CN204904089U - Intelligent vehicle is rescued to barrier more - Google Patents
Intelligent vehicle is rescued to barrier more Download PDFInfo
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- CN204904089U CN204904089U CN201520557818.3U CN201520557818U CN204904089U CN 204904089 U CN204904089 U CN 204904089U CN 201520557818 U CN201520557818 U CN 201520557818U CN 204904089 U CN204904089 U CN 204904089U
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Abstract
The utility model discloses an intelligent vehicle is rescued to barrier more, including walking unit, picking unit, the detection unit, the control unit and remote control unit, walking unit is one or six rounds of mechanisms, and the detection unit and the control unit link to each other, and remote control unit is connected to remote control through the information transfer module and initiates the end, and remote control unit links to each other with the detection unit 1 and the control unit, the control unit includes control interface and decision -making module, the decision -making module includes that microcontroller and storage have the memory of control command data, the control unit is connected to walking unit with control interface, snatch the unit, the detection unit, the microcontroller of decision -making module receives behind the remote control command in intelligent vehicle the control unit, detection data according to the the detection unit input, select corresponding control command data in the from the memory, through control interface to walking unit, snatch the unit, the detection unit sends control command. This product has better obstacle climbing ability, can decide the executive mode to remote control command through surveying the environment moreover.
Description
Technical field
The utility model relates to mechanical field, especially a kind of obstacle detouring rescue intelligent carriage.
Background technology
At disaster search-and-rescue work, the complicacy of site environment, danger brings great difficulty to rescue work, in rescue, rescue personnel needs find in time in the short period of time and save survivor, otherwise the probability of survivor's survival will decline, for promoting rescue efficiency, sometimes need to throw in obstacle detouring rescue automation equipment at the scene, but this kind equipment existing is at obstacle climbing ability, the normal Shortcomings of apparatus of load ability and intelligent aspect, and when manipulation personnel are by the remote control equipment action of Remote mode, because site environment is severe, the real-time video poor definition sometimes that scene is passed back, when the manipulation personnel being arranged in Remote end accurately can not judge site environment from live real-time video, easily send parapraxis instruction and cause rescue aid to damage.
Summary of the invention
The utility model proposes a kind of obstacle detouring rescue intelligent carriage, possess good obstacle climbing ability, apparatus of load ability, operation can be carried out by remote control command, the executive mode that simultaneously can decide telecommand by acquisition environment.
The utility model by the following technical solutions.
A kind of obstacle detouring rescue intelligent carriage, described intelligent carriage comprises walking unit, placement unit, probe unit, control module and remote control unit, described walking unit is one or six wheel mechanisms, and it comprises rocking bar, fixing vehicle frame, wheel, direct current generator, steering wheel and spring, described probe unit comprises ultrasonic wave module, human body infrared module and picture acquisition module, described remote control unit comprises receiver module, information transfer module, Remote end and is positioned at long-range picture display module, described probe unit is connected with control module, and described remote control unit is connected to outer remote remote control originating end through information transfer module, and remote control unit is connected with control module with receiver module, described control module comprises control interface and decision-making module, decision-making module comprises microcontroller and stores the storer of steering order data, control module is connected to walking unit with control interface, placement unit, probe unit, when the remote control command that intelligent carriage reception remote control unit receives, the receiver module of remote control unit sends control module to instruction, after in control module, the microcontroller of decision-making module receives telecommand, according to the detection data of probe unit input, corresponding steering order data are selected in storer, through control interface to walking unit, placement unit, probe unit sends steering order.
Described walking unit is six take turns independent driving type mechanism, and control module to be undertaken walking turning to of unit by the different rotary state arranging walking unit and respectively take turns.
Described placement unit is the mechanical arm of the six degree of freedom comprising four steering wheels.
Described ultrasonic wave module is HC-SR04 ultrasonic wave module.
Described human body infrared module is HR-SR501 human body induction module.
