CN111452702A - Ground unmanned system for searching for alerts - Google Patents
Ground unmanned system for searching for alerts Download PDFInfo
- Publication number
- CN111452702A CN111452702A CN202010283773.0A CN202010283773A CN111452702A CN 111452702 A CN111452702 A CN 111452702A CN 202010283773 A CN202010283773 A CN 202010283773A CN 111452702 A CN111452702 A CN 111452702A
- Authority
- CN
- China
- Prior art keywords
- hinged
- support
- arm
- support arm
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a ground unmanned system for searching and warning, which relates to the field of ground unmanned systems and comprises a ground unmanned platform, a lifting mechanism and a searching radar, wherein the ground unmanned platform is provided with an unmanned running mechanism, the lifting mechanism is fixedly connected to the ground unmanned platform, and the searching radar is fixedly connected to the lifting mechanism. The invention has the advantages that: unmanned the traveling can be realized to ground unmanned platform, and the search radar can go up and down along with elevating system, carries on small-size radar through ground unmanned platform, can realize the search alert under the field environment.
Description
Technical Field
The invention relates to the field of ground unmanned systems, in particular to a ground unmanned system for searching for alerts.
Background
The ground unmanned platform refers to an unmanned automatic ground vehicle which operates by self-autonomous navigation or remote control operation. The ground unmanned platform can complete information acquisition, monitoring and reconnaissance tasks, transportation and logistics tasks, mine removal and simple explosive device arrangement tasks, firepower support tasks, communication transfer tasks, medical transfer tasks and the like on a battle field, and has irreplaceable effect on protecting soldier lives in battle. With the development of the modernization war towards electronization and informatization, the trend of less humanization and even no humanization of the first-line operation unit is more and more obvious. The front one-line combat unit is less humanized, is beneficial to flexible and mobile combat reaction and easy concealment, but reduces manpower, brings many limitations to supply of supplies and provides harsh requirements for logistics support tasks. In addition, the battlefield has complex terrain and severe environment, unmanned battlefield material supply guarantee will become a future trend in order to improve the battle efficiency and reduce the casualties, and especially an unmanned platform which can be used for battlefield reconnaissance, material transportation and wounded personnel transportation becomes effective equipment which cannot be ignored in the battlefield. China develops late in unmanned search warning and patrol robots, and particularly the research aspect of a small-sized field unmanned search warning system is not involved.
Patent document CN104057837A discloses a light electrically driven ground unmanned platform, which adopts a hybrid power electrically driven structure, including an electric drive system, a walking mechanism, a control system, a sensor system, and a wireless communication system, and is capable of remote wireless remote control or autonomous driving. The existing ground unmanned platform cannot realize search warning in a field environment.
Disclosure of Invention
The invention aims to provide a ground unmanned system for searching alert, which can realize searching alert in a field environment.
The invention solves the technical problems through the following technical means: a unmanned system in ground for searching for alert, including unmanned platform in ground (1), elevating system (7), search radar (8), be equipped with unmanned running gear on unmanned platform in ground (1), elevating system (7) fixed connection be in on the unmanned platform in ground (1), search radar (8) fixed connection be in on elevating system (7). The ground unmanned platform can realize the functions of remote wireless remote control, following or autonomous driving and the like, the search radar can lift along with the lifting mechanism, and the search warning under the field environment can be realized by carrying the small radar on the ground unmanned platform.
As an optimized technical scheme, the unmanned running mechanism comprises a laser radar (2) and a millimeter wave radar (3), the laser radar (2) is installed right above the ground unmanned platform (1), and the two millimeter wave radars (3) are respectively installed right in front of the head and right behind the tail of the ground unmanned platform (1). Laser radar and millimeter wave radar are used to realize three-dimensional environmental perception of obstacles.
As an optimized technical scheme, the unmanned running mechanism further comprises a camera (4), and the camera (4) is installed right above the ground unmanned platform (1). The camera is used for observing the environmental information in front of the ground unmanned platform.
As an optimized technical scheme, the unmanned running mechanism further comprises a wireless transmission radio station (5) and a GPS antenna (6), wherein the wireless transmission radio station (5) and the GPS antenna (6) are respectively installed right above the ground unmanned platform (1). The radio transmission station and the GPS antenna are used to realize wireless communication.
