CN117418581A - Multifunctional vehicle-mounted accessory autonomous switching system and switching method for rescue vehicle - Google Patents
Multifunctional vehicle-mounted accessory autonomous switching system and switching method for rescue vehicle Download PDFInfo
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- CN117418581A CN117418581A CN202311351591.2A CN202311351591A CN117418581A CN 117418581 A CN117418581 A CN 117418581A CN 202311351591 A CN202311351591 A CN 202311351591A CN 117418581 A CN117418581 A CN 117418581A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/961—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/968—Storing, handling or otherwise manipulating tools when detached from the machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
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Abstract
The invention provides an autonomous switching system and a switching method for vehicle-mounted accessories of a multifunctional rescue vehicle, comprising a detection unmanned aerial vehicle, a remote control center and the rescue vehicle, wherein the detection unmanned aerial vehicle detects whether a front road has an obstacle to block or collapse a road section or not and transmits detected front road conditions to the remote control center; the remote control center sends a control instruction to the rescue vehicle according to the real-time road condition transmitted by the detection unmanned aerial vehicle; the rescue car is provided with a plurality of operation accessories along with the car, each operation accessory is stuck with a two-dimensional code label, the rescue car receives a control instruction sent by a remote control center, the operation accessories are replaced according to the road site conditions, the operation is completed, the problems that the existing multifunctional rescue car is manually operated in the switching mode, the casualties risk of an operator exists and the required time is long are solved, the remote control rescue car is automatically completed, the labor is saved, and the switching efficiency is high.
Description
Technical Field
The invention relates to the technical field of remote control of rescue vehicles, in particular to an autonomous switching system and an autonomous switching method for vehicle-mounted accessories of a multifunctional rescue vehicle.
Background
The occurrence of natural disaster movements can cause road traffic jam, and emergency rescue vehicles often have conditions such as mountain falling stones or collapse in the road traffic jam construction process, can lead to rescue vehicle damage, and even cause casualties of rescue personnel.
The multifunctional rescue vehicle is provided with a plurality of operation accessories (or tools) along with the vehicle, the corresponding operation accessories are required to be switched according to the field operation requirements in the rescue process, the switching of the operation accessories influences the rescue operation efficiency, the existing multifunctional rescue vehicle is operated by a manual operation machine in the road rescue operation process, the casualties risk exists, the operation time is long, the automation degree is low, and the rescue efficiency is seriously influenced.
Disclosure of Invention
The automatic switching system and the automatic switching method for the vehicle-mounted accessories of the multifunctional rescue vehicle solve the problems that the existing multifunctional rescue vehicle is manually operated, the casualties risk of operators exists and the required time is long, realize the remote control of the automatic switching of the vehicle-mounted accessories of the rescue vehicle, save labor and have high switching efficiency.
In order to achieve the above purpose, the technical scheme of the invention is specifically realized as follows:
the invention discloses a multifunctional vehicle-mounted accessory autonomous switching system of an emergency rescue vehicle, which comprises a detection unmanned aerial vehicle, a remote control center and the emergency rescue vehicle, wherein the detection unmanned aerial vehicle is used for detecting whether an obstacle blocking or collapse road section exists on a front road or not and transmitting detected front road conditions to the remote control center; the remote control center is used for sending a control instruction to the rescue vehicle according to the real-time road condition transmitted by the detection unmanned aerial vehicle; when receiving that the road in front has obstacle blocking or collapses the road section, the remote control center sends a control instruction for stopping advancing to the rescue vehicle and carrying out rescue operation; the emergency rescue vehicle is provided with a plurality of operation accessories in a vehicle-mounted mode, each operation accessory is stuck with a two-dimensional code label, the emergency rescue vehicle receives a control instruction sent by a remote control center and is connected with the corresponding arm through a mobile pair, the operation is completed, the emergency rescue vehicle comprises a chassis, an arm support rotating platform, a movable arm, an arm support arm, a telescopic arm, a quick connecting device, an equipment rotating platform and a controller, the equipment rotating platform is arranged on the chassis, the chassis is placed on the ground, the equipment rotating platform is rotatably arranged on the chassis in a horizontal plane, the arm support rotating platform is rotatably arranged on the equipment rotating platform in the horizontal plane, the movable arm is arranged on the arm support rotating platform, the arm support arm is connected with the corresponding arm support, the telescopic arm is connected with the corresponding arm through the mobile pair, the two-dimensional code labels are stuck on the telescopic arm, the quick connecting device is connected with the telescopic arm, and the camera is fixed on the movable arm and the controller is used for receiving the control instruction sent by the remote control center.
Further, 4 operation accessories are configured on the rescue vehicle.
Further, the operation accessories of the rescue vehicle configured on-vehicle comprise a bucket, a grab bucket, a hydraulic shear and a breaking hammer.
Further, a plurality of operation accessories are clamped on the tool rotating platform through the half-opening wedge-shaped blocks.