Described picture acquisition module comprises the receiver of high definition microcam, PFV display, 2000MV transmitter and 2000MV.
After described microcontroller receives telecommand, according to the detection data of probe unit input, when cannot find corresponding steering order in storer, control module does not respond this telecommand, sends warning message by remote control unit to being positioned at long-range picture display module simultaneously.
Described microcontroller is STM32F103Z single-chip microcomputer.
In the utility model, walking unit is one or six wheel mechanisms, it comprises rocking bar, fixing vehicle frame, wheel, direct current generator, steering wheel and spring, walking unit is six take turns independent driving type mechanism, control module to be undertaken walking turning to of unit by arranging the walking unit different rotary state of respectively taking turns, this makes this product have very strong obstacle climbing ability, when walking, can steadily and fast advance.When running into barrier, driven by front-wheel, after four wheels promote front-wheel up climb; When front-wheel climbs up barrier, under the reacting force pulling with spring of front-wheel, breast wheel can stride across obstacle, then pulls last wheel to get on, after surmounting obstacles under the effect of spring reset, car again can straight-line travelling thus realize the obstacle crossing function of obstacle-surmounting rescue vehicle.
In the utility model, the probe unit of intelligent carriage comprises ultrasonic wave module, the output terminal of probe unit is connected with remote control unit with control module respectively, when the remote control command that intelligent carriage reception remote control unit receives, the receiver module of remote control unit sends control module to instruction, after in control module, the microcontroller of decision-making module receives telecommand, according to the detection data of probe unit input, corresponding steering order data are selected in storer, through control interface to walking unit, placement unit, probe unit sends steering order, after described microcontroller receives telecommand, according to the detection data of probe unit input, when cannot find corresponding steering order in storer, control module does not respond this telecommand, send warning message by remote control unit to being positioned at long-range picture display module simultaneously.This makes this product can according to current environment, perform remote control command selectively, such as currently obstacle detouring can not be carried out when intelligent carriage is detected by ultrasonic wave module, but when receiving the obstacle detouring instruction of remote port, intelligent carriage can be refused to respond this false command, gives a warning to remote control end simultaneously.
In the utility model, ultrasonic wave module is HC-SR04 ultrasonic wave module, can carry out non-contact measurement to the distance of 2cm-400cm.Degree of accuracy is high, good stability.Whether the distance ratio surveyed during by calculating ultrasound wave launching and receiving, can have barrier in Accurate Prediction front, provide environmental data accurately to the action of intelligent carriage.
In the utility model, human body infrared module is HR-SR501 human body induction module, belongs to the automatic control module based on infrared technology, have highly sensitive, reliability is strong, and works in ultralow pressure mode of operation, can search survivor at rugged surroundings rescue site.
In the utility model, picture acquisition module comprises the receiver of high definition microcam, PFV display, 2000MV transmitter and 2000MV, carry out data transmission in the scope that this combination can be implemented in 8 kilometers, the real-time pictures of site environment can be provided for rescue personnel.
In the utility model, described microcontroller is STM32F103Z single-chip microcomputer, this single-chip microcomputer adopts the embedded architecture without the need to operating system, its control mode can be designed for dolly completely, hardware operational efficiency is higher, and this single-chip microcomputer support reaches 51 quick I/O ports, and all I/O mouths all can be videoed 16 external interrupt, make this microcontroller can control walk unit, placement unit, probe unit efficiently, thus allow intelligent carriage have good equipment Collocation ability.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is further illustrated;
Accompanying drawing 1 is the schematic diagram of product described in the utility model;
In figure: 1-walks unit, 2-direct current generator, 3-placement unit, 4-wheel.