As an optimized technical scheme, an obstacle crossing travelling mechanism is further arranged on the ground unmanned platform (1). The obstacle crossing running mechanism can realize the obstacle crossing running function of the ground unmanned platform in the field environment.
As an optimized technical scheme, the lifting mechanism (7) comprises a base (701), a support arm connecting seat (702), a first support arm (703), a synchronous push block (704), a first push rod (706), a first support frame (705), a second support arm (707), a second support frame (708), a support block (709), a second push rod (710) and a radar mounting arm (711); the base (701) is fixedly connected to the ground unmanned platform (1); the support arm connecting seat (702) is fixedly connected above one side edge of the base (701); the lower end of the first support arm (703) is hinged to the support arm connecting seat (702), the upper end of the first support arm (703) is hinged to the upper end of the synchronous push block (704), and a torsion spring is mounted at the hinged end of the first support arm (703) and the synchronous push block (704); the lower end of the first support frame (705) is hinged to the same side of the base (701) and the support arm connecting seat (702), and the upper end of the first support frame (705) is hinged to the lower end of the synchronous push block (704); the lower end of the first push rod (706) is hinged to the other side, opposite to the support arm connecting seat (702), of the base (701), and the upper end of the first push rod (706) is hinged to the middle of the first support arm (703); the lower end of the second support arm (707) is hinged to the upper part of the first support arm (703), and the hinged end of the second support arm (707) and the first support arm (703) is positioned above the hinged end of the first push rod (706) and the first support arm (703) and below the hinged end of the first support arm (703) and the synchronous push block (704); the lower end of the second support frame (708) is coaxially hinged with the hinged ends of the first support arm (703) and the synchronous push block (704); the upper end of the second support arm (707) is hinged to one side of the lower part of the support block (709), the upper end of the second support frame (708) is hinged to one side of the upper part of the support block (709), the lower end of the second push rod (710) is hinged to the other side of the lower part of the support block (709), the lower end of the radar mounting arm (711) is hinged to the other side of the upper part of the support block (709), and the upper end of the second push rod (710) is hinged to the middle of the radar mounting arm (711); the search radar (8) is fixedly connected to the upper end of the radar mounting arm (711). The lifting mechanism can be lifted and folded, and the search radar is conveniently erected.
As an optimized technical scheme, two support arm connecting seats (702), two first support arms (703), two first push rods (706) and two second support arms (707) are respectively arranged; the two support arm connecting seats (702) are respectively and fixedly connected above the edge of one side of the base (701); the lower ends of the two first support arms (703) are respectively hinged to the two support arm connecting seats (702), the upper ends of the two first support arms (703) are respectively hinged to the upper end of the synchronous push block (704), and the hinged ends of the two first support arms (703) and the synchronous push block (704) are respectively provided with a torsion spring; the lower end of the first support frame (705) is hinged to the same side of the base (701) with the two support arm connecting seats (702) and is positioned between the two support arm connecting seats (702); the lower ends of the two first push rods (706) are respectively hinged to the other side, opposite to the two support arm connecting seats (702), of the base (701), and the upper ends of the two first push rods (706) are respectively hinged to the middle parts of the two first support arms 703; the lower ends of the two second support arms (707) are respectively hinged at the upper parts of the two first support arms (703); the lower end of the second support frame (708) is coaxially hinged with the hinged ends of the two first support arms (703) and the synchronous push block (704); the upper ends of the two second support arms (707) are respectively hinged with one side of the lower part of the support block (709).
As the optimized technical scheme, the ground unmanned system for searching for vigilance further comprises leveling support legs (9) and a level sensor (10); the leveling supporting legs (9) are respectively and fixedly connected to the ground unmanned platform (1); the level sensor (10) is installed on the ground unmanned platform (1). The leveling supporting legs are controlled to work through feedback information of the level sensor, and the ground unmanned platform can be leveled.
As an optimized technical scheme, three leveling supporting legs (9) are arranged, one of the three leveling supporting legs (9) is fixedly connected right in front of the head of the ground unmanned platform (1), and the other two leveling supporting legs are respectively and fixedly connected right behind the tail of the ground unmanned platform (1).