Further, the remote control center is in wireless communication with a controller on the rescue vehicle.
The invention further discloses a switching method of the multifunctional vehicle-mounted accessory autonomous switching system of the rescue vehicle, which comprises the following steps of:
the detection unmanned plane detects the front road condition and transmits the detected front road condition to the remote control center;
the remote control center receives and detects the front road condition sent by the unmanned aerial vehicle, judges whether the front road is blocked by an obstacle, and if the front road is not blocked by the obstacle, sends a control instruction for continuing to advance to the rescue vehicle; if the barrier block exists on the road in front, the following steps are executed:
the remote control center sends a control instruction for stopping advancing and carrying out parallel rescue operation to the rescue vehicle;
the remote control center judges the attribute of the obstacle, judges whether the rescue vehicle needs to switch the accessory according to the judged attribute of the obstacle, and sends a control instruction for switching the accessory to the rescue vehicle if the accessory needs to be switched;
the controller of the rescue vehicle receives and executes a control instruction of stopping advancing sent by the remote control center to perform rescue operation; the controller records pose data of each arm support in the running state of the rescue vehicle; if the controller receives a control instruction of switching the accessory sent by the remote control center, executing the following steps:
the movable arm is lifted to the maximum angle, and the arm support rotary platform rotates to the right rear of the rescue vehicle until four operation accessories on the rotary platform enter the shooting range of the camera;
the bucket arm swings outwards until the two-dimensional code label on the telescopic arm enters the shooting range of the camera;
acquiring the number of the operation accessory to be switched and the coordinate system of the operation accessory through a camera, and acquiring the coordinate system of the two-dimensional code label on the telescopic arm through the camera;
calculating a transformation matrix from the camera to the operation accessory to be switched;
the controller judges whether a two-dimensional code label coordinate system on the bucket arm meets the requirements, if not, the bucket arm is swung or the telescopic arm is extended; if the requirements are met, the following steps are executed:
according to the rotation angles and the positions of the arm support rotating platform, the machine tool rotating platform, the movable arm, the arm lever, the telescopic arm and the quick connecting device, an action path of the arm lever is planned;
the bucket arm finishes switching of the operation accessories according to the planned action path;
the controller records the rotation angle and the pose of the boom rotating platform, the machine rotating platform, the movable arm, the bucket arm, the telescopic arm and the quick connecting device at the moment;
the remote control center controls the rescue vehicle to complete obstacle clearing operation, and the detection unmanned aerial vehicle transmits a real-time video of the obstacle clearing operation of the rescue vehicle to the remote control center;
when the rescue vehicle finishes the obstacle clearing operation, the remote control center sends a vehicle receiving control instruction to the rescue vehicle;
the rescue vehicle receives a vehicle receiving instruction sent by a remote control center, and the controller finishes the recovery of the operation accessories according to the reverse actions of the rotation angles and the positions of the frame rotary platform, the machine rotary platform, the movable arm, the bucket arm, the telescopic arm and the quick connecting device recorded during the switching of the operation accessories;
the controller compares the pose data of each arm support after the operation accessory is recovered with the pose data of each arm support in the running state of the rescue vehicle recorded previously, and adjusts the rescue vehicle from the operation mode to the running mode.
Further, the specific implementation of the transformation matrix from the camera to the to-be-switched operation accessory is as follows:
the method comprises the steps of setting { B } as a basic coordinate system of a chassis of the rescue vehicle, {1} as a coordinate system of a boom rotating platform, {2} as a coordinate system of a machine rotating platform, {3} as a hinge point coordinate system of a movable arm, {4} as a coordinate system of a hinge point of a bucket arm, {5} as a coordinate system of a telescopic arm, {6} as a coordinate system of a hinge point of a quick connecting device, { C } as a camera coordinate system, { R } as a coordinate system of a two-dimensional code label of the telescopic arm, and { W } as a coordinate system of a butt joint groove of the quick connecting device, { T } as a coordinate system of a connecting shaft of an accessory, wherein the following steps are as follows:
the transformation matrix from { B } to { T } is:
the transformation matrix from { B } to { W } is:
the transformation matrix from { W } to { T } is:
wherein,representing a transformation matrix from a basic coordinate system of the rescue vehicle chassis to a docking slot coordinate system of the quick connection device, < ->Representing a transformation matrix from the quick connect device docking slot coordinate system to the accessory connection axis coordinate system, < >>Representing a transformation matrix from a basic coordinate system of the rescue vehicle chassis to a coordinate system of the boom rotating platform, < +.>Representing a transformation matrix from the coordinate system of the boom rotation platform to the coordinate system of the implement rotation platform, < ->Transformation matrix representing coordinate system from machine tool rotating platform to hinge point coordinate system of movable arm +.>Transformation matrix representing the coordinate system of the hinge point of the slave arm to the coordinate system of the hinge point of the arm, < +.>Representing slaveTransformation matrix from coordinate system of arm hinge point to coordinate system of telescopic arm, +.>Transformation matrix representing coordinate system from telescopic arm to quick connection hinge point>Representing a transformation matrix from the coordinate system of the hinge point of the quick connector to the coordinate system of the docking slot of the quick connector, < >>Representing a transformation matrix from a docking slot coordinate system of the quick connection device to a telescopic arm two-dimensional code label reference coordinate system, < >>Representing a transformation matrix from a telescopic boom two-dimensional code label reference coordinate system to a camera coordinate system, < ->Representing a transformation matrix from the camera coordinate system to the attachment connection axis coordinate system.
