CN102390442B - Wheel-track switching motor-driven trolley for disaster rescue - Google Patents
Wheel-track switching motor-driven trolley for disaster rescue Download PDFInfo
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- CN102390442B CN102390442B CN201110277140XA CN201110277140A CN102390442B CN 102390442 B CN102390442 B CN 102390442B CN 201110277140X A CN201110277140X A CN 201110277140XA CN 201110277140 A CN201110277140 A CN 201110277140A CN 102390442 B CN102390442 B CN 102390442B
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention relates to a wheel-track switching motor-driven trolley for a disaster rescue. The technical scheme is as follows: terminal equipment (71) is connected with a vehicular wireless data transmission module (18) in a wireless manner so that a left side track drive motor (19) and a right side track drive motor (34) are controlled to drive a trolley to walk with tracks, a front landing gear drive motor (55) and a back landing gear drive motor (46) are controlled to realize mutual switch between the tracks and wheels, and a back wheel drive motor (15) and a turning motor (50) are controlled to realize wheel-type walk. A camera (8) is connected with a wireless video transmission module (2) so that wireless transmission of field images is realized. A front distance measurement sensor (52), a back distance measurement sensor (45), a trolley frame temperature sensor (48) and a control box temperature sensor (49) are respectively connected with a vehicular single chip computer (75) so that the trolley is ensured to work safely. The wheel-track switching motor-driven trolley has an all-terrain pass-through capacity and has the characteristics of real-time field condition display and long-distance remote control, is suitable for high-risk conditions of complex terrains and can be used for ensuring security of rescue workers.
Description
Technical field
The invention belongs to disaster relief dolly technical field.Be specifically related to a kind of disaster relief and carry out the conversion motor-driven carrier with wheel.
Background technology
The disaster relief is on-the-spot owing to environmental hazard and with a varied topography, and transportation of its relevant goods and materials, apparatus is many to be realized by manpower, has so not only increased disaster relief personnel's labour intensity; And be prone to cause personnel's injures and deaths, greatly reduced disaster relief efficient.
Though comparatively ripe high integrated, high intelligent robot is arranged at some disaster relief scenes; Reduced disaster relief personnel's hazard level to a great extent, improved disaster relief efficient, but also had some shortcomings: one, in order to strengthen obstacle climbing ability from condition of service; The running gear of robot is generally the crawler belt design; Not only influence its kinematic velocity, and it is mobile to be not suitable for long distance, disaster relief efficient is not high; Two, cost an arm and a leg, complex structure, maintenance requirement be high, be unfavorable for applying.
A kind of fire-fighting adopts air motor to drive with pneumatic remote control car (ZL 2,010 2 0111766.4), and its kinematic velocity is slow, and can not the fast adaptation site environment with collect field data, be unfavorable for that the fire fighter takes measures rapidly, work efficiency has much room for improvement.
Summary of the invention
The present invention is intended to overcome the prior art defective, purpose provide a kind of have dangerous complicated ring down carrying capacity, site environment shows in real time and the disaster relief of Remote is carried out with wheel and changed motor-driven carrier.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts is: this electronic disaster relief dolly comprises vehicle frame, wheeled system, caterpillar drive system and control system.
Vehicle frame is made up of upper strata vehicle frame, middle level vehicle frame, lower floor's vehicle frame and 4 angle steel.Four jiaos of middle parts that are separately fixed at 4 angle steel of middle level vehicle frame; Upper strata vehicle frame and lower floor's vehicle frame be cooresponding to be fixed on 4 angle steel top and bottom; Upper strata vehicle frame, middle level vehicle frame and lower floor's vehicle frame are parallel to each other, and the line of centers of upper strata vehicle frame, middle level vehicle frame and lower floor's vehicle frame is at same vertical guide.
The structure of upper strata vehicle frame is: the line of centers both sides respectively are provided with vertical girder steel I of three equal in length; Vertical girder steel I is parallel with line of centers for the six roots of sensation; Be fixed with two horizontal girder steel IV near the rear portion between vertical girder steel I of line of centers both sides, the two ends of the vertical girder steel I of the six roots of sensation and two corresponding being fixedly connected of horizontal girder steel I.
The structure of middle level vehicle frame is: the middle part of two horizontal girder steel II is fixed with two vertical girder steel II, and two vertical girder steel II are parallel with line of centers, and two vertical girder steel II are symmetrically located at the line of centers both sides.
The structure of lower floor's vehicle frame is: the line of centers both sides respectively are provided with two vertical girder steel III, and four vertical girder steel III are parallel with line of centers, and the two ends of four vertical girder steel III are fixedly connected with horizontal girder steel III respectively.
Wheeled system is made up of wheeled work system and running gear system.
The structure of wheeled work system is: back alighting gear drive motor is fixed on the lower plane of upper strata vehicle frame; Back alighting gear drive motor is positioned at the left side of two horizontal girder steel IV of upper strata vehicle frame; The rear side minor sprocket is installed on the output shaft of back alighting gear drive motor; The rear side minor sprocket is connected with rear side hinge wheel on being installed in back alighting gear worm screw through chain; Back alighting gear worm screw is installed in the lower plane of upper strata vehicle frame through the bearing on even keel, and back alighting gear worm screw is positioned at the centre of two horizontal girder steel IV of upper strata vehicle frame.
Back alighting gear worm screw and back alighting gear worm gear engagement, back alighting gear worm gear is through the rear portion of back alighting gear axle mounting vehicle frame in the middle level, and the left and right two ends of back alighting gear axle are fixed with back alighting gear connecting rod respectively; The corresponding connection of alighting gear connecting rod after two with the outer end of two axle sleeves; An axle sleeve kink is on the revolver axle drive shaft, and another axle sleeve kink is on right wheel drive shaft, captives joint with link span in the inner of two axle sleeves; The back-wheel drive motor is fixed on the link span; Left side wheel is installed in the left end of revolver axle drive shaft, and the right-hand member of revolver axle drive shaft is connected with the left mouth of diff, and right side wheels is installed in the right-hand member of right wheel drive shaft; The left end of right wheel drive shaft is connected with the right mouth of diff, and the input end of diff is connected with the back-wheel drive motor output shaft.
The nose-gear drive motor is fixed on the lower plane of middle level vehicle frame; The nose-gear drive motor is positioned at the middle part of vertical girder steel II on vehicle frame right side, middle level; The front side minor sprocket is installed on the output shaft of nose-gear drive motor; The front side minor sprocket is connected with front side hinge wheel on being installed in the nose-gear worm screw through chain, and the nose-gear worm screw is installed in the lower plane of upper strata vehicle frame through the bearing on even keel, and the nose-gear worm screw is positioned at the front portion near vertical girder steel I on line of centers right side of upper strata vehicle frame.