As an optimized technical scheme, the leveling support leg (9) comprises a fixed frame (901), a telescopic leg mounting frame (902), a first connecting arm (903), a second connecting arm (904), a third push rod (905) and a telescopic leg (906); the fixed frame (901) is fixedly connected to the ground unmanned platform (1); the telescopic leg mounting rack (902) comprises a transverse plate and a vertical plate, the transverse plate is horizontally arranged, the vertical plate is vertically arranged, and one end of the transverse plate is fixedly connected with the upper end of the vertical plate; one end of the first connecting arm (903) is hinged to the upper end of the fixed frame (901), and the other end of the first connecting arm (903) is hinged to the other end of the transverse plate; one end of the second connecting arm (904) is hinged to the lower end of the fixing frame (901), and the other end of the second connecting arm (904) is hinged to the lower end of the vertical plate; one end of the third push rod (905) is coaxially hinged with the hinged ends of the fixed frame (901) and the second connecting arm (904), and the other end of the third push rod (905) is coaxially hinged with the hinged ends of the first connecting arm (903) and the transverse plate; the vertical setting of flexible leg (906), the upper portion of flexible leg (906) with riser fixed connection, the lower extreme of flexible leg (906) can stretch out and draw back automatically. The leveling supporting legs can be folded, folded or unfolded, and the use is convenient. The leveling supporting legs can be unfolded or folded, and the use is convenient.
The invention has the advantages that:
1. unmanned the traveling can be realized to ground unmanned platform, and the search radar can go up and down along with elevating system, carries on small-size radar through ground unmanned platform, can realize the search alert under the field environment.
2. The lifting mechanism can be lifted and folded, and the search radar is conveniently erected.
3. The leveling supporting legs are controlled to work through feedback information of the level sensor, the ground unmanned platform can be leveled, and the leveling supporting legs can be unfolded or folded, so that the use is convenient.
Drawings
Fig. 1 is a schematic side view of the operation of a ground based unmanned system for searching for an alert in accordance with an embodiment of the present invention.
Fig. 2 is a schematic side view of a transport state of a ground based unmanned system for searching for alerts according to an embodiment of the present invention.
Fig. 3 is an axial view showing a folded state of the lifting mechanism according to the embodiment of the present invention.
Fig. 4 is a schematic side view of a folded state of the lifting mechanism according to the embodiment of the present invention.
Fig. 5 is an axial view of the half-raised state of the lifting mechanism according to the embodiment of the present invention.
FIG. 6 is a schematic side view of a half-raised state of a lifting mechanism according to an embodiment of the present invention.
Fig. 7 is an axial schematic view of a fully raised condition of the elevator mechanism according to an embodiment of the present invention.
FIG. 8 is a side view of a fully raised position of an elevator mechanism according to an embodiment of the invention.
FIG. 9 is an isometric view of a collapsed state of a leveling leg according to an embodiment of the present invention.
FIG. 10 is a schematic side view of a collapsed state of a leveling leg support according to an embodiment of the present invention.
FIG. 11 is an isometric view of a leveling leg in a semi-deployed state according to an embodiment of the present invention.
FIG. 12 is a schematic side view of a leveling leg support according to an embodiment of the present invention in a semi-deployed state.
FIG. 13 is an isometric view of the fully extended and extended lower ends of the telescoping legs of the leveling leg according to the embodiment of the present invention.
FIG. 14 is a side view of a fully extended and telescoping leg lower end extended configuration of a leveling leg according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the ground unmanned system for searching for vigilance includes a ground unmanned platform 1, a laser radar 2, a millimeter wave radar 3, a camera 4, a wireless transmission radio 5, a GPS antenna 6, a lifting mechanism 7, a search radar 8, a leveling support leg 9, and a level sensor 10.