The beneficial technical effects are as follows:
1. the invention discloses a multifunctional vehicle-mounted accessory autonomous switching system of an emergency rescue vehicle, which comprises a detection unmanned aerial vehicle, a remote control center and the emergency rescue vehicle, wherein the detection unmanned aerial vehicle is used for detecting whether an obstacle blocking or collapse road section exists on a front road or not and transmitting detected front road conditions to the remote control center; the remote control center is used for sending a control instruction to the rescue vehicle according to the real-time road condition transmitted by the detection unmanned aerial vehicle; when receiving that the road in front has obstacle blocking or collapses the road section, the remote control center sends a control instruction for stopping advancing to the rescue vehicle and carrying out rescue operation; the vehicle-mounted rescue vehicle is provided with a plurality of operation accessories, each operation accessory is stuck with a two-dimensional code label, the rescue vehicle receives a control instruction sent by a remote control center, and the operation accessories are replaced according to the road site condition to finish the operation, so that the problems that the existing multifunctional rescue vehicle is manually operated in the switching mode, the casualties risk of an operator exists and the required time is long are solved, the remote control rescue vehicle is automatically controlled to finish the switching of the vehicle-mounted accessories, the labor is saved, and the switching efficiency is high;
2. the invention discloses an autonomous switching method of a multifunctional rescue vehicle-mounted accessory, which is simple, clear in logic and convenient to implement.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings that are used in the description of the embodiments will be briefly described.
FIG. 1 is a schematic diagram of a vehicle-mounted accessory autonomous switching system of an emergency rescue vehicle according to the present invention;
FIG. 2 is a two-dimensional code label attached to an on-board accessory of the rescue vehicle;
FIG. 3 is a logic flow diagram of a switching method of an autonomous switching system of on-board accessories of an emergency rescue vehicle according to the present invention;
FIG. 4 is a schematic diagram of boom pose coordinate parameters in an emergency rescue vehicle;
FIG. 5 is a schematic diagram of a coordinate system configured in an embodiment of the present invention;
FIGS. 6 a-6 c illustrate a switching process of a job attachment.
The device comprises a 1-chassis, a 2-arm support rotary platform, a 3-movable arm, a 4-arm, a 5-telescopic arm, a 6-quick connecting device, a 6-1-cylinder locking pin, a 6-2-limiting block, a 7-machine rotary platform, an 8-camera, a 9-investigation unmanned aerial vehicle, a 10-operation accessory, a 10-1-hydraulic shear, a 10-2-grab bucket, a 10-3-bucket, a 10-4-breaking hammer, a 10-4-1-breaking hammer upper limiting edge, a 11-cylinder and a 12-connecting rod.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The invention discloses a multifunctional vehicle-mounted accessory autonomous switching system of an emergency rescue vehicle, which is shown in fig. 1, and particularly comprises a detection unmanned aerial vehicle, a remote control center and the emergency rescue vehicle, wherein the detection unmanned aerial vehicle is parked at the top of a control room of the emergency rescue vehicle and is used for detecting whether an obstacle blocks or collapses a road section on a front road or not and transmitting the detected front road condition to the remote control center; the remote control center is used for sending a control instruction to the rescue vehicle according to the real-time road condition transmitted by the detection unmanned aerial vehicle; when receiving a control instruction for stopping advancing and carrying out rescue operation of the rescue vehicle when the road in front is blocked by an obstacle or a collapsed road section, the remote control center is preferably arranged in a safety zone in 2KM away from the rescue vehicle and communicates with the rescue vehicle in a wireless communication mode; the rescue vehicle is provided with a plurality of operation accessories, preferably 4 operation accessories, referring to fig. 2, including but not limited to an excavator bucket, a grab bucket, a hydraulic shear and a breaking hammer, the operation accessories are clamped on an equipment fixing support of the equipment rotary platform 7 by using a half-mouth wedge block, each operation accessory is stuck with a two-dimensional code label, the rescue vehicle receives a control instruction sent by a remote control center and replaces the operation accessories according to the road site condition to complete the operation, the rescue vehicle comprises a chassis 1, an arm support rotary platform 2, a movable arm 3, an arm 4, a telescopic arm 5, a quick connecting device 6, the equipment rotary platform 7 and a controller, preferably, the rescue vehicle chassis 1 is placed on the ground, the equipment rotary platform 7 is positioned above the rescue vehicle chassis 1, the arm support rotary platform 2 is connected with the equipment rotary platform 7 by using a rotary support, the horizontal plane 360-degree rotary platform can rotate, the movable arm 3 is connected with the arm 4 by using a measuring pin, the movable arm 4 is connected with the movable arm support 4 by using a measuring pin, the position of the movable arm 4 is connected with the telescopic arm 4 by using a measuring pin, and the position of the telescopic arm 4 is fixed by using a telescopic arm 4.