The engagement of nose-gear worm screw and nose-gear worm gear, the nose-gear worm gear is installed in the front portion of middle level vehicle frame through the projecting shaft of nose-gear, and the projecting shaft two ends of nose-gear are fixed on the front portion of two vertical girder steel II of middle level vehicle frame accordingly through bearing; Steer motor is fixed on the nose-gear; The output shaft of steer motor is connected with turning to minor sprocket, turns to minor sprocket to be connected with the hinge wheel that turns on being installed in steering worm through chain, steering worm through bearing installation on nose-gear; Steering worm and steering gear worm engagement; Steering gear worm is installed in the front fork upper end, and on nose-gear, front-wheel is installed on the front fork front fork through bearing installation.
The structure of caterpillar drive system is: the left track drive motor is installed in the last plane of lower floor's vehicle frame; The left track drive motor is positioned at the middle front part of two vertical girder steel III in lower floor vehicle frame left side; The left side minor sprocket is installed on the output shaft of left track drive motor; The left side minor sprocket through chain be installed on the left of left side hinge wheel on the axle drive shaft be connected; The left side axle drive shaft is installed in the front portion of vertical girder steel I in upper strata vehicle frame line of centers left side through two bearing seats, and one of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; Drive wheel coaxial heart in left side is installed in the left end of left side axle drive shaft, and the brake disc of left side drg is housed on the axle drive shaft of left side, left side drive wheel and left track engagement; The right-hand member of left side axle drive shaft is connected with the left end of magnetic clutch.
Right side track propulsion motor is installed in the last plane of lower floor's vehicle frame; Right side track propulsion motor is positioned at the middle front part of two vertical girder steel III on lower floor vehicle frame right side; The right side minor sprocket is installed on the output shaft of right side track propulsion motor; The right side minor sprocket is connected with right side hinge wheel on being installed in the right side axle drive shaft through chain; The right side axle drive shaft is installed in the front portion of vertical girder steel I on vehicle frame line of centers right side, upper strata through two bearing seats, and one of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; Drive wheel coaxial heart in right side is installed in the right-hand member of right side axle drive shaft, and the brake disc of right side drg is housed on the axle drive shaft of right side, right side drive wheel and the engagement of right side crawler belt; The left end of right side axle drive shaft is connected with the right-hand member of magnetic clutch.
Storage battery is installed in the postmedian of two vertical girder steel III in left side, plane on lower floor's vehicle frame; The Cloud Terrace is installed in the rear portion near the two vertical girder steel I in line of centers left side, plane on the vehicle frame of upper strata; Camera is installed on the The Cloud Terrace; The wireless video transport module is installed in the rear portion of upper strata vehicle frame near the vertical girder steel I in line of centers left side, and the wireless video transport module is positioned at the The Cloud Terrace next door; Control box and onboard wireless digital transmission module are installed in the front portion of two vertical girder steel I of outside, left side, plane on the vehicle frame of upper strata respectively; The control box temperature sensor is installed in the control box; The vehicle frame temperature sensor is installed on vertical girder steel I of upper strata vehicle frame ragged edge; Back distance measuring sensor is installed in the midway of the posterior transversal girder steel I of upper strata vehicle frame; Before measurement is installed in the midway of the front cross girder steel I of upper strata vehicle frame apart from sensor; Wheel steering angle sensor is installed on the front fork, and nose-gear rises limit sensors and nose-gear decline limit sensors is installed on the nose-gear, and back wheels-up limit sensors is installed on the alighting gear connecting rod of back with back alighting gear decline limit sensors.
Control system is made up of tele-control system, vehicular collecting system and vehicle control syetem.
The structure of tele-control system is: final terminal is connected with host computer PC through internet, and the serial ports of host computer PC links to each other with the serial ports of long distance wireless digital transmission module; The wireless video receiver module links to each other through the AV line with video frequency collection card, and video frequency collection card is connected with the USB interface of host computer PC, wireless video receiver module and long distance wireless digital transmission module respectively with the vehicular collecting system wireless connections; The PC communications protocol of tele-control system writes vehicle-mounted micro controller system and final terminal respectively.The structure of vehicular collecting system is: the serial ports of vehicle-mounted micro controller system is connected with the serial ports of onboard wireless digital transmission module; The mouth of camera is connected respectively with the input end of wireless video transport module and the input end of video separation chip, and the mouth of video separation chip is connected with the AD mouth of vehicle-mounted micro controller system; The PWM mouth of vehicle-mounted micro controller system is connected with the input end of The Cloud Terrace; Before measurement links to each other with the AD mouth with the I/O mouth of vehicle-mounted micro controller system respectively with wheel steering angle sensor apart from sensor, back distance measuring sensor, and the control box temperature sensor links to each other with the I/O mouth of vehicle-mounted micro controller system respectively with the vehicle frame temperature sensor; Nose-gear rise limit sensors, back wheels-up limit sensors, back alighting gear decline limit sensors link to each other with the I/O mouth of vehicle-mounted micro controller system respectively with nose-gear decline limit sensors; 17 I/O mouths of vehicle-mounted micro controller system link to each other with vehicle control syetem; The control system program writes vehicle-mounted micro controller system.
Wireless video transport module and onboard wireless digital transmission module respectively with the tele-control system wireless connections.
The structure of vehicle control syetem is: the mouth of chip for driving is connected with the input end of R/G; The mouth of R/G is connected respectively with back alighting gear drive motor with magnetic clutch, left side drg, right side drg, revolver drg, right wheel drg, steer motor, nose-gear drive motor, and the mouth of R/G is connected with the input end of brshless DC motor actuator; The brshless DC motor output end of driver is connected respectively with the back-wheel drive motor with left track drive motor, right side track propulsion motor; 17 control ports of chip for driving link to each other with 17 I/O mouths of vehicular collecting system.
Video separation chip, vehicle-mounted micro controller system, chip for driving, brshless DC motor actuator and R/G are installed in the described control box.
Described final terminal is a kind of among mobile phone, computer, the PDA.
Described storage battery and wireless video transport module; The Cloud Terrace; Camera; The onboard wireless digital transmission module; The video separation chip; Vehicle-mounted micro controller system; Chip for driving; The brshless DC motor actuator; R/G; The control box temperature sensor; Before measurement is apart from sensor; Back distance measuring sensor; Wheel steering angle sensor; The vehicle frame temperature sensor; Nose-gear rises limit sensors; Back wheels-up limit sensors; Back alighting gear decline limit sensors; Nose-gear decline limit sensors; Magnetic clutch; The left side drg; The right side drg; The revolver drg; Right wheel drg; The nose-gear drive motor; Back alighting gear drive motor; Steer motor; The back-wheel drive motor; The left track drive motor is connected respectively with right side track propulsion motor.
