CN116277080A - Control system of waterlogging drainage and breaking integrated robot - Google Patents
Control system of waterlogging drainage and breaking integrated robot Download PDFInfo
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- CN116277080A CN116277080A CN202211489552.4A CN202211489552A CN116277080A CN 116277080 A CN116277080 A CN 116277080A CN 202211489552 A CN202211489552 A CN 202211489552A CN 116277080 A CN116277080 A CN 116277080A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a control system of a waterlogging drainage and breaking and dismantling integrated robot, which comprises an electric control module arranged in an upper part and a cloud platform in wireless connection with the electric control module; the electric control module comprises a controller, a wireless remote controller, an industrial computer and a wire control remote controller which are all connected with the controller, wherein the controller is connected with an engine assembly, a walking control mechanism, a waterlogging drainage and dismantling control mechanism and a whole vehicle state information detection mechanism and is used for realizing one-key start-stop control, walking control, waterlogging drainage and dismantling function control and real-time monitoring of whole vehicle state information of a robot and ensuring smooth implementation of waterlogging drainage rescue work.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control system of a waterlogging drainage and dismantling integrated robot.
Background
Underground spaces such as underground garages, subways and tunnels in the current urban construction greatly relieve congestion pressure in urban storage, transportation and the like for the urban construction, and improve daily travel efficiency, but as the underground space is increasingly increased, the demands of the building of more infrastructures are increased, such as electricity consumption, ventilation and improvement of water supply and drainage facilities for the underground space become main topics. Once heavy rainfall occurs, a series of problems can be exposed, the key position blocks Hong Dangban are lack, electric equipment which is submerged is leaked, more prominent or underground space is basically completely submerged by flood, a large number of properties cannot be timely recovered or protected, rescue workers in a narrow space and drainage pump can not be pumped in, and drainage operation can not be performed at late time. Therefore, the robot is required to be broken and disassembled for realizing the flood drainage and rescue of the garage instead of firefighters and the traditional heavy flood drainage pump truck, the flood drainage and rescue of the subway station, the flood drainage and rescue of the tunnel and culvert topography, the flood drainage of narrow roads in cities, the water drainage of reservoirs and the like, and how to intelligently control the robot is an important guarantee for realizing the flood drainage and rescue work.
Disclosure of Invention
Therefore, the invention provides a control system of the waterlogging-draining and breaking-in integrated robot, so as to realize intelligent control of the waterlogging-draining and breaking-in robot and smooth implementation of waterlogging-draining rescue work.
In order to achieve the above object, the present invention provides the following technical solutions: the control system comprises an electric control module arranged in the upper assembly and a cloud platform in wireless connection with the electric control module;
the electronic control module comprises a controller, a wireless remote controller, an industrial computer and a wire control remote controller which are all connected with the controller, wherein the wireless remote controller is used for supporting a remote control mode, and can be automatically switched into a local control mode when the wireless remote controller is not started or in a disconnection state;
the controller is connected with the engine assembly, the walking control mechanism, the waterlogging drainage and dismantling control mechanism and the whole vehicle state information detection mechanism and is used for realizing one-key start-stop control, walking control, waterlogging drainage and dismantling function control and real-time monitoring of the whole vehicle state information of the robot, the waterlogging drainage and dismantling control mechanism comprises a hydraulic cylinder arranged in the chassis, and the water pump support and the lifting of the water pump in the chassis are driven through linear displacement movement of a moving part in the hydraulic cylinder so as to adapt to drainage operation of ponding areas with different depths.
Further, the remote control mode is realized through wireless radio frequency, and the wireless remote controller is communicated with the controller to realize the control of the whole machine; the local control mode is realized through a CANbus, and the industrial control computer is communicated with the controller to realize all the control except the walking of the whole machine; when the wireless remote controller fails or the strong magnetic interference environment, the robot is emergently remotely controlled by using the wire control remote controller to walk.