The invention further discloses a switching method of the vehicle-mounted accessory autonomous switching system of the multifunctional rescue vehicle, which is shown in the figure and specifically comprises the following steps of:
the detection unmanned plane detects the front road condition and transmits the detected front road condition to the remote control center;
the remote control center receives and detects the front road condition sent by the unmanned aerial vehicle, judges whether the front road is blocked by an obstacle, and if the front road is not blocked by the obstacle, sends a control instruction for continuing to advance to the rescue vehicle; if the barrier block exists on the road in front, the following steps are executed:
the remote control center sends a control instruction for stopping advancing and carrying out parallel rescue operation to the rescue vehicle;
the remote control center judges the attribute of the obstacle, judges whether the rescue vehicle needs to switch the accessory according to the judged attribute of the obstacle, and sends a control instruction for switching the accessory to the rescue vehicle if the accessory needs to be switched;
the controller of the rescue vehicle receives and executes a control instruction of stopping advancing sent by the remote control center to perform rescue operation; the controller records pose data of each arm support in the running state of the rescue vehicle; if the controller receives a control instruction of switching the accessory sent by the remote control center, executing the following steps:
the movable arm 3 is lifted to the maximum angle, and the arm support rotary platform 2 rotates to the right rear of the rescue vehicle until four operation accessories on the rotary platform 7 enter the shooting range of the camera;
the bucket arm 4 swings outwards until the two-dimensional code tag on the telescopic arm 5 enters the shooting range of the camera;
acquiring the number of the operation accessory to be switched and the coordinate system of the operation accessory through a camera, and acquiring the coordinate system of the two-dimensional code label on the telescopic arm 5 through the camera;
calculating a transformation matrix from the camera to the operation accessory to be switched;
specifically, the specific implementation of calculating the transformation matrix from the camera to the job accessory to be switched is as follows:
let { B } be the basic coordinate system of the rescue vehicle chassis 1, {1} be the coordinate system of the arm support rotary platform 2, {2} be the coordinate system of the tool rotary platform 7, {3} be the hinge point coordinate system of the movable arm 3, {4} be the coordinate system of the hinge point of the arm 4, {5} be the coordinate system of the telescopic arm 5, {6} be the coordinate system of the hinge point of the quick connecting device 6, { C } be the camera coordinate system, { R } be the telescopic arm two-dimensional code label reference coordinate system, { W } be the docking slot coordinate system of the quick connecting device 6, { T } be the attachment connecting shaft coordinate system, then:
the transformation matrix from { B } to { T } is:
the transformation matrix from { B } to { W } is:
the transformation matrix from { W } to { T } is:
wherein,representing a transformation matrix from the basic coordinate system of the rescue vehicle chassis 1 to the docking slot coordinate system of the quick connection device 6, < >>Representing the transformation matrix from the quick connection device 6 docking slot coordinate system to the accessory connection axis coordinate system, +.>Representing a transformation matrix from the basic coordinate system of the rescue vehicle chassis 1 to the coordinate system of the boom swivel platform 2, < >>Representing a transformation matrix from the coordinate system of boom rotation platform 2 to the coordinate system of implement rotation platform 7, < >>A transformation matrix representing the coordinate system of the tool swivel platform 7 to the pivot point coordinate system of the boom 3, < >>A transformation matrix representing the coordinate system of the hinge point of the slave arm 3 to the coordinate system of the hinge point of the arm 4, < ->A transformation matrix representing the coordinate system of the hinge point of arm 4 to the coordinate system of telescopic arm 5, +.>A transformation matrix representing the coordinate system from the coordinate system of telescopic arm 5 to the coordinate system of the hinge point of quick connection 6,/v>Representing a transformation matrix from the coordinate system of the hinge point of the quick connection means 6 to the coordinate system of the docking slot of the quick connection means 6, < >>Representing a transformation matrix from a docking slot coordinate system of the quick connection device 6 to a telescopic arm two-dimensional code label reference coordinate system, < >>Representing a transformation matrix from a telescopic boom two-dimensional code label reference coordinate system to a camera coordinate system, < ->Representing a transformation matrix from the camera coordinate system to the attachment connection axis coordinate system.