The software main flow of described control system program is:
S1-1, to vehicle-mounted micro controller system initialization, set frequency of operation and I/O pin state;
S1-2, judge whether to receive host computer PC sent request frame; Then do not get into S1-3 if receive; If receive then on the basis of analysis frame structure, accept host computer PC to the modification of vehicle-mounted single-chip data and synchrodata in host computer PC, respond host computer PC again, entering S1-3;
S1-3, dolly state-detection: read nose-gear and rise limit sensors, back wheels-up limit sensors, back alighting gear decline limit sensors, nose-gear decline limit sensors, before measurement is apart from sensor, back distance measuring sensor, vehicle frame temperature sensor, control box temperature sensor and wheel steering angle sensor status;
S1-4, judge whether to be debugging mode; If then left side drg, right side drg, magnetic clutch, revolver drg, right wheel drg, steer motor, nose-gear drive motor, back alighting gear drive motor, back-wheel drive motor, left track drive motor and right side track propulsion motor are debugged separately; Get into S1-9, if not then get into S1-5;
S1-5, judge whether to take turns and carry out conversion,, get into S1-7, if not then get into S1-6 if then the operation wheel is carried out the conversion and control subprogram;
S1-6, judgement are crawler belt state or wheel condition, move the travel controls subprogram of cooresponding crawler belt or wheel respectively;
S1-7, The Cloud Terrace 7 rotatablely move;
S1-8, judge that whether communication interrupt continuously,, then put the debugging mode zone bit, get into S1-9 again, if not then directly get into S1-9 if communication is interrupted 5 program loops continuously;
S1-9, wait 40ms repeat the next program performance period, get into S1-2.
The described software main flow of carrying out the conversion and control subprogram of taking turns is:
S2-1, the initial information of gathering nose-gear rise limit sensors, back wheels-up limit sensors, back alighting gear decline limit sensors and nose-gear decline limit sensors;
If S2-2, initial information wheel condition; Then judge whether to receive the conversion instruction of wheel shoe, carry out conversion instruction if receive wheel, the nose-gear drive motor is just going to nose-gear behind level attitude; Then back alighting gear drive motor is just going to back alighting gear connecting rod to level attitude; Get into S2-4 again, do not carry out conversion instruction, then directly get into S2-4 if receive wheel;
If S2-3, initial information crawler belt state; Then judge whether to receive the conversion instruction of wheel shoe, carry out conversion instruction if receive wheel, the nose-gear drive motor is inverted to nose-gear behind the upright position; Then back alighting gear drive motor is inverted to back alighting gear connecting rod to the upright position; Get into S2-4 again, do not carry out conversion instruction, then directly get into S2-4 if receive wheel;
S2-4, rise the value of feedback of limit sensors, back alighting gear decline limit sensors and nose-gear decline limit sensors according to back wheels-up limit sensors, nose-gear; Judge whether switching process finishes; If end of conversion, then the nose-gear drive motor stops with back alighting gear drive motor, gets into S2-5; If conversion does not finish, then get into S2-1;
S2-5, end.
The software main flow of described crawler travel control subprogram is:
S3-1, accept the track-type control signal;
If S3-2 advances, then magnetic clutch is closed, and left track drive motor and right side track propulsion motor just change;
If S3-3 retreats, then magnetic clutch is closed, left track drive motor and the counter-rotating of right side track propulsion motor;
If S3-4 turns left, then magnetic clutch unclamps, the counter-rotating of left track drive motor, and right side track propulsion motor just changes;
If S3-5 turns right, then magnetic clutch unclamps, and the left track drive motor just changes, the counter-rotating of right side track propulsion motor;
If S3-6 braking or parking, magnetic clutch is closed, and left track drive motor and right side track propulsion motor stop, left side drg and right side arrester close;
S3-7, end.
The software main flow of described wheel travel controls subprogram is:
S4-1, accept the control signal of running on wheels;
If S4-2 advances, then steer motor work, the steering angle of front-wheel is 0, the back-wheel drive motor just changes;
If S4-3 retreats, then steer motor work, the steering angle of front-wheel is 0, the counter-rotating of back-wheel drive motor;
If S4-4 turns left, then steer motor is turned left, and the back-wheel drive motor just changes;
If S4-5 turns right, then steer motor is turned right, and the back-wheel drive motor just changes;
If S4-6 braking or parking, then the back-wheel drive motor stops, and steer motor stops, revolver drg and right wheel arrester close;
S4-7, end.
The flow process of the PC communications protocol of described tele-control system is:
S5-1, initialization apparatus start communication and drive;
S5-2, judge whether host computer PC need read data,, then get into S5-3,, then get into S5-8 if do not need if need;
S5-3, transmission read data request frame;
S5-4, host computer PC receive the data of vehicle-mounted micro controller system response;
S5-5, the Frame that receives is carried out CRC check,,, then get into S5-6 if verification is passed through if verification gets into S5-13 not through then putting the error flag position;
Whether data are read in S5-6, judgement successful, if success, then serial ports dormancy 1s gets into S5-1, as if successful, then gets into S5-7;
S5-7, data are write in the upper computer software FameView data sheet;
S5-8, judge whether data modification is arranged in the FameView data sheet,, then get into S5-13,, then get into S5-9 if having if do not have;
S5-9, location are modified the zone, send the data modification request frame to vehicle-mounted micro controller system;
S5-10, the vehicle-mounted micro controller system of acceptance are responded;
S5-11, carry out CRC check,,, then get into S5-12 if verification is passed through if verification gets into S5-13 not through then putting the error flag position;
Whether S5-12, judgment data are revised successful, if the failure flags position is then put in success, get into S5-13 again, if success then directly gets into S5-13;
S5-13, end.
Because adopt technique scheme, the present invention compared with prior art has the following advantages:
1, the present invention adopts wheel to carry out dual-purpose walking manner; Promptly utilized the advantage of crawler travel mode aspect obstacle detouring, utilized the characteristic of running on wheels fast and flexible again, not only improved the comformability of dolly complex environment; Make it have full landform carrying capacity, also improved disaster relief efficient.
2, the present invention is upper computer with the computing machine, can monitor the running state of disaster relief dolly in real time, and on-the-spot video information and the sensing data of the record disaster relief, realizes the networking control to disaster relief dolly.
3, the present invention adopts temperature sensor measurement dolly ambient temperature, and distance measuring sensor is surveyed the forward and backward side of dolly and whether had obstacle, and the state of kinematic motion of limit sensors and angular transducer induction dolly is to guarantee the work of dolly normal and stable ground.
