CN114954736A

CN114954736A - Detection rescue carrier

Info

Publication number: CN114954736A
Application number: CN202210842989.5A
Authority: CN
Inventors: 杨博; 华云鹏; 朱权洁; 郑喜朝; 翟文静; 沈凡舒; 王瑞
Original assignee: North China Institute of Science and Technology
Current assignee: North China Institute of Science and Technology
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2022-08-30

Abstract

The application provides a listen rescue carrier includes: the device comprises a retractable vehicle body, a personnel cabin, a control console, an equipment cabin, a dismantling frame and various sensors; the retractable vehicle body includes: the device comprises a chassis, a front vehicle body frame, a rear vehicle body frame, a front suspension shock absorber, a rear suspension shock absorber, a front suspension rocker arm, a rear suspension rocker arm, a front wheel, a rear wheel, a top rolling prevention frame and a hub motor; the chassis is an all-terrain chassis and is provided with a telescopic mechanism, the telescopic mechanism takes a linear guide rail as a bearing part and takes a push rod as a power part, and when the telescopic mechanism is in a telescopic mode, the detection and rescue carrier is in an unmanned automatic control mode. This application has guaranteed its comparatively good trafficability characteristic because of lighter dead weight and less volume, can drive in all kinds of complicated road conditions such as rubble, ore deposit way, mountain forest, also can carry on wounded and need not wounded and drive in person under the special circumstances.

Description

Detection rescue carrier

Technical Field

The application belongs to the special rescue field, concretely relates to listen rescue carrier.

Background

At present, in the field of special rescue and the emergency rescue industry, a few special intelligent devices are used, and research and development are relatively weak. The existing special intelligent equipment has single function and cannot independently execute a complex rescue task, when rescue workers with complex local shapes cannot directly arrive at the site to detect and rescue, the existing special intelligent equipment cannot realize autonomous unmanned driving, and the special intelligent equipment mounted with various sensors is large in size and cannot adapt to the rescue task in a narrow space. In addition, when the communication signal of the rescue place is not good, the existing special intelligent equipment cannot return the analysis data in real time.

Disclosure of Invention

Based on above technical problem, this application provides a listen rescue carrier, includes: the device comprises a retractable vehicle body, a personnel cabin, a control console, an equipment cabin, a dismantling frame and various sensors;

a personnel cabin and a control console are arranged in the retractable vehicle body; an equipment cabin is arranged at the rear part of the retractable vehicle body, and a dismantling frame is arranged between the equipment cabin and the personnel cabin; the various sensors are distributed at various positions of the retractable car body according to requirements and functions;

the equipment compartment includes: the system comprises a real-time analysis module, a communication positioning module, a perception acquisition module and a battery pack; the real-time analysis module, the communication positioning module, the perception acquisition module and the battery pack are all arranged in the equipment cabin; the sensing acquisition module is connected with various sensors through electric cables; the communication positioning module and the perception acquisition module are respectively connected with the real-time analysis module; the real-time analysis module, the communication positioning module and the perception acquisition module are all connected with the battery pack;

the perception acquisition module is used for acquiring infrared band and visible band video data;

the real-time analysis module is used for fusing the infrared band and the optical band video data on one graph to obtain a fused graph;

the communication positioning module is used for positioning and detecting the position of the rescue carrier and returning the position and the fusion graph;

the battery pack provides electric energy for the detection and rescue carrier.

The retractable vehicle body includes: the device comprises a chassis, a front vehicle body frame, a rear vehicle body frame, a front suspension shock absorber, a rear suspension shock absorber, a front suspension rocker arm, a rear suspension rocker arm, a front wheel, a rear wheel, a top rolling prevention frame and a hub motor;

the hub motor is respectively connected with the two front wheels and the two rear wheels through a connecting rod and is fixedly connected with the chassis; the front vehicle body frame is connected with the chassis through a front suspension rocker arm; the rear vehicle body frame is connected with the chassis through a rear suspension rocker arm; a front suspension shock absorber is arranged between the front vehicle body frame and the front suspension rocker arm, and a rear suspension shock absorber is arranged between the rear vehicle body frame and the rear suspension rocker arm; and a rotating shaft is arranged at the top of the rear vehicle body frame and is connected with the top rolling prevention frame through the rotating shaft.