Further, the state information comprises an engine state, battery electric quantity, gasoline tank oil level, hydraulic oil temperature, whole vehicle position, audio and video information and environmental gas detection information.
Further, the walking control mechanism comprises a hydraulic control valve bank connected with the controller, the hydraulic control valve bank is connected with an oil outlet of a gear oil pump, an oil inlet of the gear oil pump is connected with a hydraulic oil tank, the gear oil pump is powered by the engine assembly, the hydraulic oil tank is arranged in the upper assembly and is positioned on one side of the fuel tank, the hydraulic control valve bank is connected with oil inlets of a plurality of hydraulic motors, the hydraulic motors are connected with wheels, and the wheels are driven to rotate through the hydraulic motors.
Further, the drainage and dismantling control mechanism comprises a hydraulic oil cylinder connected with the hydraulic control valve group, the hydraulic oil cylinder is connected with a water pump support through a pin shaft, the chassis comprises a chassis frame, a water pump support, a water pump and a water outlet interface, the water pump is fixed on the water pump support, the water pump is arranged at one end of the chassis frame, the water outlet interface is arranged at the other end of the chassis frame, and a water outlet of the water pump is connected with the water outlet interface through a water belt.
Further, the upper assembly comprises a shell assembly, and an engine assembly, a fuel tank, a power module, an electric control module, a plurality of bilge drainage pumps and a radiator which are arranged in the shell assembly, wherein the bilge drainage pumps are connected with the controller, and the bilge drainage pumps are used for discharging redundant residual liquid or rainwater which splashes into the bilge from the outside to the outside of the shell.
Further, a hydraulic quick socket is arranged on one side of the shell assembly and is used for being connected with a hydraulic breaking tool, and the hydraulic quick socket is connected with the hydraulic control valve bank to provide hydraulic power for the hydraulic breaking tool.
Further, an electric traction winch connected with the controller is arranged on one side of the shell assembly and used for pulling out or removing obstacles on a road from the robot in distress.
Further, the chassis includes running gear, running gear is including the multiunit wheelset that sets up side by side, and every wheelset of wheelset is all fixed through the wheel mount pad, the wheel mount pad is connected the chassis frame, every wheelset all includes two wheels that set up respectively in chassis frame both sides, the wheel all adopts amphibious vacuum tire.
The invention has the following advantages:
the invention provides a control system of a waterlogging draining and breaking integrated robot, which comprises an electric control module arranged in an upper part and a cloud platform in wireless connection with the electric control module;
the electronic control module comprises a controller, a wireless remote controller, an industrial computer and a wire control remote controller which are all connected with the controller, wherein the wireless remote controller is used for supporting a remote control mode, and can be automatically switched into a local control mode when the wireless remote controller is not started or in a disconnection state;
the controller is connected with the engine assembly, the walking control mechanism, the waterlogging drainage and dismantling control mechanism and the whole vehicle state information detection mechanism and is used for realizing one-key start-stop control, walking control, waterlogging drainage and dismantling function control and real-time monitoring of the whole vehicle state information of the robot, the waterlogging drainage and dismantling control mechanism comprises a hydraulic cylinder arranged in the chassis, and the water pump support and the lifting of the water pump in the chassis are driven through linear displacement movement of a moving part in the hydraulic cylinder so as to adapt to drainage operation of ponding areas with different depths. The one-key start-stop control, the walking control, the waterlogging and breaking-disassembly function control and the real-time monitoring of the whole vehicle state information of the waterlogging and breaking-disassembly robot can be realized, and smooth implementation of waterlogging and rescue work is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
Fig. 1 is a schematic diagram of an electric control module in a control system of a drainage, breaking and dismantling integrated robot according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a drainage, breaking and dismantling integrated robot provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a drainage, breaking and dismantling integrated robot chassis provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a water-spraying propeller in a chassis of a drainage, breaking and dismantling integrated robot provided in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of an internal structure of an integrated drainage, breaking and dismantling robot according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram of another internal structure of the drainage, breaking and dismantling integrated robot according to embodiment 1 of the present invention.