Therefore, the present invention has full landform carrying capacity and site environment shows in real time, the characteristics of Remote, is applicable to remote complicated hazardous environment.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is the structural representation of looking up of Fig. 1;
Fig. 3 is a running on wheels structural representation of the present invention;
Fig. 4 is the structural representation of the vehicle frame 1 among Fig. 1 and Fig. 2;
Fig. 5 is that the A-A of Fig. 4 is to view;
Fig. 6 is the plan sketch of the middle level vehicle frame 63 among Fig. 4;
Fig. 7 is that B-B among Fig. 4 is to view;
Fig. 8 is tele-control system figure of the present invention;
Fig. 9 is vehicular collecting system figure of the present invention;
Figure 10 is vehicle control syetem figure of the present invention;
Figure 11 is the software main flow chart of control system program of the present invention;
Figure 12 is that the wheel among Figure 11 is carried out the software main flow chart of conversion and control subprogram;
Figure 13 is the software main flow chart of the crawler travel control subprogram among Figure 11;
Figure 14 is the software main flow chart of the wheel travel controls subprogram among Figure 11;
Figure 15 is the PC communications protocol diagram of circuit of the tele-control system of Fig. 8.
The specific embodiment
Below in conjunction with the specific embodiment the present invention being further described, is not the restriction to its protection domain:
A kind of disaster relief is carried out the conversion motor-driven carrier with wheel.This dolly comprises vehicle frame 1, wheeled system, caterpillar drive system and control system.
Vehicle frame 1 is as shown in Figure 4, is made up of upper strata vehicle frame 62, middle level vehicle frame 63, lower floor's vehicle frame 65 and 4 angle steel 64.Four jiaos of middle parts that are separately fixed at 4 angle steel 64 of middle level vehicle frame 63; Upper strata vehicle frame 62 and lower floor's vehicle frame 65 be cooresponding to be fixed on 4 angle steel 64 top and bottom; Upper strata vehicle frame 62, middle level vehicle frame 63 and lower floor's vehicle frame 65 are parallel to each other, and the line of centers of upper strata vehicle frame 62, middle level vehicle frame 63 and lower floor's vehicle frame 65 is at same vertical guide.
The structure of upper strata vehicle frame 62 is as shown in Figure 5: the line of centers both sides respectively are provided with vertical girder steel I of three equal in length; Vertical girder steel I is parallel with line of centers for the six roots of sensation; Be fixed with two horizontal girder steel IV near the rear portion between vertical girder steel I of line of centers both sides, the two ends of the vertical girder steel I of the six roots of sensation and two corresponding being fixedly connected of horizontal girder steel I.
The structure of middle level vehicle frame 63 is as shown in Figure 6: the middle part of two horizontal girder steel II is fixed with two vertical girder steel II, and two vertical girder steel II are parallel with line of centers, and two vertical girder steel II are symmetrically located at the line of centers both sides.
The structure of lower floor's vehicle frame 65 is as shown in Figure 7: the line of centers both sides respectively are provided with two vertical girder steel III, and four vertical girder steel III are parallel with line of centers, and the two ends of four vertical girder steel III are fixedly connected with horizontal girder steel III respectively.
Wheeled system is made up of wheeled work system and running gear system.
The structure of wheeled work system such as Fig. 1, Fig. 2 and shown in Figure 3: back alighting gear drive motor 46 is fixed on the lower plane of upper strata vehicle frame 62; Back alighting gear drive motor 46 is positioned at the left side of two horizontal girder steel IV of upper strata vehicle frame 62; Rear side minor sprocket 47 is installed on the output shaft of back alighting gear drive motor 46; Rear side minor sprocket 47 is connected with rear side hinge wheel 44 on being installed in back alighting gear worm screw 4 through chain; Back alighting gear worm screw 4 is installed in the lower plane of upper strata vehicle frame 62 through the bearing on even keel, and back alighting gear worm screw 4 is positioned at the centre of two horizontal girder steel IV of upper strata vehicle frame 62.
Back alighting gear worm screw (4) and back alighting gear worm gear (5) engagement; Back alighting gear worm gear (5) is installed in the rear portion of middle level vehicle frame (63) through back alighting gear axle (6); Alighting gear connecting rod 9 was distinguished corresponding connection with the outer end of two axle sleeves 13 after the left and right two ends of back alighting gear axle 6 were fixed with 9, two on back alighting gear connecting rod respectively, and axle sleeve 13 kinks are on revolver axle drive shaft 14; Another axle sleeve 13 kinks are on right wheel drive shaft 40; Captive joint with link span 39 in the inner of two axle sleeves 13, back-wheel drive motor 15 is fixed on the link span 39, and left side wheel 11 is installed in the left end of revolver axle drive shaft 14; The right-hand member of revolver axle drive shaft 14 is connected with the left mouth of diff 3; Right side wheels 41 is installed in the right-hand member of right wheel drive shaft 40, and the left end of right wheel drive shaft 40 is connected with the right mouth of diff 3, and the input end of diff 3 is connected with back-wheel drive motor 15 output shafts.
Nose-gear drive motor 55 is fixed on the lower plane of middle level vehicle frame 63; Nose-gear drive motor 55 is positioned at the middle part of vertical girder steel II on middle level vehicle frame 63 right sides; Front side minor sprocket 54 is installed on the output shaft of nose-gear drive motor 55; Front side minor sprocket 54 is connected with front side hinge wheel 53 on being installed in nose-gear worm screw 35 through chain; Nose-gear worm screw 35 is installed in the lower plane of upper strata vehicle frame 62 through the bearing on even keel, and nose-gear worm screw 35 is positioned at the front portion near vertical girder steel I on line of centers right side of upper strata vehicle frame 62.
Nose-gear worm screw 35 and 36 engagements of nose-gear worm gear; Nose-gear worm gear 36 is installed in the front portion of middle level vehicle frame 63 through the projecting shaft of nose-gear 27, and the projecting shaft two ends of nose-gear 27 are fixed on the front portion of 63 two vertical girder steel II of middle level vehicle frame accordingly through bearing.
The structure of caterpillar drive system is: left track drive motor 19 is installed in the last plane of lower floor's vehicle frame 65; Left track drive motor 19 is positioned at the middle front part of two vertical girder steel III in lower floor's vehicle frame 65 left sides; Left side minor sprocket 22 is installed on the output shaft of left track drive motor 19; Left side minor sprocket 22 through chain be installed on the left of left side hinge wheel 23 on the axle drive shaft 25 be connected; Left side axle drive shaft 25 is installed in the front portion of vertical girder steel I in upper strata vehicle frame 62 line of centerss left sides through two bearing seats, and one of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; Left side drive wheel 20 coaxial hearts are installed in the left end of left side axle drive shaft 25, and the brake disc of left side drg 21 is housed on the left side axle drive shaft 25, left side drive wheel 20 and left track 10 engagements; The right-hand member of left side axle drive shaft 25 is connected with the left end of magnetic clutch 26.