The ground unmanned platform 1 is provided with an unmanned running mechanism and an obstacle crossing running mechanism, the unmanned running mechanism realizes the functions of remote wireless remote control, following or autonomous running and the like, and the obstacle crossing running mechanism realizes the obstacle crossing running function in the field environment; the unmanned running mechanism comprises a laser radar 2, a millimeter wave radar 3, a camera 4, a wireless transmission radio station 5 and a GPS antenna 6; the laser radar 2 is arranged right above the vehicle head of the ground unmanned platform 1, the two millimeter wave radars 3 are respectively arranged right in front of the vehicle head and right behind the vehicle tail of the ground unmanned platform 1, and the laser radar 2 and the millimeter wave radars 3 are used for realizing three-dimensional environment perception of obstacles; the cameras 4 are high-definition cameras, the two cameras 4 are arranged above the head of the ground unmanned platform 1 side by side, and the cameras 4 are used for observing environmental information in front of the ground unmanned platform 1; the wireless transmission radio station 5 is arranged right above the head of the ground unmanned platform 1, the GPS antenna 6 is arranged right above the tail of the ground unmanned platform 1, and the wireless transmission radio station 5 and the GPS antenna 6 are used for realizing wireless communication; the lifting mechanism 7 is fixedly connected right above the tail of the ground unmanned platform 1; the search radar 8 is fixedly connected to the lifting mechanism 7, and the search radar 8 is a small search radar and has functions of warning, searching, reconnaissance and the like; one of the three leveling support legs 9 is fixedly connected right in front of the head of the ground unmanned platform 1, the other two leveling support legs are respectively and fixedly connected right behind the tail of the ground unmanned platform 1, and a three-point leveling function is realized through the three leveling support legs 9; the level sensor 10 is installed on the ground unmanned platform 1 and used for remotely feeding back the levelness of the ground unmanned platform 1 to the control system, and the control system controls the leveling support legs 9 to work through the feedback information of the level sensor 10, so that the requirement of 1-angle division of the levelness is met.
As shown in fig. 3 to 8, the lifting mechanism 7 includes a base 701, a support arm connection seat 702, a first support arm 703, a synchronous push block 704, a first support frame 705, a first push rod 706, a second support arm 707, a second support frame 708, a support block 709, a second push rod 710, and a radar installation arm 711; the base 701 is a cuboid frame, and the base 701 is horizontally arranged and fixedly connected right above the tail of the ground unmanned platform 1; the two support arm connecting seats 702 are respectively fixedly connected above one side edge of the base 701; the lower ends of the two first support arms 703 are respectively hinged to the two support arm connecting seats 702, the upper ends of the two first support arms 703 are respectively hinged to the upper end of the synchronous push block 704, and the hinged ends of the two first support arms 703 and the synchronous push block 704 are respectively provided with a torsion spring; the lower end of the first support frame 705 is hinged to the same side of the two support arm connecting seats 702 on the base 701 and is positioned between the two support arm connecting seats 702, and the upper end of the first support frame 705 is hinged to the lower end of the synchronous push block 704; the lower ends of the two first push rods 706 are respectively hinged to the other side of the base 701 opposite to the two support arm connecting seats 702, and the upper ends of the two first push rods 706 are respectively hinged to the middle parts of the two first support arms 703; the lower ends of the two second support arms 707 are respectively hinged to the upper parts of the two first support arms 703, and the hinged ends of the second support arms 707 and the first support arms 703 are located above the hinged ends of the first push rod 706 and the first support arms 703 and below the hinged ends of the first support arms 703 and the synchronous push blocks 704; the lower end of the second support frame 708 is coaxially hinged with the hinged ends of the two first support arms 703 and the synchronous push block 704; the upper ends of the two second support arms 707 are hinged to one side of the lower part of the support block 709, the upper end of the second support frame 708 is hinged to one side of the upper part of the support block 709, the lower end of the second push rod 710 is hinged to the other side of the lower part of the support block 709, the lower end of the radar mounting arm 711 is hinged to the other side of the upper part of the support block 709, and the upper end of the second push rod 710 is hinged to the middle part of the radar mounting arm 711; the search radar 8 is fixedly attached to the upper end of the radar mounting arm 711.