The controller judges whether a two-dimensional code label coordinate system on the bucket arm 4 meets the requirements, if not, the bucket arm 4 is swung or the telescopic arm 5 is extended; if the requirements are met, the following steps are executed:
according to the rotation angles and the positions of the arm support rotating platform 2, the machine tool rotating platform 7, the movable arm 3, the bucket arm 4, the telescopic arm 5 and the quick connecting device 6, an action path of the bucket arm 4 is planned;
the bucket arm 4 completes the switching of the operation accessories according to the planned action path;
the controller records the rotation angle and the position of the boom rotating platform 2, the machine rotating platform 7, the movable arm 3, the bucket arm 4, the telescopic arm 5 and the quick connecting device 6 at the moment;
the remote control center controls the rescue vehicle to complete obstacle clearing operation, and the detection unmanned aerial vehicle transmits a real-time video of the obstacle clearing operation of the rescue vehicle to the remote control center;
when the rescue vehicle finishes the obstacle clearing operation, the remote control center sends a vehicle receiving control instruction to the rescue vehicle;
the rescue vehicle receives a vehicle receiving instruction sent by a remote control center, and the controller finishes the recovery of the operation accessories according to the reverse actions of the rotation angles and the positions of the frame rotary platform 2, the machine rotary platform 7, the movable arm 3, the bucket arm 4, the telescopic arm 5 and the quick connecting device 6 recorded during the switching of the operation accessories;
the controller compares the pose data of each arm support after the operation accessory is recovered with the pose data of each arm support in the running state of the rescue vehicle recorded previously, and adjusts the rescue vehicle from the operation mode to the running mode.
The switching method disclosed by the invention is described by a specific example:
the detection unmanned aerial vehicle detects whether a road is blocked by an obstacle in front, transmits detection video back to the remote control center in real time, and immediately guides the detection unmanned aerial vehicle to advance, when the road is blocked by a collapse object in front, the remote control center sends a stop advance command to the detection unmanned aerial vehicle, and after receiving the command, the detection unmanned aerial vehicle carries out operation accessory hanging and inputs rescue operation:
the controller of the rescue vehicle establishes a pose D-H coordinate system of the rescue vehicle arm frame according to arm frame mechanism parameters of the rescue vehicle, see fig. 4, as shown in table 1:
| i | ɑ i-1 | a i-1 | d i | θ i |
| 1 | 0 | 0 | L1 | θ1 |
| 2 | 0 | 0 | L2 | θ2 |
| 3 | 90 | L0 | 0 | θ3 |
| 4 | 0 | L3 | 0 | θ4 |
| 5 | 90 | 0 | D1 | 0 |
| 6 | 90 | L4 | 0 | θ5 |
wherein i represents a joint hinge point between two adjacent components, and the value of i corresponds to a coordinate system defined below, alpha i-1 Representing the edge X i-1 Axial direction from axis Z i-1 A rotation angle of the axial Zi; a, a i-1 Representing the edge X i-1 Shaft Z i-1 A distance of movement to the axis Zi; d, d i Representing the axis X along the axis Zi i-1 Distance to axis Xi; θ i Indicating the axis Zi, axis X i-1 To the rotation angle of the axis Xi, see fig. 5.
Setting { B } as a basic coordinate system of a chassis 1 of the multifunctional rescue vehicle, {1} as a coordinate system of a boom rotating platform 2, {2} as a coordinate system of a machine rotating platform, {3} as a coordinate system of a movable arm hinge point, {4} as a coordinate system of a bucket arm hinge point, {5} as a coordinate system of a telescopic arm, {6} as a coordinate system of a quick connecting device, { C } as a coordinate system of a camera, { R } as a coordinate system of a two-dimensional code label of the telescopic arm, and { W } as a coordinate system of a butt joint groove of the quick connecting device, { T } as a coordinate system of an accessory connecting shaft, and determining a transformation matrix between each boom rod piece;
specifically, in this embodiment, the transformation matrix between the boom levers is:
when the vehicle is unfolded, the controller of the rescue vehicle records initial parameters of the rescue vehicle in the running state, including the rotation angle of the machine tool rotation platform, the rotation angle of the cantilever crane rotation platform, the length of the movable arm cylinder, the length of the bucket rod cylinder, the length of the telescopic arm cylinder and the length of the quick connecting device cylinder, automatically calculates initial pose parameters of the cantilever crane according to the cylinder parameters and the cantilever crane structure parameters, and stores the initial pose parameters as target state data of vehicle collection;
the vehicle is unfolded, taking a hitching breaking hammer as an example, firstly, a chassis supporting leg is placed down and lands, a boom 3 is lifted to the maximum angle (the included angle between the embodiment and the horizontal angle is 82 degrees), a boom revolving platform 2 revolves until the boom center plane and the breaking hammer center plane are in the same plane, the revolution is stopped, then a bucket arm 4 outwards swings to form an included angle of 26.5+/-1 DEG with the boom 3, a telescopic cylinder of the bucket arm 4 gradually stretches to form a range of 865+/-5 mm, the included angle between a quick connecting device 6 and the bucket arm 4 is kept to be the minimum of 53 DEG, at the moment, a two-dimensional code label on the telescopic arm 5 enters a camera 8 camera shooting range, the swing is stopped, whether the distance between the camera 8 and a two-dimensional code label reference coordinate system of the telescopic