Right side track propulsion motor 34 is installed in the last plane of lower floor's vehicle frame 65; Right side track propulsion motor 34 is positioned at the middle front part of two vertical girder steel III on lower floor's vehicle frame 65 right sides; Right side minor sprocket 30 is installed on the output shaft of right side track propulsion motor 34; Right side minor sprocket 30 is connected with right side hinge wheel 29 on being installed in right side axle drive shaft 31 through chain; Right side axle drive shaft 31 is installed in the front portion of vertical girder steel I on upper strata vehicle frame 62 line of centers right sides through two bearing seats, and one of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; Drive wheel 33 coaxial hearts in right side are installed in the right-hand member of right side axle drive shaft 31, and the brake disc of right side drg 32 is housed on the right side axle drive shaft 31, right side drive wheel 33 and 43 engagements of right side crawler belt; The left end of right side axle drive shaft 31 is connected with the right-hand member of magnetic clutch 26.
Storage battery 17 is installed in the rear portion of two vertical girder steel III in left side, plane on lower floor's vehicle frame 65; The Cloud Terrace 7 is installed in the rear portion near the two vertical girder steel I in line of centers left side, plane on the upper strata vehicle frame 62; Camera 8 is installed on the The Cloud Terrace 7; Wireless video transport module 2 is installed in the rear portion of upper strata vehicle frame 62 near the vertical girder steel I in line of centers left side, and wireless video transport module 2 is positioned at The Cloud Terrace 7 next doors; Control box 16 and onboard wireless digital transmission module 18 are installed in the front portion of two vertical girder steel I of outside, left side, plane on the upper strata vehicle frame 62 respectively; Control box temperature sensor 49 is installed in the control box 16; Vehicle frame temperature sensor 48 is installed on vertical girder steel I of upper strata vehicle frame 62 ragged edges; Back distance measuring sensor 45 is installed in the midway of the posterior transversal girder steel I of upper strata vehicle frame 62; Before measurement is installed in the midway of the front cross girder steel I of upper strata vehicle frame 62 apart from sensor 52; Wheel steering angle sensor 57 is installed on the front fork 37, and nose-gear rises limit sensors 58 and is installed on the nose-gear 27 with nose-gear decline limit sensors 61, and back wheels-up limit sensors 59 is installed on the back alighting gear connecting rod 9 with back alighting gear decline limit sensors 60.
Control system is made up of tele-control system 72, vehicular collecting system 68 and vehicle control syetem 74.
The structure of tele-control system 72 is as shown in Figure 8: final terminal 71 is connected with host computer PC 69 through internet, and the serial ports of host computer PC 69 links to each other with the serial ports of long distance wireless digital transmission module 66; Wireless video receiver module 67 links to each other through the AV line with video frequency collection card 70, and video frequency collection card 70 is connected with the USB interface of host computer PC 69, wireless video receiver module 67 and long distance wireless digital transmission module 66 respectively with vehicular collecting system 68 wireless connections; The PC communications protocol of tele-control system 72 writes vehicle-mounted micro controller system 75 and final terminal 71 respectively.
The structure of vehicular collecting system 68 is as shown in Figure 9: the serial ports of vehicle-mounted micro controller system 75 is connected with the serial ports of onboard wireless digital transmission module 18; The mouth of camera 8 is connected respectively with the input end of wireless video transport module 2 and the input end of video separation chip 73, and the mouth of video separation chip 73 is connected with the AD mouth of vehicle-mounted micro controller system 75; The PWM mouth of vehicle-mounted micro controller system 75 is connected with the input end of The Cloud Terrace 7; Before measurement links to each other with the AD mouth with the I/O mouth of vehicle-mounted micro controller system 75 respectively with wheel steering angle sensor 57 apart from sensor 52, back distance measuring sensor 45, and control box temperature sensor 49 links to each other with the I/O mouth of vehicle-mounted micro controller system 75 respectively with vehicle frame temperature sensor 48; Nose-gear rise limit sensors 58, back wheels-up limit sensors 59, back alighting gear decline limit sensors 60 link to each other with the I/O mouth of vehicle-mounted micro controller system 75 respectively with nose-gear decline limit sensors 61; 17 I/O mouths of vehicle-mounted micro controller system 75 link to each other with vehicle control syetem 74, and the control system program writes vehicle-mounted micro controller system 75; Wireless video transport module 2 and onboard wireless digital transmission module 18 respectively with tele-control system 72 wireless connections.
The structure of vehicle control syetem 74 is shown in figure 10: the mouth of chip for driving 76 is connected with the input end of R/G 78; The mouth of R/G 78 is connected respectively with back alighting gear drive motor 46 with magnetic clutch 26, left side drg 21, right side drg 32, revolver drg 12, right wheel drg 42, steer motor 50, nose-gear drive motor 55, and the mouth of R/G 78 is connected with the input end of brshless DC motor actuator 77; The mouth of brshless DC motor actuator 77 is connected respectively with back-wheel drive motor 15, left track drive motor 19 and right side track propulsion motor 34; 17 control ports of chip for driving 76 link to each other with 17 I/O mouths of vehicular collecting system 68.
The final terminal 71 of present embodiment is a kind of among mobile phone, computer, the PDA.
The storage battery 17 and the wireless video transport module 2 of this instance; The Cloud Terrace 7; Camera 8; Onboard wireless digital transmission module 18; Video separation chip 73; Vehicle-mounted micro controller system 75; Chip for driving 76; Brshless DC motor actuator 77; R/G 78; Control box temperature sensor 49; Before measurement is apart from sensor 52; Back distance measuring sensor 45; Wheel steering angle sensor 57; Vehicle frame temperature sensor 48; Nose-gear rises limit sensors 58; Back wheels-up limit sensors 59; Back alighting gear decline limit sensors 60; Nose-gear decline limit sensors 61; Magnetic clutch 26; Left side drg 21; Right side drg 32; Revolver drg 12; Right wheel drg 42; Steer motor 50; Nose-gear drive motor 55; Back alighting gear drive motor 46; Back-wheel drive motor 15; Left track drive motor 19 is connected respectively with right side track propulsion motor 34.
The software main flow of the control system program of present embodiment is shown in figure 11, the steps include:
S1-1, to vehicle-mounted micro controller system 75 initialization, set frequency of operation and I/O pin state;
S1-2, judge whether to receive host computer PC 69 sent request frames; Then do not get into S1-3 if receive; If receive that the modification of then on the basis of analysis frame structure, accepting 69 pairs of vehicle-mounted micro controller system 75 data of host computer PC and synchrodata are in host computer PC 69; Respond host computer PC 69 again, get into S1-3;
S1-3, dolly state-detection: read nose-gear and rise limit sensors 58, back wheels-up limit sensors 59, back alighting gear decline limit sensors 60, nose-gear decline limit sensors 61, before measurement is apart from the state of sensor 52, back distance measuring sensor 45, vehicle frame temperature sensor 48, control box temperature sensor 49 and wheel steering angle sensor 57;
S1-4, judge whether to be debugging mode; If then left side drg 21, right side drg 32, magnetic clutch 26, revolver drg 12, right wheel drg 42, steer motor 50, nose-gear drive motor 55 and back alighting gear drive motor 46, back-wheel drive motor 15, left track drive motor 19 and right side track propulsion motor 34 are debugged separately; Get into S1-9, if not then get into S1-5;
S1-5, judge whether to take turns and carry out conversion,, get into S1-7, if not then get into S1-6 if then the operation wheel is carried out the conversion and control subprogram;
S1-6, judgement are crawler belt state or wheel condition, move the travel controls subprogram of cooresponding crawler belt or wheel respectively;
S1-7, The Cloud Terrace 7 rotatablely move;
S1-8, judge that whether communication interrupt continuously,, then put the debugging mode zone bit, get into S1-9 again, if not then directly get into S1-9 if communication is interrupted 5 program loops continuously;
S1-9, wait 40ms repeat the next program performance period, get into S1-2.