The chassis is the all terrain chassis and is provided with telescopic machanism, the all terrain chassis is four-wheel independent suspension, and every wheelset has independent motor, actuating system and independent suspension shock absorber subassembly, and the wheelset passes through the connecting rod and hangs the subassembly and link to each other with the contraction type automobile body. The telescopic mechanism takes a linear guide rail as a bearing piece, takes a push rod as a power piece, and utilizes the extension and the contraction of the telescopic mechanism to enable the detection rescue carrier to comprise a contraction mode and an extension mode.

The unmanned automatic control mode comprises an autonomous driving mode and a controlled driving mode; the autonomous driving mode selects a remote ground station to carry out remote unmanned driving or sets a target point to carry out full autonomous navigation driving through a vehicle-mounted computer; the controlled driving mode carries out unmanned driving through artificial remote control in a remote control and remote ground station control mode.

The linear guide rail is a heavy-load linear guide rail.

The dismantling frame is connected with the retractable vehicle body through the nested structure, a manual control switch is arranged, the dismantling frame and the equipment cabin fall off after the manual control switch is started, and the rear portion of the retractable vehicle body is in an open state.

The front vehicle body frame is made of carbon fiber prepreg cloth through composite processing.

The hub motor is an eight-inch disc brake brushless motor.

The wheel hub motor, the front wheel, the rear wheel and the chassis form a modular structure, and can be replaced by a crawler type or a ski type.

The communication positioning module comprises: big dipper orientation module, big dipper short message communication module, ad hoc network communication module.

The perception collection module comprises: a visible light camera sensor and an infrared sensor.

The beneficial technical effects are as follows:

the all-terrain chassis is small and portable in structure, and capable of automatically moving aiming at a complex road environment in an emergency monitoring and rescue scene, and the trafficability of a carrier is improved; the designed load of the detection and rescue carrier can carry one operator, a large number of sensing monitoring devices and emergency rescue equipment can be mounted simultaneously, large-scale equipment is mounted on a vehicle body frame, the vehicle frame is provided with a plurality of mounting positions, rapid mounting can be achieved, rapid electrical connection is achieved, and adaptation can be easily changed for different scenes. The small-sized equipment can be hung in an equipment cabin at the rear of the vehicle body, and the equipment cabin is provided with abundant interfaces for data exchange of the whole vehicle. The action load of the operators can be greatly reduced, and the physical ability of the operators is saved. Also can carry on the wounded and need not the wounded and drive in person under the special circumstances, under the expansion mode, telescopic machanism will expand, the automobile body can have manned (carrying the passenger) simultaneously and unmanned (no passenger expandes) two kinds of modes, manned mode is down, the automobile body needs to expand completely, personnel cabin can not place equipment, equipment hanging point and equipment cabin are not influenced outside the automobile body, the optional passback of sensor data is to personnel cabin under this condition, personnel cabin passenger accessible analysis sensing data and visual information drive. When the personnel cabin is loaded with wounded personnel, if the wounded personnel have certain mobility, the driving operation can be carried out, and the operations such as driving and the like can be carried out by selecting and using the operation rockers arranged on the two sides in the personnel cabin and the interactive screen; if the wounded person loses the operation ability, the remote ground station can be selected to carry out remote unmanned driving or the vehicle-mounted high-performance computer can be used for carrying out full-autonomous navigation action under the condition that a target point is set. Under the condition of no passenger, the vehicle body can be unfolded according to the requirement, if a passenger cabin is provided with large-scale equipment, the vehicle body can be unfolded according to the equipment space requirement, and at the moment, various kinds of equipment can be arranged in the passenger cabin, the equipment cabin and the external hanging point. In the no-passenger driving mode, the vehicle action depends on two states, namely, the vehicle action is an autonomous action, and the autonomous unmanned driving is carried out through a vehicle-mounted sensor under the condition that a destination is specified or other equipment or personnel are set to follow. And the other is controlled action, namely, unmanned remote control is carried out manually in modes of remote control, remote ground station control and the like. Meanwhile, the frame and the equipment carried by the carrier can provide certain protection and life-supporting capability, and the safety and health of the passengers are ensured.

The detection rescue carrier ensures better trafficability due to lighter self weight and smaller volume, and can be driven to various complex road conditions such as broken stones, mines, mountain forests and the like by matching with a multi-wheel independent suspension and replaceable crawler system.

By adopting a data fusion technology, visible light and infrared video data can be simultaneously acquired, and the Beidou positioning module and the ad hoc network communication module are carried for communication guarantee and real-time analysis data return in different rescue scenes.