arm 5 meets 1885+/-5 mm or not is calculated (the numerical range is the ideal distance between the camera and the two-dimensional code label ranging error of the embodiment is the minimum), if the distance between the camera and the two-dimensional code label is larger than 1885+/-5 mm, the telescopic cylinder of the bucket arm 4 is preferentially retracted if the distance is larger than 1885+/-5 mm, and if the distance between the camera arm 4 is smaller than 1885+/-5 mm, the telescopic cylinder is stretched until the distance meets the range of 1885+/-5 mm,can be defined by a transformation matrix->Obtained by directly combining {4} with { W }Distance m1 is a fixed value, ">Can be obtained by transforming matrixThe distance m2 between {4} and { T } is only related to the measured distance information between the camera and { R } and { T }, if the error between m1 and m2 is within 2mm, the implement can be successfully docked, and at the moment, the unique path from the docking slot coordinate system { W } of the quick connecting device to the accessory connecting shaft coordinate system is determined according to the calculation of the parameters of the specific pose D-H coordinate system of the arm support;
the bucket arm 4 swings clockwise gradually, and the first step is to realize the butt joint of the butt joint groove of the quick connecting device and the connecting shaft of the breaking hammer accessory, as shown in the process of fig. 6a to 6 b; as shown in fig. 6b, the oil cylinder 11 of the quick connecting device pushes the connecting rod 12 to drive the quick connecting device 6 to swing clockwise, as shown in fig. 6c, the limiting block 6-2 on the quick connecting device contacts with the limiting edge 10-4-1 on the breaking hammer to realize mechanical limiting, and at the moment, the oil cylinder locking pin 6-1 on the quick connecting device stretches out and is inserted into the breaking hammer locking hole to realize pin hole locking, so that the arm support and the machine tool are hung;
the controller of the rescue vehicle records pose parameters of the arm support in the hanging state at the moment, wherein the pose parameters comprise the rotation angle of the machine tool rotation platform, the rotation angle of the arm support rotation platform, the length of the movable arm oil cylinder, the length of the bucket arm oil cylinder, the length of the telescopic arm oil cylinder and the length of the quick connecting device oil cylinder, and the initial pose parameters of the arm support are automatically calculated according to the oil cylinder parameters and the arm support structure parameters and stored as state data when the breaking hammer is retracted;
the control center of the rescue vehicle sends a complete accessory switching request remote take over command to the remote control center;
the remote control center performs obstacle clearing work under the assistance of the video of the investigation unmanned aerial vehicle, and after obstacle clearing is completed, the remote control center sends a vehicle receiving command to the rescue vehicle;
after receiving a command, a controller of the rescue vehicle firstly withdraws a breaking hammer of an operation tool, a boom rotating platform rotates, the boom center surface and the breaking hammer center surface are in the same plane, the rotation is stopped, a movable arm swings to the highest position (the included angle between the movable arm and the horizontal is 82 degrees in the embodiment), then the telescopic arm of the bucket rod is fully retracted, then the included angle between the swing of the bucket rod and the movable arm is 26.5+/-1 degrees, a quick connecting device swings to the range of the included angle between the swing of the bucket rod and the telescopic arm of 53 degrees, the telescopic cylinder of the telescopic arm of the bucket rod is gradually extended to 865+/-5 mm, the controller of the control center calculates the pose parameters of all hinge points of the boom at the moment, the pose parameters of all corresponding hinge points in the S4 state are subtracted, the rotation angle of the boom rotating platform, the swing angle of the boom rotating platform, the length of the movable arm cylinder, the length of the bucket rod cylinder, the length of the cylinder of the quick connecting device and the parameters in the S4 state are consistent, and finally the parameters of the telescopic cylinder of the telescopic arm are extended and the telescopic cylinder in the S4 state are consistent; firstly, retracting an oil cylinder locking pin 6-1 on the quick connecting device to the shortest position according to the reverse movement, so as to realize the locking Kong Jiesuo of the oil cylinder locking pin and the breaking hammer; secondly, the quick connecting device oil cylinder 11 retracts to drive the connecting rod 12 and the quick connecting device 8 to swing anticlockwise until the quick connecting device oil cylinder 11 retracts to the shortest position, so that the breaking hammer recovery is completed;
then the arm support is retracted, the arm of the bucket rod is gradually swung anticlockwise, the butt joint groove of the quick connecting device is separated from the connecting shaft of the breaking hammer accessory, the telescopic oil cylinder of the bucket rod is retracted to the shortest position, and the minimum included angle position between the arm of the bucket rod and the movable arm is realized; finally, the rotation angle of the machine tool rotating platform, the rotation angle of the cantilever crane rotating platform, the length of the movable arm cylinder and the retraction of chassis supporting legs are sequentially adjusted to achieve target vehicle receiving state data;
the controller of the rescue vehicle sends a command for completing vehicle collection to the remote control center, and the rescue vehicle is changed from an operation mode to a running mode and continues to advance.