The described software main flow of carrying out the conversion and control subprogram of taking turns is shown in figure 12, the steps include:
S2-1, the initial information of gathering nose-gear rise limit sensors 58, back wheels-up limit sensors 59, back alighting gear decline limit sensors 60 and nose-gear decline limit sensors 61;
If S2-2, initial information wheel condition; Then judge whether to receive the conversion instruction of wheel shoe, carry out conversion instruction if receive wheel, nose-gear drive motor 55 is just going to nose-gear 27 behind level attitude; Then back alighting gear drive motor 46 is just going to back alighting gear connecting rod 9 to level attitude; Get into S2-4 again, do not carry out conversion instruction, then directly get into S2-4 if receive wheel;
If S2-3, initial information crawler belt state; Then judge whether to receive the conversion instruction of wheel shoe, carry out conversion instruction if receive wheel, nose-gear drive motor 55 is inverted to nose-gear 27 behind the upright position; Then back alighting gear drive motor 46 is inverted to back alighting gear connecting rod 9 to the upright position; Get into S2-4 again, do not carry out conversion instruction, then directly get into S2-4 if receive wheel;
S2-4, rise the value of feedback of limit sensors 58, back alighting gear decline limit sensors 60 and nose-gear decline limit sensors 61 according to back wheels-up limit sensors 59, nose-gear; Judge whether switching process finishes; If end of conversion, then nose-gear drive motor 55 stops with back alighting gear drive motor 46, gets into S2-5; If conversion does not finish, then get into S2-1;
S2-5, end.
The software main flow of described crawler travel control subprogram is shown in figure 13, the steps include:
S3-1, accept the track-type control signal;
If S3-2 advances, magnetic clutch 26 closures then, left track drive motor 19 is just changeing with right side track propulsion motor 34;
If S3-3 retreats, magnetic clutch 26 closures then, left track drive motor 19 and 34 counter-rotatings of right side track propulsion motor;
If S3-4 turns left, then magnetic clutch 26 unclamps, 19 counter-rotatings of left track drive motor, and right side track propulsion motor 34 is just changeing;
If S3-5 turns right, then magnetic clutch 26 unclamps, and left track drive motor 19 is just changeing, 34 counter-rotatings of right side track propulsion motor;
If S3-6 braking or parking, magnetic clutch 26 closures, left track drive motor 19 stops with right side track propulsion motor 34, left side drg 21 and right side drg 32 closures;
S3-7, end.
The software main flow of described wheel travel controls subprogram is shown in figure 14, the steps include:
S4-1, accept the control signal of running on wheels;
If S4-2 advances, then steer motor 50 work, the steering angle of front-wheel 38 is 0, back-wheel drive motor 15 is just changeing;
If S4-3 retreats, then steer motor 50 work, the steering angle of front-wheel 38 is 0,15 counter-rotatings of back-wheel drive motor;
If S4-4 turns left, then steer motor 50 is turned left, and back-wheel drive motor 15 is just changeing;
If S4-5 turns right, then steer motor 50 is turned right, and back-wheel drive motor 15 is just changeing;
If S4-6 braking or parking, then back-wheel drive motor 15 stops, and steer motor 50 stops, revolver drg 12 and right wheel drg 42 closures;
S4-7, end.
The PC communications protocol flow process of the tele-control system 72 in the present embodiment is shown in figure 15:
S5-1, initialization apparatus start communication and drive;
S5-2, judge whether host computer PC 69 need read data,, then carry out S5-3,, then carry out S5-8 if do not need if need;
S5-3, transmission read data request frame;
S5-4, host computer PC 69 receive the data of vehicle-mounted micro controller system 75 responses;
S5-5, the Frame that receives is carried out CRC check,,, then get into S5-6 if verification is passed through if verification gets into S5-13 not through then putting the error flag position;
Whether data are read in S5-6, judgement successful, if success, then serial ports dormancy 1s gets into S5-1, as if successful, then gets into S5-7;
S5-7, data are write in the upper computer software FameView data sheet;
S5-8, judge whether data modification is arranged in the FameView data sheet,, then carry out S5-13,, then carry out S5-9 if having if do not have;
S5-9, location are modified the zone, send the data modification request frame to vehicle-mounted micro controller system 75;
S5-10, the vehicle-mounted micro controller system 75 of acceptance are responded;
S5-11, carry out CRC check,,, then get into S5-12 if verification is passed through if verification gets into S5-13 not through then putting the error flag position;
Whether S5-12, judgment data are revised successful, if the failure flags position is then put in success, get into S5-13 again, if success then directly gets into S5-13;
S5-13, end.
This specific embodiment compared with prior art has the following advantages:
1, this specific embodiment adopts wheel to carry out dual-purpose walking manner; Promptly utilized the advantage of crawler travel mode aspect obstacle detouring; Utilized the characteristic of running on wheels fast and flexible again; Not only improved the comformability of dolly, made it have full landform carrying capacity, also improved disaster relief efficient complex environment.
2, this specific embodiment is upper computer with the computing machine, can monitor disaster relief trolley travelling state in real time, and on-the-spot video information and the sensing data of the record disaster relief, realizes the networking control to disaster relief dolly.
3, this specific embodiment adopts temperature sensor measurement dolly ambient temperature, and distance measuring sensor is surveyed the forward and backward side of dolly and whether had obstacle, and the state of kinematic motion of limit sensors and angular transducer induction dolly is to guarantee the work of dolly normal and stable ground.
Therefore, this specific embodiment has full landform carrying capacity and site environment shows in real time, the characteristics of Remote, is applicable to remote complicated hazardous environment.