In the figure: chassis 1, upper package 2, chassis frame 11, water pump support 12, water pump 13, water outlet 14, hydraulic cylinder 15, wheel 16, wheel mount 17, hydraulic motor 18, side wall 19, water jet propeller 110, casing assembly 21, engine assembly 22, gear oil pump 23, radiator 24, fuel tank 25, hydraulic tank 26, hydraulic control valve group 27, hydraulic quick connect 28, electric traction winch 29, electric control module 210, power module 211, bilge drain pump 212, controller 201, wireless remote controller 202, industrial computer 203, wire control remote controller 204 all connected with controller 201.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the present embodiment provides a control system of a waterlogging-draining and dismantling integrated robot, which includes an electronic control module 210 disposed in an upper package and a cloud platform wirelessly connected with the electronic control module 210;
the electronic control module 210 comprises a controller 201, and a wireless remote controller 202, an industrial computer 203 and a wire control remote controller 204 which are all connected with the controller 201, wherein the wireless remote controller 202 is used for supporting a remote control mode, and when the wireless remote controller 202 is not started or in an off-line state, the wireless remote controller 202 can be automatically switched into a local control mode;
the controller 201 is connected with the engine assembly 22, the walking control mechanism, the waterlogging drainage and dismantling control mechanism and the whole vehicle state information detection mechanism, and is used for realizing one-key start-stop control, walking control, waterlogging drainage and dismantling function control and real-time monitoring of the whole vehicle state information of the robot, and the waterlogging drainage and dismantling control mechanism comprises a hydraulic cylinder 15 arranged in the chassis 1, and the lifting of the water pump support 12 and the water pump 13 in the chassis is driven through linear displacement movement of a moving part in the hydraulic cylinder 15 so as to adapt to drainage operation of ponding areas with different depths.
Specifically, as shown in fig. 2, the waterlogging draining and breaking robot of the embodiment includes a modularized chassis 1 and an upper package 2, and the chassis 1 and the upper package 2 are connected by a fastener.
As shown in fig. 3, the chassis 1 includes a chassis frame 11, a water pump bracket 12, a water pump 13, a water pump lifting mechanism, a water outlet 14, and a traveling mechanism.
The water pump 13 is fixed on the water pump support 12, and the water pump 13 sets up in the one end of chassis frame 11, and play water interface 14 sets up in the other end of chassis frame 11, and the delivery port of water pump 13 passes through the hosepipe and connects play water interface 14, and in this embodiment, the hosepipe adopts PVC coating hosepipe, reduces whole car quality.
The water pump lifting mechanism is connected with the water pump support 12, the water pump support 12 is connected with the chassis frame 11 through a pin shaft to support the water pump support 12, the water pump lifting mechanism is used for driving lifting of the water pump support 12 and the water pump 13 to adapt to water accumulation areas with different depths, the water pump lifting mechanism comprises a hydraulic cylinder 15, the hydraulic cylinder 15 is connected with the water pump support 12 through a pin shaft, lifting of the water pump support 12 and the water pump 13 is driven through linear displacement movement of a moving part in the hydraulic cylinder 15, lifting of the water pump 13 is realized through retraction of the hydraulic cylinder 15, and accordingly water drainage operation of the water accumulation areas with different depths is performed.
In this embodiment, the travelling mechanism is connected to the chassis frame 11, and the travelling mechanism is used for driving the robot to travel. The running gear includes 3 sets of wheelsets that set up side by side, and every wheelset all includes two wheels 16 that set up respectively in chassis frame 11 both sides. Each group of wheel sets is fixed through a wheel mounting seat 17, the wheel mounting seat 17 is connected with the chassis frame 11, the wheels 16 are connected with a hydraulic motor 18, and the wheels 16 are driven to rotate through the hydraulic motor 18. In this embodiment, the wheels 16 are all amphibious vacuum tires, which can float on the water surface.