Drawings

Fig. 1 is a front view of a detection rescue vehicle according to an embodiment of the present application;

fig. 2 is a front view of a retractable vehicle body of a detection rescue vehicle according to an embodiment of the present application;

fig. 3 is a top view of a detection rescue vehicle according to an embodiment of the present application;

fig. 4 is a left side view of a detection rescue vehicle according to an embodiment of the present application;

FIG. 5 is a schematic view of the telescoping mechanism of an embodiment of the present application in an extended mode;

FIG. 6 is a schematic view of the telescoping mechanism of the embodiment of the subject application in a collapsed mode;

FIG. 7 is a schematic view of a telescoping mechanism according to an embodiment of the present application;

FIG. 8 is a schematic view of a modular structure according to an embodiment of the present application;

FIG. 9 is a schematic view of a control and power unit according to an embodiment of the present application;

the system comprises a retractable vehicle body 1, a personnel cabin 2, a control console 3, an equipment cabin 4, a dismantling frame 5, a sensing acquisition module 6-1, a real-time analysis module 6-2, a communication positioning module 6-3, a chassis 1-1, a front vehicle body frame 1-2, a rear vehicle body frame 1-3, a front suspension shock absorber 1-4, a rear suspension shock absorber 1-5, a front suspension rocker arm 1-6, a rear suspension rocker arm 1-7, a front wheel 1-8, a rear wheel 1-9, a top rolling prevention frame 1-10, a hub motor 1-11, a linear guide rail 1-12 and a push rod 1-13.

Detailed Description

The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.

The present application provides a detection rescue vehicle, as shown in fig. 1, 3, and 4, including: the device comprises a retractable vehicle body 1, a personnel cabin 2, a control console 3, an equipment cabin 4, a dismantling frame 5 and various sensors;

a personnel cabin 2 and a control console 3 are arranged in the retractable vehicle body 1; an equipment cabin 4 is arranged at the rear part of the retractable vehicle body, and a dismantling frame 5 is arranged between the equipment cabin 4 and the personnel cabin 2; the various sensors are distributed at various positions of the retractable car body 1 according to requirements and functions;

the equipment bay 4 comprises: the system comprises a real-time analysis module 6-2, a communication positioning module 6-3, a perception acquisition module 6-1 and a battery pack; the real-time analysis module 6-2, the communication positioning module 6-3, the perception acquisition module 6-1 and the battery pack are all arranged in the equipment cabin; the perception acquisition module 6-1 is connected with various sensors through electric cables; the communication positioning module 6-3 and the perception acquisition module 6-1 are respectively connected with the real-time analysis module 6-2; the real-time analysis module 6-2, the communication positioning module 6-3 and the perception acquisition module 6-1 are all connected with the battery pack;

the communication positioning module 6-3 and the perception acquisition module 6-1 are respectively connected with the real-time analysis module 6-2;

the perception acquisition module 6-1 is used for acquiring infrared band and visible band video data;

the real-time analysis module 6-2 is used for fusing the infrared band and the optical band video data on one graph to obtain a fused graph;

the communication positioning module 6-3 is used for positioning and detecting the position of the rescue carrier and returning the position and the fusion map.

The battery pack provides electric energy for the detection and rescue carrier.

The retractable vehicle body 1, as shown in fig. 2, includes: 1-1 part of a chassis, 1-2 parts of a front vehicle body frame, 1-3 parts of a rear vehicle body frame, 1-4 parts of a front suspension shock absorber, 1-5 parts of a rear suspension shock absorber, 1-6 parts of a front suspension rocker arm, 1-7 parts of a rear suspension rocker arm, 1-8 parts of a front wheel, 1-9 parts of a rear wheel, 1-10 parts of a top anti-rolling frame and 1-11 parts of a hub motor;

the hub motor 1-11 is respectively connected with the two front wheels 1-8 and the two rear wheels 1-9 through connecting rods and is fixedly connected with the chassis 1-1; the front vehicle body frame 1-2 is connected with the chassis 1-1 through a front suspension rocker arm 1-6; the rear vehicle body frame 1-3 is connected with the chassis 1-1 through a rear suspension rocker arm 1-7; a front suspension shock absorber 1-4 is arranged between the front vehicle body frame 1-2 and the front suspension rocker arm 1-6, and a rear suspension shock absorber 1-7 is arranged between the rear vehicle body frame 1-2 and the rear suspension rocker arm 1-5; and a rotating shaft is arranged at the top of the rear vehicle body frame 1-3 and is connected with the top rolling-proof frame 1-10 through the rotating shaft.