Claims (4)
1. a disaster relief is carried out the conversion motor-driven carrier with wheel, it is characterized in that this electronic disaster relief dolly comprises vehicle frame (1), wheeled system, caterpillar drive system and control system;
Vehicle frame (1) is made up of upper strata vehicle frame (62), middle level vehicle frame (63), lower floor's vehicle frame (65) and 4 angle steel (64); Four jiaos of middle parts that are separately fixed at 4 angle steel (64) of middle level vehicle frame (63); Cooresponding 4 angle steel (64) top and bottom that are fixed on of upper strata vehicle frame (62) and lower floor's vehicle frame (65); Upper strata vehicle frame (62), middle level vehicle frame (63) and lower floor's vehicle frame (65) are parallel to each other, and the line of centers of upper strata vehicle frame (62), middle level vehicle frame (63) and lower floor's vehicle frame (65) is at same vertical guide;
The structure of upper strata vehicle frame (62) is: the line of centers both sides respectively are provided with vertical girder steel I of three equal in length; Vertical girder steel I is parallel with line of centers for the six roots of sensation; Be fixed with two horizontal girder steel IV near the rear portion between vertical girder steel I of line of centers both sides, the two ends of the vertical girder steel I of the six roots of sensation and two corresponding being fixedly connected of horizontal girder steel I;
The structure of middle level vehicle frame (63) is: the middle part of two horizontal girder steel II is fixed with two vertical girder steel II, and two vertical girder steel II are parallel with line of centers, and two vertical girder steel II are symmetrically located at the line of centers both sides;
The structure of lower floor's vehicle frame (65) is: the line of centers both sides respectively are provided with two vertical girder steel III, and four vertical girder steel III are parallel with line of centers, and the two ends of four vertical girder steel III are fixedly connected with horizontal girder steel III respectively;
Wheeled system is made up of wheeled work system and running gear system;
The structure of wheeled work system is: back alighting gear drive motor (46) is fixed on the lower plane of upper strata vehicle frame (62); Back alighting gear drive motor (46) is positioned at the left side of two horizontal girder steel IV of upper strata vehicle frame (62); Rear side minor sprocket (47) is installed on the output shaft of back alighting gear drive motor (46); Rear side minor sprocket (47) is connected with rear side hinge wheel (44) on being installed in back alighting gear worm screw (4) through chain; Back alighting gear worm screw (4) is installed in the lower plane of upper strata vehicle frame (62) through the bearing on even keel, and back alighting gear worm screw (4) is positioned at the centre of two horizontal girder steel IV of upper strata vehicle frame (62);
Back alighting gear worm screw (4) and back alighting gear worm gear (5) engagement; Back alighting gear worm gear (5) is installed in the rear portion of middle level vehicle frame (63) through back alighting gear axle (6); The left and right two ends of back alighting gear axle (6) are fixed with back alighting gear connecting rod (9) respectively, alighting gear connecting rod (9) and the corresponding connection in the outer end of two axle sleeves (13) after two, and an axle sleeve (13) kink is on revolver axle drive shaft (14); Another axle sleeve (13) kink is on right wheel drive shaft (40); Captive joint with link span (39) in the inner of two axle sleeves (13), back-wheel drive motor (15) is fixed on the link span (39), and left side wheel (11) is installed in the left end of revolver axle drive shaft (14); The right-hand member of revolver axle drive shaft (14) is connected with the left mouth of diff (3); Right side wheels (41) is installed in the right-hand member of right wheel drive shaft (40), and the left end of right wheel drive shaft (40) is connected with the right mouth of diff (3), and the input end of diff (3) is connected with back-wheel drive motor (15) output shaft;
Nose-gear drive motor (55) is fixed on the lower plane of middle level vehicle frame (63); Nose-gear drive motor (55) is positioned at the middle part of vertical girder steel II on middle level vehicle frame (63) right side; Front side minor sprocket (54) is installed on the output shaft of nose-gear drive motor (55); Front side minor sprocket (54) is connected with front side hinge wheel (53) on being installed in nose-gear worm screw (35) through chain; Nose-gear worm screw (35) is installed in the lower plane of upper strata vehicle frame (62) through the bearing on even keel, and nose-gear worm screw (35) is positioned at the front portion near vertical girder steel I on line of centers right side of upper strata vehicle frame (62);
Nose-gear worm screw (35) and nose-gear worm gear (36) engagement; Nose-gear worm gear (36) is installed in the front portion of middle level vehicle frame (63) through the projecting shaft of nose-gear (27), and the projecting shaft two ends of nose-gear (27) are fixed on the front portion of (63) two vertical girder steel II of middle level vehicle frame accordingly through bearing;
Steer motor (50) is fixed on the nose-gear (27); The output shaft of steer motor (50) is connected with turning to minor sprocket (56); Turn to minor sprocket (56) to be connected with the hinge wheel (51) that turns on being installed in steering worm (28) through chain; On nose-gear (27), steering worm (28) is installed in front fork (37) upper end with steering gear worm (24) engagement, steering gear worm (24) to steering worm (28) through bearing installation; On nose-gear (27), front-wheel (38) is installed on the front fork (37) front fork (37) through bearing installation;
The structure of caterpillar drive system is: left track drive motor (19) is installed in the last plane of lower floor's vehicle frame (65); Left track drive motor (19) is positioned at the middle front part of two vertical girder steel III in lower floor's vehicle frame (65) left side; Left side minor sprocket (22) is installed on the output shaft of left track drive motor (19); Left side minor sprocket (22) through chain be installed on the left of left side hinge wheel (23) on axle drive shaft (25) be connected; Left side axle drive shaft (25) is installed in the front portion of vertical girder steel I in upper strata vehicle frame (62) line of centers left side through two bearing seats; One of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; Drive wheel (20) coaxial heart in left side is installed in the left end of left side axle drive shaft (25), and the brake disc of left side drg (21) is housed on the left side axle drive shaft (25), left side drive wheel (20) and left track (10) engagement; The right-hand member of left side axle drive shaft (25) is connected with the left end of magnetic clutch (26);
Right side track propulsion motor (34) is installed in the last plane of lower floor's vehicle frame (65); Right side track propulsion motor (34) is positioned at the middle front part of two vertical girder steel III on lower floor's vehicle frame (65) right side; Right side minor sprocket (30) is installed on the output shaft of right side track propulsion motor (34); Right side minor sprocket (30) is connected with right side hinge wheel (29) on being installed in right side axle drive shaft (31) through chain; Right side axle drive shaft (31) is installed in the front portion of vertical girder steel I on upper strata vehicle frame (62) line of centers right side through two bearing seats, and one of them bearing seat is installed on the vertical girder steel I near line of centers, and another bearing seat is installed on vertical girder steel I of ragged edge; The coaxial heart of right side drive wheel (33) is installed in the right-hand member of right side axle drive shaft (31), and the brake disc of right side drg (32) is housed on the right side axle drive shaft (31), right side drive wheel (33) and right side crawler belt (43) engagement; The left end of right side axle drive shaft (31) is connected with the right-hand member of magnetic clutch (26);