In this embodiment, 2 water pumps 13 are fixedly disposed on the water pump support 12, 2 water outlet ports 14 are correspondingly disposed, and water jet propellers 110 may be disposed below or on two sides of the water outlet ports 14, as shown in fig. 4, so as to provide a larger running speed for the whole vehicle running in water. The vehicle body is provided with a hydraulic generator with the power of 3.5kw, and can provide power for the propeller when the robot walks in water.
As shown in fig. 5 and 6, the upper package 2 includes a housing assembly 21, and an engine assembly 22, a fuel tank 25, a power module 211, an electronic control module 210, a plurality of bilge pumps 212, and a radiator 24 disposed inside the housing assembly 21. The engine assembly 22 and the fuel tank 25 are respectively arranged at two ends of the interior of the shell assembly 21, and the muffler of the engine assembly 22 adopts an external design, so that heat can be rapidly released to the outside, and the phenomena of too high temperature rise, too high temperature and the like caused by heat transfer in a smaller vehicle body space are avoided. The power module 211 is used for supplying power to the robot, the electric control module 210 is used for performing overall control, the bilge pump 212 is connected with the controller, and the bilge pump 212 is used for discharging superfluous residual liquid or rainwater which splashes into the bilge body from the outside of the shell, so that faults such as short circuit of electric lines and the like caused by excessive accumulated water are avoided. A hydraulic quick socket 28 is arranged on one side of the shell assembly 21, and the hydraulic quick socket 28 is used for being connected with hydraulic breaking tools such as a hydraulic circular saw and the like.
In this embodiment, the inside hydraulic tank 26, gear oil pump 23 and the hydraulic control valves 27 that still are provided with of casing assembly 21, hydraulic tank 26 sets up in fuel tank 25 one side, and gear oil pump 23 is provided power by engine assembly 22, and hydraulic tank 26 is connected to the oil inlet of gear oil pump 23, and hydraulic control valves 27 is connected to the oil-out of gear oil pump 23, and hydraulic control valves 27 is connected with the controller, and hydraulic control valves 27 connect the oil inlet, hydraulic cylinder and the hydraulic pressure quick socket 28 of each hydraulic motor 18, realize the rotary drive of hydraulic motor 18, realize the sharp reciprocating motion of the interior moving part of hydraulic cylinder and provide the hydraulic power of the broken instrument of tearing open through the switching-over valve.
In this embodiment, an electric traction winch 29 connected to the controller is provided on one side of the housing assembly 21 for pulling out or removing obstacles on the road from the robot in trouble.
The robot is mainly characterized in that:
(1) The amphibious vehicle 6X 6 structure chassis is adopted, the structure, the technology and the process are mature, the experience can be used for reference, and the amphibious vehicle and the competitive bidding products form differentiation;
(2) The gasoline engine is adopted to drive the hydraulic pump set to provide a power source, and the structure of the gasoline engine pump set is characterized by light weight, small volume and low weight relative to the diesel engine pump set (the diesel engine pump set is about 200kg heavier than the gasoline engine pump set);
(3) The bottom of the whole car is sealed to play a role of a buoyancy tank, 6 groups of wheels are all used as driving wheels, the middle driving wheel replaces a triangular gearbox in the middle of Xinrui, power is provided, and buoyancy is also provided;
(4) The modular design is adopted, the tires can be quickly plugged and replaced, the driving boxes on two sides are assembled with the whole vehicle in a modularized manner, and the top upper cover can be lifted, so that the maintenance is convenient;
(5) The downward angle of the water inlet of the front water pump is adjustable, so that the adaptability of the water absorption environment is improved;
(6) The bottom or two sides of the water outlet of the rear water pump are respectively provided with a water spraying propeller, so that a larger travelling speed is provided for the whole vehicle to travel in water;
(7) The automobile body is provided with a hydraulic generator with the power of 3.5kw, which can provide power for a propeller when the robot walks in water, can also provide an external power supply port, can be externally connected with a breaking and disassembling or emergency tool such as an electric circular saw, and the like, and the hydraulic generator is controlled to work or not through a valve switch, so that the power utilization safety can be ensured, and the robot can be started to charge a storage battery to avoid the feed damage of the battery;
(8) A group of hydraulic quick sockets are reserved at the vehicle body end, and a hydraulic circular saw and other breaking and dismantling tools can be externally connected;
(9) The state information such as the engine state, the electric quantity of the storage battery, the oil level of the gasoline tank, the oil level of the hydraulic oil tank, the oil temperature of the hydraulic oil, the position of the whole vehicle, audio and video, detection (optional matching) of environmental gas and the like can be fed back to the remote control end, and the remote control can realize one-key start and stop, water walking and remote control response of each control;
(10) The robot is in butt joint with the cloud platform, networking is achieved, and one-stop management of the robot is facilitated.