The detection and rescue carrier is provided with the openable top rolling-proof frames 1-10, so that passengers can enter the detection and rescue carrier easily while the safety of the passengers is protected.

The all-terrain vehicle is characterized in that the chassis 1-1 is an all-terrain chassis and is provided with a telescopic mechanism, the all-terrain chassis is independently suspended by four wheels, each wheel set is provided with an independent motor, a driving system and an independent suspension shock absorption assembly, and the wheel sets are connected with a retractable vehicle body through connecting rods and suspension assemblies. The structure ensures the trafficability of the whole vehicle, reduces the maintenance difficulty, and is easy to replace different wheel sets (such as deep groove cross-country wheels, crawler wheel sets, sledge crawler wheel sets and the like). The telescopic mechanism takes the linear guide rails 1-12 as a bearing piece, takes the push rods 1-13 as power pieces, and adopts the extension and contraction of the telescopic mechanism to enable the detection rescue vehicle to comprise a contraction mode and an extension mode as shown in fig. 7, when the telescopic mechanism is in the contraction mode, as shown in fig. 6, the detection rescue vehicle is in an unmanned automatic control mode, and when the telescopic mechanism is in the extension mode, as shown in fig. 5, the detection rescue vehicle is in a manned control mode. The telescopic mechanism comprises: linear guide rails 1-12, push rods 1-13 and a motor; one end of the linear guide rail 1-12 is connected with the front vehicle body frame 1-2, the other end is connected with one end of the push rod 1-13, and the other end of the push rod 1-13 is connected with the motor and fixed on the rear vehicle body frame 1-3; the bottom of the linear guide rail 1-12 is fixed on the chassis 1-1. The push rods 1-13 are controlled to extend or retract along the linear guide rails 1-12 by adopting the forward and reverse rotation of a motor, and when the push rods 1-13 retract, the push rods move towards the retracting direction together with the rear vehicle body frame 1-3, so that the detection rescue carrier is in a retracting mode; as shown in fig. 7, when the push rod 1-13 is extended, it moves in the extending direction together with the rear body frame 1-3, so that the rescue vehicle is detected to be in the extending mode. In the contraction mode, a part of the front vehicle body frame 1-2 is partially overlapped with the chassis 1-1, so that the effect of saving space is achieved, and in the contraction mode, the front vehicle body frame 1-2 is contracted to the space below the top rolling rack 1-10; in the extension mode, the front vehicle body frame 1-2 and the chassis 1-1 are not overlapped with each other to increase the vehicle body space.

When the telescopic mechanism is in a contraction mode, the detection rescue carrier can be in an unmanned automatic control mode, and when the telescopic mechanism is in an extension mode, the detection rescue carrier can be in the unmanned automatic control mode and the manned control mode.

The unmanned automatic control mode comprises an autonomous driving mode and a controlled driving mode; the autonomous driving mode selects a remote ground station to carry out remote unmanned driving or sets a target point to carry out full autonomous navigation driving through a vehicle-mounted computer; the controlled driving mode is unmanned through artificial remote control in a remote control and remote ground station control mode.

When telescopic machanism is in the mode of contracting, because of the automobile body shrink back wheel track reduces, saves the transportation space, reduces the requirement to the delivery vehicle, gets into unmanned automatic control mode after the shrink, more does benefit to and surveys narrow and small space, nimble motion.

The linear guide rails 1-12 are heavy-duty linear guide rails.

The dismantling frame 5 is connected with the retractable vehicle body 1 in the nested structure, a manual control switch is arranged, the dismantling frame 5 and the equipment cabin 4 fall off after the manual control switch is started, and the rear part of the retractable vehicle body 1 is in an open state.

The front vehicle body frame 1-2 is made of carbon fiber prepreg cloth through composite processing.

The hub motor 1-11, the front wheel 1-8, the rear wheel 1-9 and the chassis 1-1 form a modular structure, and can be replaced by a crawler type or a ski type, as shown in fig. 8.

The communication positioning module 6-2 comprises: big dipper orientation module, big dipper short message communication module, ad hoc network communication module. The perception acquisition 6-3 module comprises: a visible light camera sensor, an infrared sensor, as shown in fig. 9.