The invention discloses a system and a method for autonomously switching vehicle-mounted data of a multifunctional rescue vehicle, wherein a detection unmanned aerial vehicle and a remote control center guide the vehicle to advance in a dangerous road section, so that remote control operation can be realized, the system is particularly suitable for emergency rescue operation in a mountain landslide road section, and casualties of rescue personnel during operation in the dangerous region are reduced; the automatic switching of the operation accessory can be completed under the unmanned state, so that time loss caused by manual operation errors is saved, and the rescue efficiency is effectively improved.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (7)
1. The utility model provides a on-vehicle accessory autonomous switching system of multi-functional rescue car which characterized in that includes:
the detection unmanned aerial vehicle is used for detecting whether the road ahead is blocked by an obstacle or a collapsed road section, and transmitting the detected road ahead condition to the remote control center;
the remote control center is used for sending a control instruction to the rescue vehicle according to the real-time road condition transmitted by the detection unmanned aerial vehicle; when receiving that the road in front has obstacle blocking or collapses the road section, the remote control center sends a control instruction for stopping advancing to the rescue vehicle and carrying out rescue operation;
the rescue car of speedily carrying out rescue work, the rescue car of speedily carrying out rescue work disposes a plurality of operation accessories, and all paste on each operation accessory and have two-dimensional code label, rescue car of speedily carrying out rescue work receives the control command that remote control center sent to change operation accessory according to road scene situation, accomplish the operation, rescue car of speedily carrying out rescue work includes chassis (1), cantilever crane revolving platform (2), swing arm (3), arm (4), telescopic arm (5), quick connecting device (6), implement revolving platform (7) and controller, chassis (1) is placed subaerial, implement revolving platform (7) are in the rotatable setting of cantilever crane in the horizontal plane is in on implement revolving platform (7), arm (3) set up on revolving platform (2), arm (4) are connected arm (3), telescopic arm (5) are connected through the shifting pair arm (4), just be provided with on arm (5) and paste device in the horizontal plane, arm (5) are rotatable setting up on cantilever crane revolving platform (7), arm (3) are used for receiving the control command on the remote control center (8).
2. The autonomous switching system of the multifunctional rescue vehicle-mounted accessory according to claim 1, wherein the rescue vehicle is provided with 4 operation accessories on a vehicle.
3. The system for automatically switching the on-board accessories of the multifunctional rescue vehicle according to claim 2, wherein the on-board operation accessories of the rescue vehicle comprise a bucket, a grab bucket, a hydraulic shear and a breaking hammer.
4. The automatic switching system of the multifunctional rescue vehicle-mounted accessory according to claim 1 is characterized in that a plurality of operation accessories are clamped on the tool rotating platform (7) through half-opening wedge blocks.
5. The system for automatically switching the vehicle-mounted accessories of the multifunctional rescue vehicle according to claim 1, wherein the remote control center is in wireless communication with a controller on the rescue vehicle.
6. The switching method of the multifunctional rescue vehicle-mounted accessory autonomous switching system according to any one of claims 1 to 5, comprising the following steps:
the detection unmanned plane detects the front road condition and transmits the detected front road condition to the remote control center;
the remote control center receives and detects the front road condition sent by the unmanned aerial vehicle, judges whether the front road is blocked by an obstacle, and if the front road is not blocked by the obstacle, sends a control instruction for continuing to advance to the rescue vehicle; if the barrier block exists on the road in front, the following steps are executed:
the remote control center sends a control instruction for stopping advancing and carrying out parallel rescue operation to the rescue vehicle;
the remote control center judges the attribute of the obstacle, judges whether the rescue vehicle needs to switch the accessory according to the judged attribute of the obstacle, and sends a control instruction for switching the accessory to the rescue vehicle if the accessory needs to be switched;
the controller of the rescue vehicle receives and executes a control instruction of stopping advancing sent by the remote control center to perform rescue operation; the controller records pose data of each arm support in the running state of the rescue vehicle; if the controller receives a control instruction of switching the accessory sent by the remote control center, executing the following steps:
the movable arm (3) is lifted to the maximum angle, and the arm support rotary platform (2) rotates to the right rear of the rescue vehicle until four operation accessories on the rotary platform (7) enter the shooting range of the camera;
the bucket arm (4) swings outwards until the two-dimensional code label on the telescopic arm (5) enters the shooting range of the camera;
acquiring the number of the operation accessory to be switched and the coordinate system of the operation accessory through a camera, and acquiring the coordinate system of the two-dimensional code label on the telescopic arm (5) through the camera;