Embodiment
As shown in Figure 1, a kind of obstacle detouring rescue intelligent carriage, described intelligent carriage comprises walking unit 1, placement unit 3, probe unit, control module and remote control unit, and described walking unit is one or six wheel mechanisms, and it comprises rocking bar, fixing vehicle frame, wheel 4, direct current generator 2, steering wheel and spring, described probe unit comprises ultrasonic wave module, human body infrared module and picture acquisition module, described remote control unit comprises receiver module, information transfer module, Remote end and is positioned at long-range picture display module, described probe unit is connected with control module, and described remote control unit is connected to outer remote remote control originating end through information transfer module, and remote control unit is connected with control module with receiver module, described control module comprises control interface and decision-making module, decision-making module comprises microcontroller and stores the storer of steering order data, control module is connected to walking unit with control interface, placement unit, probe unit, when the remote control command that intelligent carriage reception remote control unit receives, the receiver module of remote control unit sends control module to instruction, after in control module, the microcontroller of decision-making module receives telecommand, according to the detection data of probe unit input, corresponding steering order data are selected in storer, through control interface to walking unit 1, placement unit 3, probe unit sends steering order.
Described walking unit 1 is six take turns independent driving type mechanism, and control module to be undertaken walking turning to of unit 1 by the different rotary state arranging walking unit and respectively take turns 4.
Described placement unit 3 is the mechanical arm of the six degree of freedom comprising four steering wheels.
Described ultrasonic wave module is HC-SR04 ultrasonic wave module.
Described human body infrared module is HR-SR501 human body induction module.
Described picture acquisition module comprises the receiver of high definition microcam, PFV display, 2000MV transmitter and 2000MV.
After described microcontroller receives telecommand, according to the detection data of probe unit input, when cannot find corresponding steering order in storer, control module does not respond this telecommand, sends warning message by remote control unit to being positioned at long-range picture display module simultaneously.
Described microcontroller is STM32F103Z single-chip microcomputer.
Embodiment:
Manipulation personnel start dolly, action command is sent to dolly with remote control mode, the receiver module of remote control unit sends control module to the instruction received, after in control module, the microcontroller of decision-making module receives telecommand, according to the detection data of probe unit input, corresponding steering order data are selected in storer, through control interface to walking unit 1, placement unit 3, probe unit sends steering order, operation is performed at rescue site, walking unit 1 is advanced by telecommand, probe unit detects surrounding environment with ultrasonic wave module simultaneously, with human body infrared block search survivor.
When there is the obstacle that can pass in ultrasonic wave module detection front, detecting module sends control module to corresponding detection data, the detection data that in control module, the microcontroller of decision-making module inputs according to probe unit, the steering order data corresponding with obstacle detouring operation are selected in storer, driven by front-wheel, after four wheels promote front-wheel up climb; When front-wheel climbs up barrier, under the reacting force pulling with spring of front-wheel, breast wheel can stride across obstacle, then pulls last wheel to get on, after surmounting obstacles under the effect of spring reset, car again can straight-line travelling thus realize the obstacle crossing function of obstacle-surmounting rescue vehicle.
When there is highly too high and obstacle that is that cannot cross in ultrasonic wave module detection front, and the receiver module of remote control unit is when still receiving the steering order of advance, detecting module sends control module to corresponding detection data, because the height of obstacle is beyond the obstacle climbing ability of dolly, in control module, the microcontroller of decision-making module cannot find the steering order data corresponding with the type obstacle in storer, this telecommand of control module refusal response, sends warning message by remote control unit to being positioned at long-range picture display module simultaneously.
When behind the place that may there is survivor in human body infrared block search to environment, detection data is sent to control module, control module sends corresponding data by remote control unit to being positioned at long-range picture display module, Remote personnel are when seeing the data on picture display module, remote operated vehicle is advanced to this place, clear up to guarantee that visual field is clear by the small-scale obstacle thing of straighforward operation placement unit 3 to this place, control module detects this place further with probe unit simultaneously, and detection data and on-the-spot real-time pictures are sent back to the operating personnel of far-end, for follow-up rescue work creates conditions.