The first push rod 706 and the second push rod 710 can adopt electric push rods or hydraulic cylinders, and can be remotely controlled to automatically extend and retract through a control system; the base 701 is kept horizontal in the folding state of the lifting mechanism 7, the telescopic end of the first push rod 706 is in the retraction state, the first support arm 703, the first support frame 705, the second support arm 707 and the second support frame 708 are folded over the base 701 in the horizontal state, the telescopic end of the second push rod 710 is in the extension state, and the radar installation arm 711 is folded over the second support arm 707 and the second support frame 708 in the horizontal state; the telescopic end of the first push rod 706 extends out to push the first support arm 703 to rotate upwards by taking the hinged end of the first support arm 703 and the hinged end of the support arm connecting seat 702 as a rotating shaft, so as to drive the second support arm 707 to rotate upwards by taking the hinged end of the second support arm 707 and the hinged end of the first support arm 703 as a rotating shaft, and simultaneously drive the synchronous push block 704 to rotate downwards by taking the hinged end of the synchronous push block 704 and the hinged end of the first support arm 703 as a rotating shaft, so that the synchronous push block 704 drives the first support frame 705 and the second support frame 708 to rotate synchronously with the first support arm 703 and the second support arm 707 respectively, so that the first; the telescopic end of the second push rod 710 retracts to pull the radar mounting arm 711 to rotate upwards by taking the hinged end of the radar mounting arm 711 and the supporting block 709 as a rotating shaft, so that the lifting mechanism is in a completely lifted state; similarly, the retraction of the telescopic end of the first push rod 706 and the extension of the telescopic end of the second push rod 710 can collapse the lifting mechanism 7.
As shown in fig. 9 to 14, the leveling leg support 9 includes a fixing frame 901, a telescopic leg mounting frame 902, a first connecting arm 903, a second connecting arm 904, a third push rod 905, and a telescopic leg 906; the fixed frame 901 is fixedly connected to the ground unmanned platform 1; the telescopic leg mounting rack 902 comprises a transverse plate and a vertical plate, the transverse plate is horizontally arranged, the vertical plate is vertically arranged, and one end of the transverse plate is fixedly connected with the upper end of the vertical plate; one end of the first connecting arm 903 is hinged at the upper end of the fixed frame 901, and the other end of the first connecting arm 903 is hinged at the other end of the transverse plate; one end of the second connecting arm 904 is hinged to the lower end of the fixing frame 901, and the other end of the second connecting arm 904 is hinged to the lower end of the vertical plate; one end of a third push rod 905 is coaxially hinged with the hinged ends of the fixed frame 901 and the second connecting arm 904, and the other end of the third push rod 905 is coaxially hinged with the hinged ends of the first connecting arm 903 and the transverse plate; the vertical setting of flexible leg 906, the upper portion of flexible leg 906 with riser fixed connection, the lower extreme of flexible leg 906 can stretch out and draw back automatically.
The third push rod 905 can adopt an electric push rod or a hydraulic cylinder and can remotely control the automatic extension and retraction thereof through a control system; the first connecting arm 903 and the second connecting arm 904 of the leveling supporting leg 9 are both in a vertical state in a retracted state, and the telescopic end of the third push rod 905 is in an extended state; the telescopic end of the third push rod 905 retracts to pull the first connecting arm 903 and the second connecting arm 904 to rotate downwards by taking the hinged ends of the first connecting arm 903 and the second connecting arm 904 and the fixed frame 901 as rotating shafts respectively, so that the telescopic leg mounting frame 902 is driven to move, the transverse plate of the telescopic leg mounting frame is kept horizontal in the moving process, and the vertical plate of the telescopic leg mounting frame is kept vertical; after the leveling support legs 9 are completely unfolded, the first connecting arm 903 and the second connecting arm 904 are both in a horizontal state, and three-point leveling is performed through the extension and contraction of the lower ends of the three telescopic legs 906; similarly, the extension of the telescopic end of the third push rod 905 can retract the leveling support leg 9.
After a ground unmanned platform 1 of the ground unmanned system for searching for warning moves to a certain specified position in an unmanned driving state, a leveling support leg 9 is controlled to work through feedback information of a horizontal sensor 10, and the requirement of 1-angle division of levelness is met by combining a three-point leveling function; after the leveling is finished, the lifting mechanism 7 starts to work, and the stroke of the lifting mechanism 7 is controlled by a proximity switch arranged at the tail end of the joint of the lifting mechanism 7; after the lifting mechanism 7 is completely lifted, the search radar 8 is started to complete the functions of search warning and the like; when the platform is withdrawn, the search radar 8 stops working, the lifting mechanism 7 restores to a folded state, the leveling supporting legs 9 are retracted, and the ground unmanned platform 1 returns to the designated position.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A ground-based unmanned system for searching for alerts, comprising: including unmanned platform in ground (1), elevating system (7), search radar (8), be equipped with unmanned running gear on unmanned platform in ground (1), elevating system (7) fixed connection be in on the unmanned platform in ground (1), search radar (8) fixed connection be in on elevating system (7).