calculating a transformation matrix from the camera to the operation accessory to be switched;
the controller judges whether a two-dimensional code label coordinate system on the bucket lever arm (4) meets the requirement, if not, the bucket lever arm (4) is swung or the telescopic arm (5) is extended; if the requirements are met, the following steps are executed:
according to the rotation angle and the pose of the arm support rotating platform (2), the machine tool rotating platform (7), the movable arm (3), the arm support (4), the telescopic arm (5) and the quick connecting device (6), an action path of the arm support (4) is planned;
the bucket arm (4) completes switching of the operation accessories according to the planned action path;
the controller records the rotation angle and the pose of the boom rotating platform (2), the machine rotating platform (7), the movable arm (3), the bucket arm (4), the telescopic arm (5) and the quick connecting device (6) at the moment;
the remote control center controls the rescue vehicle to complete obstacle clearing operation, and the detection unmanned aerial vehicle transmits a real-time video of the obstacle clearing operation of the rescue vehicle to the remote control center;
when the rescue vehicle finishes the obstacle clearing operation, the remote control center sends a vehicle receiving control instruction to the rescue vehicle;
the rescue vehicle receives a vehicle receiving instruction sent by a remote control center, and the controller finishes the recovery of the operation accessories according to the reverse actions of the rotation angles and the positions of the frame rotary platform (2), the machine rotary platform (7), the movable arm (3), the bucket arm (4), the telescopic arm (5) and the quick connecting device (6) recorded during the switching of the operation accessories;
the controller compares the pose data of each arm support after the operation accessory is recovered with the pose data of each arm support in the running state of the rescue vehicle recorded previously, and adjusts the rescue vehicle from the operation mode to the running mode.
7. The switching method of the multifunctional rescue vehicle-mounted accessory autonomous switching system according to claim 6, wherein the calculation of the transformation matrix from the camera to the operation accessory to be switched is specifically implemented as follows:
the method comprises the steps of setting { B } as a basic coordinate system of a rescue vehicle chassis (1), {1} as a coordinate system of a boom rotating platform (2), {2} as a coordinate system of a machine rotating platform (7), {3} as a hinge point coordinate system of a movable arm (3), {4} as a coordinate system of a hinge point of a bucket arm (4), {5} as a coordinate system of a telescopic arm (5), {6} as a coordinate system of a hinge point of a quick connecting device (6), { C } as a camera coordinate system, { R } as a coordinate system of a two-dimensional code label of the telescopic arm, and { W } as a quick connecting device (6)
The docking slot coordinate system, { T } is the accessory connection axis coordinate system, then there are:
the transformation matrix from { B } to { T } is:
the transformation matrix from { B } to { W } is:
the transformation matrix from { W } to { T } is:
wherein,representing a transformation matrix from the basic coordinate system of the rescue vehicle chassis (1) to the docking slot coordinate system of the quick connection device (6), +.>Representing a transformation matrix from the interfacing socket coordinate system of the quick connect (6) to the accessory connection axis coordinate system, < >>Representing a transformation matrix from the basic coordinate system of the rescue vehicle chassis (1) to the coordinate system of the boom rotating platform (2), -a>Representing a transformation matrix from the coordinate system of the boom rotation platform (2) to the coordinate system of the implement rotation platform (7), -a method for transforming the transformation matrix into the coordinate system of the implement rotation platform (7)>Representing a transformation matrix from the coordinate system of the implement rotation platform (7) to the pivot point coordinate system of the boom (3), -a translation matrix of->Transformation matrix representing the coordinate system of the hinge point of the slave arm (3) to the coordinate system of the hinge point of the arm (4), is +.>A transformation matrix representing the coordinate system of the hinge point of the arm (4) to the coordinate system of the telescopic arm (5)>Transformation matrix representing the coordinate system from the coordinate system of the telescopic arm (5) to the coordinate system of the hinge point of the quick connection (6), is +.>Representing a transformation matrix from the coordinate system of the hinge point of the quick connection (6) to the coordinate system of the docking slot of the quick connection (6)>Representing a transformation matrix from a docking slot coordinate system of the quick connection device (6) to a telescopic arm two-dimensional code label reference coordinate system, < >>Representing a transformation matrix from a telescopic boom two-dimensional code label reference coordinate system to a camera coordinate system, < ->Representing a transformation matrix from the camera coordinate system to the attachment connection axis coordinate system.
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| CN202311351591.2A CN117418581A (en) | 2023-10-18 | 2023-10-18 | Multifunctional vehicle-mounted accessory autonomous switching system and switching method for rescue vehicle |
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| CN202311351591.2A CN117418581A (en) | 2023-10-18 | 2023-10-18 | Multifunctional vehicle-mounted accessory autonomous switching system and switching method for rescue vehicle |
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