Claims (8)
1. an obstacle detouring rescue intelligent carriage, it is characterized in that: described intelligent carriage comprises walking unit, placement unit, probe unit, control module and remote control unit, described walking unit is one or six wheel mechanisms, and it comprises rocking bar, fixing vehicle frame, wheel, direct current generator, steering wheel and spring, described probe unit comprises ultrasonic wave module, human body infrared module and picture acquisition module, described remote control unit comprises receiver module, information transfer module, Remote end and is positioned at long-range picture display module, described probe unit is connected with control module, and described remote control unit is connected to outer remote remote control originating end through information transfer module, and remote control unit is connected with control module with receiver module, described control module comprises control interface and decision-making module, decision-making module comprises microcontroller and stores the storer of steering order data, control module is connected to walking unit with control interface, placement unit, probe unit, when the remote control command that intelligent carriage reception remote control unit receives, the receiver module of remote control unit sends control module to instruction, after in control module, the microcontroller of decision-making module receives telecommand, according to the detection data of probe unit input, corresponding steering order data are selected in storer, through control interface to walking unit, placement unit, probe unit sends steering order.
2. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described walking unit is six take turns independent driving type mechanism, and control module to be undertaken walking turning to of unit by the different rotary state arranging walking unit and respectively take turns.
3. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described placement unit is the mechanical arm of the six degree of freedom comprising four steering wheels.
4. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described ultrasonic wave module is HC-SR04 ultrasonic wave module.
5. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described human body infrared module is HR-SR501 human body induction module.
6. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described picture acquisition module comprises the receiver of high definition microcam, PFV display, 2000MV transmitter and 2000MV.
7. a kind of obstacle detouring rescue intelligent carriage according to claim 1, it is characterized in that: after described microcontroller receives telecommand, according to the detection data of probe unit input, when cannot find corresponding steering order in storer, control module does not respond this telecommand, sends warning message by remote control unit to being positioned at long-range picture display module simultaneously.
8. a kind of obstacle detouring rescue intelligent carriage according to claim 1, is characterized in that: described microcontroller is STM32F103Z single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520557818.3U CN204904089U (en) | 2015-07-29 | 2015-07-29 | Intelligent vehicle is rescued to barrier more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520557818.3U CN204904089U (en) | 2015-07-29 | 2015-07-29 | Intelligent vehicle is rescued to barrier more |
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| Publication Number | Publication Date |
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| CN204904089U true CN204904089U (en) | 2015-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520557818.3U Expired - Fee Related CN204904089U (en) | 2015-07-29 | 2015-07-29 | Intelligent vehicle is rescued to barrier more |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425805A (en) * | 2015-12-25 | 2016-03-23 | 河池学院 | Traffic rescue robot control system |
| CN105475260A (en) * | 2016-01-07 | 2016-04-13 | 安徽农业大学 | Electric four-wheel-driven intelligent sprayer |
| CN106843213A (en) * | 2017-02-10 | 2017-06-13 | 中国东方电气集团有限公司 | The method that a kind of movement and courses of action based on mobile robot are planned automatically |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
| CN112162546A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Method, system and storage medium for remote control of vehicle |
-
2015
- 2015-07-29 CN CN201520557818.3U patent/CN204904089U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425805A (en) * | 2015-12-25 | 2016-03-23 | 河池学院 | Traffic rescue robot control system |
| CN105475260A (en) * | 2016-01-07 | 2016-04-13 | 安徽农业大学 | Electric four-wheel-driven intelligent sprayer |
| CN106843213A (en) * | 2017-02-10 | 2017-06-13 | 中国东方电气集团有限公司 | The method that a kind of movement and courses of action based on mobile robot are planned automatically |
| CN106843213B (en) * | 2017-02-10 | 2020-01-10 | 中国东方电气集团有限公司 | Method for automatically planning movement and operation paths based on mobile robot |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
| CN112162546A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Method, system and storage medium for remote control of vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20170729 |