2. The system for searching for an alert floor of claim 1 wherein: the unmanned running mechanism comprises laser radars (2) and millimeter wave radars (3), wherein the laser radars (2) are installed right above the ground unmanned platform (1), and the two millimeter wave radars (3) are respectively installed right in front of a vehicle head and right behind a vehicle tail of the ground unmanned platform (1).
3. The system for searching for an alert floor of claim 1 wherein: unmanned vehicle structure still includes camera (4), camera (4) are installed directly over unmanned platform in ground (1).
4. The system for searching for an alert floor of claim 1 wherein: the unmanned running mechanism further comprises a wireless transmission radio station (5) and a GPS antenna (6), wherein the wireless transmission radio station (5) and the GPS antenna (6) are respectively installed right above the ground unmanned platform (1).
5. The system for searching for an alert floor of claim 1 wherein: and the ground unmanned platform (1) is also provided with an obstacle crossing travelling mechanism.
6. The system for searching for an alert floor of claim 1 wherein: the lifting mechanism (7) comprises a base (701), a support arm connecting seat (702), a first support arm (703), a synchronous push block (704), a first push rod (706), a first support frame (705), a second support arm (707), a second support frame (708), a support block (709), a second push rod (710) and a radar mounting arm (711); the base (701) is fixedly connected to the ground unmanned platform (1); the support arm connecting seat (702) is fixedly connected above one side edge of the base (701); the lower end of the first support arm (703) is hinged to the support arm connecting seat (702), the upper end of the first support arm (703) is hinged to the upper end of the synchronous push block (704), and a torsion spring is mounted at the hinged end of the first support arm (703) and the synchronous push block (704); the lower end of the first support frame (705) is hinged to the same side of the base (701) and the support arm connecting seat (702), and the upper end of the first support frame (705) is hinged to the lower end of the synchronous push block (704); the lower end of the first push rod (706) is hinged to the other side, opposite to the support arm connecting seat (702), of the base (701), and the upper end of the first push rod (706) is hinged to the middle of the first support arm (703); the lower end of the second support arm (707) is hinged to the upper part of the first support arm (703), and the hinged end of the second support arm (707) and the first support arm (703) is positioned above the hinged end of the first push rod (706) and the first support arm (703) and below the hinged end of the first support arm (703) and the synchronous push block (704); the lower end of the second support frame (708) is coaxially hinged with the hinged ends of the first support arm (703) and the synchronous push block (704); the upper end of the second support arm (707) is hinged to one side of the lower part of the support block (709), the upper end of the second support frame (708) is hinged to one side of the upper part of the support block (709), the lower end of the second push rod (710) is hinged to the other side of the lower part of the support block (709), the lower end of the radar mounting arm (711) is hinged to the other side of the upper part of the support block (709), and the upper end of the second push rod (710) is hinged to the middle of the radar mounting arm (711); the search radar (8) is fixedly connected to the upper end of the radar mounting arm (711).
7. The system for searching for an alert floor of claim 6 wherein: two support arm connecting seats (702), two first support arms (703), two first push rods (706) and two second support arms (707) are arranged respectively; the two support arm connecting seats (702) are respectively and fixedly connected above the edge of one side of the base (701); the lower ends of the two first support arms (703) are respectively hinged to the two support arm connecting seats (702), the upper ends of the two first support arms (703) are respectively hinged to the upper end of the synchronous push block (704), and the hinged ends of the two first support arms (703) and the synchronous push block (704) are respectively provided with a torsion spring; the lower end of the first support frame (705) is hinged to the same side of the base (701) with the two support arm connecting seats (702) and is positioned between the two support arm connecting seats (702); the lower ends of the two first push rods (706) are respectively hinged to the other side, opposite to the two support arm connecting seats (702), of the base (701), and the upper ends of the two first push rods (706) are respectively hinged to the middle parts of the two first support arms 703; the lower ends of the two second support arms (707) are respectively hinged at the upper parts of the two first support arms (703); the lower end of the second support frame (708) is coaxially hinged with the hinged ends of the two first support arms (703) and the synchronous push block (704); the upper ends of the two second support arms (707) are respectively hinged with one side of the lower part of the support block (709).