Main core parameter configuration:
the hydraulic disc saw is provided with a hydraulic output interface, and can be connected with a breaking tool such as a hydraulic disc saw;
the power is provided, the walking can be independently carried out, and the driving mode adopts hydraulic driving;
amphibious: a vacuum tire is arranged, so that the water surface can float on the water surface;
the remote control can be operated remotely, and the remote controller is provided with a fuel tank liquid level alarm prompt;
the remote control lifting type water suction port is provided with a bent double water suction port at the same time, and can be used for draining waterlogging on a low water surface;
the external dimension (mm) is 2155mm long by 1462mm wide by 1335mm high
Mass (kg): not more than 760;
chassis form: 6×6 drive style, hydraulic vacuum tire chassis;
travel speed (km/h): not less than 10;
engine power: not less than 35hp;
minimum ground clearance (mm): not less than 151
Obstacle crossing height (mm): more than or equal to 220;
width of the groove (mm): not less than 600;
travel speed (Km/h): 0-10, stepless speed change;
climbing angle (°): more than or equal to 35;
the side-tipping angle (degree) is more than or equal to 32;
radius of turning: 1150mm;
traction (N): more than or equal to 4900, load capacity (kg): not less than 350;
remote control distance: more than or equal to 1000m;
the lift: > 7m;
depth of water intake: 170mm;
water quality requirements: the impurity liquid with the maximum solid particle diameter of 25mm can be sucked and discharged, and the impurity liquid with the maximum solid particle diameter of 3mm can be sucked and discharged by replacing the filter screen;
flow requirements: under the condition of 0m deep suction, the water discharge is more than 200L/s; the maximum drainage distance is 500m;
pipe diameter: providing DN200mm double water inlets; DN200mm double water outlets;
two optional forms of the automatic large-caliber water band rolling cart and the manual large-caliber water band rolling cart.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (9)
1. The control system of the waterlogging draining and breaking integrated robot is characterized by comprising a chassis and an upper package which are connected in a modularized manner, wherein the control system comprises an electric control module arranged in the upper package and a cloud platform connected with the electric control module in a wireless manner;
the electronic control module comprises a controller, a wireless remote controller, an industrial computer and a wire control remote controller which are all connected with the controller, wherein the wireless remote controller is used for supporting a remote control mode, and can be automatically switched into a local control mode when the wireless remote controller is not started or in a disconnection state;
the controller is connected with the engine assembly, the walking control mechanism, the waterlogging drainage and dismantling control mechanism and the whole vehicle state information detection mechanism and is used for realizing one-key start-stop control, walking control, waterlogging drainage and dismantling function control and real-time monitoring of the whole vehicle state information of the robot, the waterlogging drainage and dismantling control mechanism comprises a hydraulic cylinder arranged in the chassis, and the water pump support and the lifting of the water pump in the chassis are driven through linear displacement movement of a moving part in the hydraulic cylinder so as to adapt to drainage operation of ponding areas with different depths.
