. The rotating block 114 is detachably connected to the rescue plate 106.

[0029] In this embodiment, the rotating rod 113 cooperates with the rotating block 114 to enable the rescue plate 106 to rotate, thereby facilitating the lowering and retraction of the rescue plate 106.

[0030] Furthermore, the towing component includes a limiting block 115, a towing rope 116, a protective shell 117, and a drive unit. The limiting block 115 is detachably connected to the rescue plate 106 and is located on the surface of the rescue plate 106. The towing rope 116 is slidably connected to the limiting block 115 and passes through the limiting block 115. The towing rope 116 is detachably connected to the hook 108. The protective shell 117 is detachably connected to the vehicle body 101 and is located above the vehicle body 101. The drive unit is disposed inside the protective shell 117.

[0031] In this embodiment, the protective shell 117 protects the drive unit, and the drive unit can be controlled to retract the tow rope 116 to pull the injured person above the rescue board 106.

[0032] Furthermore, the drive unit includes a mounting plate 118 and a drive roller 119. The mounting plate 118 is fixedly connected to the vehicle body 101 and located above the vehicle body 101. The drive roller 119 is rotatably connected to the mounting plate 118 and located inside the protective shell 117. The drive roller 119 is detachably connected to the tow rope 116.

[0033] In this embodiment, the mounting plate 118 fixes the position of the drive roller 119. Starting the drag motor 121 can drive the drive roller 119 to rotate, thereby retrieving the drag rope 116.

[0034] Therefore, according to the above scheme, the LiDAR 104 and the camera 105 are fused together to achieve 360° environmental perception, generate terrain passability scores, and dynamically plan paths. The tracks 102 are equipped with a hydraulic suspension system that adaptively adjusts the tilt angle (±15°), supports 45° climbing slopes and 40cm obstacle crossing capabilities, ensuring safe passage through complex terrain.

[0035] Sensor fusion:

[0036] The lidar (104) uses 32-line scanning (horizontal FOV 360°, vertical FOV 40°) and collects 800,000 point cloud data per second; the camera (105) is upgraded to a 2-megapixel binocular module and identifies soft textures through the OpenCV algorithm; the millimeter-wave radar (newly added) uses the 77GHz band (detection distance 120m) and is fused with the lidar data in the ROS system in real time.

[0037] Motion control: The track (102) has a built-in pressure sensor array (16-point monitoring), which is connected to the vehicle PLC to control the hydraulic suspension and dynamically adjust the track tension to achieve vehicle tilt angle compensation (error ±1°) when climbing a 45° slope.

[0038] Dynamic protection system:

[0039] The protective steel plate 103 adopts a "non-Newtonian fluid sandwich + 30° deflector" structure, which hardens upon impact and guides falling objects away. The rescue plate 106 automatically closes its hatch (IP67 protection) after recovery and integrates an air filtration system; it incorporates thermal imaging (50m body temperature detection), millimeter-wave radar (3m through-wall breathing monitoring), and microphone array (sound source localization ±5°) technologies. The hook 108 integrates an RFID reader / writer to automatically identify the electronic tags of the injured; it supports drone relay to extend the search radius.

[0040] The thermal imaging module (640×480 resolution) shares a gimbal with the camera (105) and recognizes human body contours through the YOLOv7 algorithm; the hook (108) has an embedded RFID reader (supporting ISO15693 protocol) with an effective reading distance of 15cm; the sound source localization uses a 4-microphone array (sampling rate 48kHz) and the positioning accuracy reaches ±3° when combined with the TDOA algorithm; the collaborative network: a folding quadcopter drone (25min flight time) is deployed on the roof of the vehicle and transmits high-altitude thermal imaging data back to the vehicle's main control via WiFi 6.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An all-terrain unmanned rescue and transfer vehicle, characterized in that, The vehicle comprises a body, tracks, two protective steel plates, a lidar, a camera, and a rescue assembly. The tracks are rotatably connected to the body and located below it. The two protective steel plates are detachably connected to the body and located on either side of it. The lidar is detachably connected to the body and located above it. The camera is detachably connected to the body and located above it. The rescue assembly includes a rescue plate, a handle, a hook, a moving part, and a towing part. The rescue plate is slidably connected to the body and located above it. The handle is fixedly connected to the rescue plate and located above it. The hook is disposed on the surface of the rescue plate. The moving part is disposed below the rescue plate. The towing part is disposed above the body.

2. The all-terrain unmanned rescue and transfer vehicle as described in claim 1, characterized in that, The moving component includes a threaded rod, a guide rod, a first moving block, a second moving block, and a rotating unit. The threaded rod is rotatably connected to the vehicle body and located inside the vehicle body. The guide rod is detachably connected to the vehicle body and located inside the vehicle body. The first moving block is threadedly connected to the threaded rod and wraps around the threaded rod, and the first moving block is slidably connected to the vehicle body. The second moving block is slidably connected to the guide rod and wraps around the guide rod, and the second moving block is slidably connected to the vehicle body. The rotating unit is disposed between the first moving block and the second moving block.

3. The all-terrain unmanned rescue and transfer vehicle as described in claim 2, characterized in that, The rotating unit includes a rotating rod and a rotating block. The rotating rod is detachably connected to the first moving block and is located between the first moving block and the second moving block. The rotating rod is also detachably connected to the second moving block. The rotating block is rotatably connected to the rotating rod and wraps around the rotating rod. The rotating block is detachably connected to the rescue plate.

4. The all-terrain unmanned rescue and transfer vehicle as described in claim 1, characterized in that, The towing component includes a limiting block, a towing rope, a protective shell, and a drive unit. The limiting block is detachably connected to the rescue plate and is located on the surface of the rescue plate. The towing rope is slidably connected to the limiting block and passes through the limiting block. The towing rope is detachably connected to the hook. The protective shell is detachably connected to the vehicle body and is located above the vehicle body. The drive unit is located inside the protective shell.

5. The all-terrain unmanned rescue and transfer vehicle as described in claim 4, characterized in that, The drive unit includes a mounting plate and a drive roller. The mounting plate is fixedly connected to the vehicle body and located above the vehicle body. The drive roller is rotatably connected to the mounting plate and located inside the protective shell. The drive roller is detachably connected to the towing rope.

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