8. The system for searching for an alert floor of claim 1 wherein: the ground unmanned system for searching for vigilance further comprises a leveling supporting leg (9) and a level sensor (10); the leveling supporting legs (9) are respectively and fixedly connected to the ground unmanned platform (1); the level sensor (10) is installed on the ground unmanned platform (1).
9. The system for searching for an alert floor of claim 8 wherein: the three leveling support legs (9) are arranged, one of the three leveling support legs (9) is fixedly connected to the front of the vehicle head of the ground unmanned platform (1), and the other two leveling support legs are fixedly connected to the rear of the vehicle head of the ground unmanned platform (1).
10. The system for searching for an alert floor of claim 8 wherein: the leveling support leg (9) comprises a fixed frame (901), a telescopic leg mounting frame (902), a first connecting arm (903), a second connecting arm (904), a third push rod (905) and a telescopic leg (906); the fixed frame (901) is fixedly connected to the ground unmanned platform (1); the telescopic leg mounting rack (902) comprises a transverse plate and a vertical plate, the transverse plate is horizontally arranged, the vertical plate is vertically arranged, and one end of the transverse plate is fixedly connected with the upper end of the vertical plate; one end of the first connecting arm (903) is hinged to the upper end of the fixed frame (901), and the other end of the first connecting arm (903) is hinged to the other end of the transverse plate; one end of the second connecting arm (904) is hinged to the lower end of the fixing frame (901), and the other end of the second connecting arm (904) is hinged to the lower end of the vertical plate; one end of the third push rod (905) is coaxially hinged with the hinged ends of the fixed frame (901) and the second connecting arm (904), and the other end of the third push rod (905) is coaxially hinged with the hinged ends of the first connecting arm (903) and the transverse plate; the telescopic leg (906) is fixedly connected with the vertical plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010283773.0A CN111452702B (en) | 2020-04-13 | 2020-04-13 | Ground unmanned system for searching for alerts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010283773.0A CN111452702B (en) | 2020-04-13 | 2020-04-13 | Ground unmanned system for searching for alerts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111452702A true CN111452702A (en) | 2020-07-28 |
| CN111452702B CN111452702B (en) | 2021-12-10 |
Family
ID=71673031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010283773.0A Active CN111452702B (en) | 2020-04-13 | 2020-04-13 | Ground unmanned system for searching for alerts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111452702B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112477679A (en) * | 2020-11-17 | 2021-03-12 | 湖南大学 | Autonomous-moving electric vehicle battery pack, battery system and control method |
| CN112519695A (en) * | 2020-12-17 | 2021-03-19 | 湖南文理学院 | Device and method for extracting features of geographic information image |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201923097U (en) * | 2010-12-28 | 2011-08-10 | 辽宁陆平机器股份有限公司 | Extensive electric leveling support |
| CN202423532U (en) * | 2011-12-12 | 2012-09-05 | 南京恩瑞特实业有限公司 | Hydraulic-drive collapsible radar antenna elevating mechanism |
| RU141367U1 (en) * | 2013-08-06 | 2014-05-27 | Открытое акционерное общество "Концерн ПВО "Алмаз-Антей" | TARGET DETECTION RADAR STATION |
| CN104802690A (en) * | 2015-04-17 | 2015-07-29 | 苏州携旅网络技术有限公司 | Mobile emergency communication device |
| CN205204780U (en) * | 2015-12-09 | 2016-05-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Unipolar transmission lift trailer |
| CN205381925U (en) * | 2016-01-22 | 2016-07-13 | 湖北高曼重工科技有限公司 | A flexible folding landing leg for high altitude construction car |
| CN205417773U (en) * | 2016-01-11 | 2016-08-03 | 衡阳泰豪通信车辆有限公司 | Locking device of installation on suitable light -duty cross country vehicle |
| CN207416660U (en) * | 2017-09-27 | 2018-05-29 | 天津水利电力机电研究所 | A kind of flood-control and drought relief mobile pump vehicle electrodynamic balance adjustable column auxiliary device |