Storage battery (17) is installed in the postmedian that lower floor's vehicle frame (65) is gone up two vertical girder steel III in left side, plane; The Cloud Terrace (7) is installed in upper strata vehicle frame (62) and goes up the rear portion of plane near two vertical girder steel I in line of centers left side; Camera (8) is installed on the The Cloud Terrace (7); Wireless video transport module (2) is installed in the rear portion of upper strata vehicle frame (62) near vertical girder steel I in line of centers left side, and wireless video transport module (2) is positioned at The Cloud Terrace (7) next door; Control box (16) and onboard wireless digital transmission module (18) are installed in the front portion that upper strata vehicle frame (62) is gone up two vertical girder steel I of outside, left side, plane respectively; Control box temperature sensor (49) is installed in the control box (16); Vehicle frame temperature sensor (48) is installed on vertical girder steel I of upper strata vehicle frame (62) ragged edge; Back distance measuring sensor (45) is installed in the midway of the posterior transversal girder steel I of upper strata vehicle frame (62); Before measurement is installed in the midway of the front cross girder steel I of upper strata vehicle frame (62) apart from sensor (52); Wheel steering angle sensor (57) is installed on the front fork (37); Nose-gear rises limit sensors (58) and nose-gear decline limit sensors (61) is installed on the nose-gear (27), and back wheels-up limit sensors (59) and back alighting gear decline limit sensors (60) are installed on the back alighting gear connecting rod (9);
Control system is made up of tele-control system (72), vehicular collecting system (68) and vehicle control syetem (74);
The structure of tele-control system (72) is: final terminal (71) is connected with host computer PC (69) through internet, and the serial ports of host computer PC (69) links to each other with the serial ports of long distance wireless digital transmission module (66); Wireless video receiver module (67) links to each other through the AV line with video frequency collection card (70), and video frequency collection card (70) is connected with the USB interface of host computer PC (69); Wireless video receiver module (67) and long distance wireless digital transmission module (66) respectively with vehicular collecting system (68) wireless connections; The PC communications protocol of tele-control system writes vehicle-mounted micro controller system (75) and final terminal (71) respectively;
The structure of vehicular collecting system (68) is: the serial ports of vehicle-mounted micro controller system (75) is connected with the serial ports of onboard wireless digital transmission module (18); The mouth of camera (8) is connected respectively with the input end of wireless video transport module (2) and the input end of video separation chip (73), and the mouth of video separation chip (73) is connected with the AD mouth of vehicle-mounted micro controller system (75); The PWM mouth of vehicle-mounted micro controller system (75) is connected with the input end of The Cloud Terrace (7); Before measurement links to each other with the AD mouth with the I/O mouth of vehicle-mounted micro controller system (75) respectively with wheel steering angle sensor (57) apart from sensor (52), back distance measuring sensor (45), and control box temperature sensor (49) links to each other with the I/O mouth of vehicle-mounted micro controller system (75) respectively with vehicle frame temperature sensor (48); Nose-gear rise limit sensors (58), back wheels-up limit sensors (59), back alighting gear decline limit sensors (60) link to each other with the I/O mouth of vehicle-mounted micro controller system (75) respectively with nose-gear decline limit sensors (61); 17 I/O mouths of vehicle-mounted micro controller system (75) link to each other with vehicle control syetem (74), and the control system program writes vehicle-mounted micro controller system (75); Wireless video transport module (2) and onboard wireless digital transmission module (18) respectively with tele-control system (72) wireless connections;
The structure of vehicle control syetem (74) is: the mouth of chip for driving (76) is connected with the input end of R/G (78); The mouth of R/G (78) is connected respectively with back alighting gear drive motor (46) with magnetic clutch (26), left side drg (21), right side drg (32), revolver drg (12), right wheel drg (42), steer motor (50), nose-gear drive motor (55), and the mouth of R/G (78) is connected with the input end of brshless DC motor actuator (77); The mouth of brshless DC motor actuator (77) is connected respectively with left track drive motor (19), right side track propulsion motor (34) and back-wheel drive motor (15); 17 control ports of chip for driving (76) link to each other with 17 I/O mouths of vehicular collecting system (68).
2. the disaster relief according to claim 1 is carried out the conversion motor-driven carrier with wheel, it is characterized in that being equipped with in the described control box (16) video separation chip (73), vehicle-mounted micro controller system (75), chip for driving (76), brshless DC motor actuator (77) and R/G (78).
3. the disaster relief according to claim 1 is carried out the conversion motor-driven carrier with wheel, it is characterized in that a kind of among mobile phone, computer, the PDA of described final terminal (71).
4. the disaster relief according to claim 1 is carried out the conversion motor-driven carrier with wheel, it is characterized in that described storage battery (17) and wireless video transport module (2), The Cloud Terrace (7), camera (8), onboard wireless digital transmission module (18), video separation chip (73), vehicle-mounted micro controller system (75), chip for driving (76), brshless DC motor actuator (77), R/G (78), control box temperature sensor (49), before measurement apart from sensor (52), back distance measuring sensor (45), wheel steering angle sensor (57), vehicle frame temperature sensor (48), nose-gear rise limit sensors (58), back wheels-up limit sensors (59) back alighting gear decline limit sensors (60), nose-gear decline limit sensors (61), magnetic clutch (26), left side drg (21), right side drg (32), revolver drg (12), right wheel drg (42), nose-gear drive motor (55), after alighting gear drive motor (46), steer motor (50), back-wheel drive motor (15), left track drive motor (19) be connected respectively with right side track propulsion motor (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110277140XA CN102390442B (en) | 2011-09-19 | 2011-09-19 | Wheel-track switching motor-driven trolley for disaster rescue |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110277140XA CN102390442B (en) | 2011-09-19 | 2011-09-19 | Wheel-track switching motor-driven trolley for disaster rescue |
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| Publication Number | Publication Date |
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| CN102390442A CN102390442A (en) | 2012-03-28 |
| CN102390442B true CN102390442B (en) | 2012-12-12 |
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| CN107402573B (en) * | 2016-05-19 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic moving equipment and control method thereof |
| CN110588809B (en) * | 2019-10-18 | 2021-12-14 | 西安石油大学 | Wheel-crawler type switching type all-terrain robot |
| CN111591360A (en) * | 2020-05-13 | 2020-08-28 | 中国矿业大学 | Novel wheel-track conversion walking device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2389817Y (en) * | 1999-09-10 | 2000-08-02 | 解殿元 | Friction type wheeled and tracked running gear |
| CN202320562U (en) * | 2011-09-19 | 2012-07-11 | 武汉科技大学 | Wheeled and caterpillar electric trolley for disaster relief |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2389817Y (en) * | 1999-09-10 | 2000-08-02 | 解殿元 | Friction type wheeled and tracked running gear |
| CN202320562U (en) * | 2011-09-19 | 2012-07-11 | 武汉科技大学 | Wheeled and caterpillar electric trolley for disaster relief |
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