The basic structure of the whole vehicle (comprising a chassis 1-1, a front vehicle body frame 1-2 and a rear vehicle body frame 1-3) adopts a three-dimensional composite structure, plates are spliced and combined, and a back equipment cabin of a back control and energy supply unit of a light carrier comprises all calculation units (real-time analysis modules) and part of necessary built-in modules of the whole vehicle: the sensing part of the sensing module is positioned at each part of the vehicle body and is used for sensing the environment and vehicle body data in an all-round and real-time manner, so that the maintenance difficulty is reduced, and the structural strength of the whole vehicle is improved. The hub motor 1-11 is an eight-inch disc brake brushless motor. The wheels (comprising front wheels 1-8 and rear wheels 1-9) use wide wheels with high friction coefficient, so that the whole vehicle has excellent holding capacity, most of the vehicle body adopts high-strength carbon fiber plates and aluminum alloy, linear guide rails 1-12 of a bottom telescopic mechanism are used as bearing parts, push rods 1-13 are used as power parts, and as shown in figure 7, the sufficient structural strength is ensured, and the weight of the whole vehicle is reduced. The component structure adopts the glass fiber material, so that the manufacturing cost is reduced. The vehicle adopts the design of the side split storage bin, so that the structural design of the whole vehicle is more symmetrical, reasonable and efficient while enough storage capacity is ensured. The 18650 battery pack is selected for the equipment compartment 4, so that not only is sufficient capacity available, but also safety is guaranteed.

Obstacle perception is realized through tof laser radar and ultrasonic sensor to this application, and the dual sensor is each other redundant, improves the reliability. Thanks to the modularized design of the vehicle body, each module uses the rapid plugging design, and the module can be replaced and overhauled in a short time.

In this embodiment, the entire vehicle computing unit in the real-time analysis module 6-1 is Nvidia Jetson TX2, which maintains low power consumption while ensuring computing power, and establishes a spatial coordinate system through a camera, so that the cloud platform can effectively identify a target. The space in the vehicle is saved through electronic control of a rocker, a knob switch and the like, and the vehicle is easy to take and control.

The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.

Claims

1. A detection and rescue carrier is characterized by comprising: the method comprises the following steps: the system comprises a retractable vehicle body, a personnel cabin, a control console, an equipment cabin, a dismantling frame and various sensors;

the communication positioning module is used for positioning the position of the detection rescue carrier and returning the position and the fusion graph;

the battery pack provides electric energy for the detection and rescue carrier.

2. A rescue vehicle as claimed in claim 1, wherein said retractable body comprises: the device comprises a chassis, a front vehicle body frame, a rear vehicle body frame, a front suspension shock absorber, a rear suspension shock absorber, a front suspension rocker arm, a rear suspension rocker arm, a front wheel, a rear wheel, a top anti-roll frame and a hub motor;

3. A detection and rescue vehicle as claimed in claim 2, wherein the chassis is an all-terrain chassis and is provided with a telescopic mechanism, the all-terrain chassis is independently suspended by four wheels, each wheel set is provided with an independent motor, a driving system and an independent suspension shock-absorbing assembly, and the wheel set is connected with the telescopic vehicle body through a connecting rod and the suspension assembly; the telescopic mechanism takes a linear guide rail as a bearing piece, takes a push rod as a power piece, and utilizes the extension and the contraction of the telescopic mechanism to enable the detection rescue carrier to comprise a contraction mode and an extension mode.

4. A rescue vehicle as claimed in claim 3, wherein the unmanned automatic control mode comprises an autonomous driving mode and a controlled driving mode; the autonomous driving mode selects a remote ground station to carry out remote unmanned driving or sets a target point to carry out full autonomous navigation driving through a vehicle-mounted computer; the controlled driving mode is unmanned through artificial remote control in a remote control and remote ground station control mode.

5. A detection and rescue vehicle as claimed in claim 1, wherein the dismantling frame is connected to the retractable vehicle body via a nesting structure, and a manual control switch is provided, the dismantling frame is separated from the equipment compartment after the manual control switch is activated, and a rear portion of the retractable vehicle body is in an open state.

6. A detection and rescue vehicle as claimed in claim 3, wherein the front body frame is made of carbon fiber prepreg cloth.

7. A detection and rescue vehicle as claimed in claim 3, wherein the hub motor is an eight-inch brushless disc brake motor.

8. A detection and rescue vehicle as claimed in claim 3, wherein the hub motor, the front wheel, the rear wheel and the chassis form a modular structure that can be replaced by a crawler type or a ski type.

9. A rescue vehicle as claimed in claim 3 wherein said communication positioning module comprises: big dipper orientation module, big dipper short message communication module, ad hoc network communication module.

10. A detection and rescue vehicle as claimed in claim 3, wherein the perception acquisition module comprises: a visible light camera sensor and an infrared sensor.