2. The control system of the waterlogging-draining and dismantling integrated robot according to claim 1, wherein the remote control mode is realized through wireless radio frequency, and a wireless remote controller is communicated with a controller to realize complete machine control; the local control mode is realized through a CANbus, and the industrial control computer is communicated with the controller to realize all the control except the walking of the whole machine; when the wireless remote controller fails or the strong magnetic interference environment, the robot is emergently remotely controlled by using the wire control remote controller to walk.
3. The control system of the waterlogging-draining and dismantling integrated robot according to claim 1, wherein the state information comprises an engine state, a battery electric quantity, a gasoline tank oil level, a hydraulic oil temperature, a whole vehicle position, audio and video information and environmental gas detection information.
4. The control system of the waterlogging draining and breaking integrated robot according to claim 1, wherein the walking control mechanism comprises a hydraulic control valve bank connected with a controller, the hydraulic control valve bank is connected with an oil outlet of a gear oil pump, an oil inlet of the gear oil pump is connected with a hydraulic oil tank, the gear oil pump is powered by an engine assembly, the hydraulic oil tank is arranged in the upper part and is positioned on one side of a fuel tank, the hydraulic control valve bank is connected with oil inlets of a plurality of hydraulic motors, the hydraulic motors are connected with wheels, and the wheels are driven to rotate by the hydraulic motors.
5. The control system of the integrated drainage and dismantling robot according to claim 4, wherein the drainage and dismantling control mechanism comprises a hydraulic cylinder connected with the hydraulic control valve group, the hydraulic cylinder is connected with a water pump support through a pin shaft, the chassis comprises a chassis frame, the water pump support, a water pump and a water outlet interface, the water pump is fixed on the water pump support, the water pump is arranged at one end of the chassis frame, the water outlet interface is arranged at the other end of the chassis frame, and a water outlet of the water pump is connected with the water outlet interface through a water belt.
6. The control system of a drainage, breaking and dismantling integrated robot according to claim 1, wherein the upper assembly comprises a shell assembly, an engine assembly, a fuel tank, a power module, an electric control module, a plurality of bilge drainage pumps and a radiator, wherein the engine assembly, the fuel tank, the power module, the electric control module, the bilge drainage pumps and the radiator are arranged inside the shell assembly, the bilge drainage pumps are connected with the controller, and the bilge drainage pumps are used for draining surplus residual liquid or rainwater splashed into a bilge outside the shell.
7. The control system of a waterlogging draining and breaking integrated robot of claim 6, wherein a hydraulic quick socket is arranged on one side of the housing assembly and is used for connecting a hydraulic breaking tool, and the hydraulic quick socket is connected with the hydraulic control valve bank to provide hydraulic power for the hydraulic breaking tool.
8. The control system of a waterlogging integrated robot of claim 6, wherein one side of the housing assembly is provided with an electric traction winch connected to the controller for pulling out or removing obstacles on the road.
9. The control system of the waterlogging draining and breaking integrated robot according to claim 1, wherein the chassis comprises a travelling mechanism, the travelling mechanism comprises a plurality of groups of wheel groups which are arranged in parallel, each group of wheel groups is fixed through a wheel mounting seat, the wheel mounting seat is connected with the chassis frame, each group of wheel groups comprises two wheels which are respectively arranged on two sides of the chassis frame, and the wheels adopt amphibious vacuum tires.
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| CN202211489552.4A CN116277080A (en) | 2022-11-25 | 2022-11-25 | Control system of waterlogging drainage and breaking integrated robot |
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| CN113669332A (en) * | 2021-07-10 | 2021-11-19 | 河南森源鸿马电动汽车有限公司 | Hydraulic electronic control integrated control device based on drainage vehicle |
| CN113650688A (en) * | 2021-09-24 | 2021-11-16 | 山西北方机械制造有限责任公司 | Mining emergency drainage vehicle |
| CN114852199A (en) * | 2022-04-24 | 2022-08-05 | 中国地质大学（武汉） | Drainage vehicle |
| CN115157990A (en) * | 2022-05-26 | 2022-10-11 | 山东国兴机器人联合研究院有限公司 | Amphibious carrying chassis and waterlogging drainage robot |
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