| CN208149311U (en) * | 2018-04-03 | 2018-11-27 | 北京智行者科技有限公司 | A kind of context aware systems for automatic Pilot passenger car |
| CN110208795A (en) * | 2019-06-13 | 2019-09-06 | 成都汇蓉国科微系统技术有限公司 | A kind of low slow small target detection identifying system of mobile platform high-precision and method |
-
2020
- 2020-04-13 CN CN202010283773.0A patent/CN111452702B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201923097U (en) * | 2010-12-28 | 2011-08-10 | 辽宁陆平机器股份有限公司 | Extensive electric leveling support |
| CN202423532U (en) * | 2011-12-12 | 2012-09-05 | 南京恩瑞特实业有限公司 | Hydraulic-drive collapsible radar antenna elevating mechanism |
| RU141367U1 (en) * | 2013-08-06 | 2014-05-27 | Открытое акционерное общество "Концерн ПВО "Алмаз-Антей" | TARGET DETECTION RADAR STATION |
| CN104802690A (en) * | 2015-04-17 | 2015-07-29 | 苏州携旅网络技术有限公司 | Mobile emergency communication device |
| CN205204780U (en) * | 2015-12-09 | 2016-05-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Unipolar transmission lift trailer |
| CN205417773U (en) * | 2016-01-11 | 2016-08-03 | 衡阳泰豪通信车辆有限公司 | Locking device of installation on suitable light -duty cross country vehicle |
| CN205381925U (en) * | 2016-01-22 | 2016-07-13 | 湖北高曼重工科技有限公司 | A flexible folding landing leg for high altitude construction car |
| CN207416660U (en) * | 2017-09-27 | 2018-05-29 | 天津水利电力机电研究所 | A kind of flood-control and drought relief mobile pump vehicle electrodynamic balance adjustable column auxiliary device |
| CN208149311U (en) * | 2018-04-03 | 2018-11-27 | 北京智行者科技有限公司 | A kind of context aware systems for automatic Pilot passenger car |
| CN110208795A (en) * | 2019-06-13 | 2019-09-06 | 成都汇蓉国科微系统技术有限公司 | A kind of low slow small target detection identifying system of mobile platform high-precision and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112477679A (en) * | 2020-11-17 | 2021-03-12 | 湖南大学 | Autonomous-moving electric vehicle battery pack, battery system and control method |
| CN112519695A (en) * | 2020-12-17 | 2021-03-19 | 湖南文理学院 | Device and method for extracting features of geographic information image |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111452702B (en) | 2021-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111452702B (en) | Ground unmanned system for searching for alerts | |
| WO2022065587A1 (en) | Distance measuring drone | |
| US3262582A (en) | Outrigger structure for hole digger and derrick apparatus | |
| CN111663824A (en) | Automobile carrying machine | |
| CN109434795A (en) | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding | |
| CN111482944A (en) | Robot system for automatically hanging and detaching ground wire and control method thereof | |
| CN210000609U (en) | vehicle-mounted unmanned aerial vehicle take-off and landing platform | |
| CN115557426A (en) | Adaptive posture gantry fork device for field use and forklift | |
| CN112946770B (en) | Scanning inspection apparatus and scanning inspection system | |
| CN211408233U (en) | Running gear and self-driven intelligent locker | |
| KR20220140646A (en) | Trailer Coupling Assemblies and Vehicles With Trailer Coupling Assemblies | |
| CN219361351U (en) | Integrated unmanned aerial vehicle bridge detection device | |
| CN211194518U (en) | Concrete removing device | |
| CN215707136U (en) | Dual-purpose investigation unmanned aerial vehicle in air and ground | |
| CN214123145U (en) | Portable mobile vehicle road cooperative device | |
| CN111098285A (en) | Wheeled detection robot based on low-earth-orbit satellite communication | |
| CN220171246U (en) | Movable road side unit equipment | |
| CN115123467A (en) | Unmanned boat-mounted stable platform for taking off and landing of unmanned aerial vehicle | |
| CN212558556U (en) | Mechanized goods bridge | |
| CN212887596U (en) | Mobile robot with mechanical arm | |
| CN110758723B (en) | Unmanned aerial vehicle convenient to receive and release undercarriage | |
| CN113442107A (en) | Mobile support device and mobile robot | |
| CN216994879U (en) | Unmanned aerial vehicle nest is with receiving and releasing lifting device that stretches out | |
| CN218288166U (en) | Aerial photography unmanned aerial vehicle flight take-off and landing support equipment | |
| CN219565474U (en) | Electric aircraft radome auxiliary disassembly and assembly vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |