CN210526857U - Blasting flying robot - Google Patents
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- CN210526857U CN210526857U CN201921276661.1U CN201921276661U CN210526857U CN 210526857 U CN210526857 U CN 210526857U CN 201921276661 U CN201921276661 U CN 201921276661U CN 210526857 U CN210526857 U CN 210526857U
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Abstract
The utility model relates to a blasting flying robot, including the robot body, carry on the robot body and be used for vertical long-range blasting explosive downwards long-range blasting device, be used for acquireing bottom surface image information's image acquisition device and be used for the communication module who is connected with bottom surface command center wireless communication. The staff of ground command center passes through the top of communication module control robot action in order to fly to the explosive, obtains the position of module acquisition explosive through the image, through the long-range blasting explosive of long-range blasting unit to the blasting process that makes the robot is not restricted by ground topography, and then removes and explodes and bring the convenience for operating personnel operation robot.
Description
Technical Field
The utility model belongs to the technical field of the technique of fire-fighting robot and specifically relates to a blasting flying robot is related to.
Background
In the process of blasting or explosive discharge, in order to reduce the possibility that the explosive damages people, the process is generally realized by intelligent mechanical equipment, and an operator remotely controls the intelligent mechanical equipment to perform the blasting or explosive discharge process, wherein the intelligent mechanical equipment is generally called a blasting robot.
Due to the limitation of the ground topography, the moving and blasting processes of the robot are inconvenient, and the problem to be solved is urgently needed to be solved by how to enable the moving and blasting processes of the robot not to be limited by the ground topography, so that convenience is brought to the operation of the robot by an operator for moving and blasting discharge.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a blasting flying robot, its advantage lies in that it can follow and explode aloft to the blasting process that makes the robot does not receive the restriction of ground topography, and then removes and explodes with arranging for operating personnel operating robot and brings the convenience.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:
a blasting flying robot comprises a robot body, a remote blasting device which is carried on the robot body and used for blasting explosives vertically and downwards remotely, an image acquisition device used for acquiring bottom surface image information and a communication module used for being in wireless communication connection with a bottom surface command center.
Through adopting above-mentioned technical scheme, ground command center's staff passes through the communication module control robot action in order to fly to the top of explosive, obtains the position of explosive through the image acquisition module, through the long-range blasting explosive of long-range blasting unit to the blasting process that makes the robot is not restricted by ground topography, and then removes and arrange to explode and bring the convenience for operating personnel operation robot.
The utility model discloses further set up to: the robot further comprises an angle adjusting device and a gravity center calculating module, wherein the angle adjusting device is used for adjusting the launching angle of the remote blasting device to keep the launching angle vertically downward, and the gravity center calculating module is used for calculating the gravity center of the robot to keep the gravity center unchanged in the action process of the robot.
By adopting the technical scheme, the launching direction of the remote blasting device is vertically downward, so that the robot is required to move to a position right above an explosive to blast the explosive vertically downward in the blasting process, and the robot body is inclined in the horizontal moving process of the robot, so that the blasting direction of the remote blasting device is difficult to keep vertical, and the angle adjusting device has the function of keeping the blasting direction of the remote blasting device vertically downward under the condition that the robot body is inclined, so that the robot can blast vertically downward in the horizontal moving process; the action of the angle adjusting device can change the position of the remote blasting device relative to the robot body, so that the gravity center of the robot can be changed, and the gravity center calculating module is used for calculating how the robot acts in the action process of the robot to enable the gravity center of the robot to be unchanged, so that the gravity center imbalance in the action process of the robot is avoided.
The utility model discloses further set up to: the robot is characterized in that a yielding hole for the remote blasting device to vertically pass through is formed in the robot body, the angle adjusting device comprises two groups of electric telescopic rods which are respectively located on the upper side and the lower side of the robot body, each group of electric telescopic rods comprises three electric telescopic rods which are circularly and symmetrically distributed on the outer side of the remote blasting device, and two ends of each electric telescopic rod are respectively in ball hinge connection with the remote blasting device and the robot body.
Through adopting above-mentioned technical scheme, can adjust the distance that connects remote blasting unit and this electric telescopic handle tie point to robot through control electric telescopic handle's flexible, can adjust remote blasting unit's blasting direction through six electric telescopic handle's cooperation, simple structure sets up the convenience.
The utility model discloses further set up to: the remote blasting device comprises a armor piercing projectile launcher and armor piercing projectiles matched with the armor piercing projectile launcher.
By adopting the technical scheme, the armor piercing projectile launcher is used for launching the armor piercing projectile to remotely blast explosives, the launching distance is long, the penetrating power is high, and the blasting efficiency is high.
The utility model discloses further set up to: the image acquisition module is arranged to be fixed on the outer side of the remote blasting device and provided with a camera with a shooting direction parallel to the blasting direction of the remote blasting device.
Through adopting above-mentioned technical scheme, the image acquisition module sets up to the camera and fixes in the remote blasting device outside, then when angle adjusting device adjusted remote blasting device's angle, the direction of making a video recording of camera also followed remote blasting device action, also vertical decurrent always in the direction of making a video recording of keeping the camera, thereby make the explosive be relative static in the image that obtains when adjusting remote blasting device's blasting direction, thereby made things convenient for operating personnel to lock the explosive, and then made things convenient for the blasting process.
The utility model discloses further set up to: and a distance measuring module for measuring the distance from the remote blasting device to the explosive along the launching direction is arranged outside the remote blasting device.
By adopting the technical scheme, the distance from the remote blasting device to the explosive along the emission direction is measured by the ranging module, and whether the remote blasting device can successfully blast the explosive can be judged by combining the effective range of the explosive.
The utility model discloses further set up to: the distance measurement module comprises a light distance measurement module and an ultrasonic distance measurement module.
Through adopting above-mentioned technical scheme, through the cooperation of laser rangefinder module and supersound range finder module, the long-range blasting device of survey that can be comparatively accurate is along blasting direction to the distance of explosive.
The utility model discloses further set up to: the robot further comprises a trajectory following module for moving synchronously following the moving explosives.
Through adopting above-mentioned technical scheme, the orbit is followed the module and is made the robot can follow the explosive synchronous motion that removes automatically to make the commander need not the simultaneous control robot and remove and blast, reduced the operation degree of difficulty of blasting, simultaneously, the robot is relative static with the explosive synchronous motion is the robot, is favorable to commander's locking explosive, has further made things convenient for the blasting process.
The utility model discloses further set up to: the robot also includes a linear escape module for maintaining the original velocity direction and providing a maximum acceleration that is positive to the original velocity direction.
Through adopting above-mentioned technical scheme, after the robot carries out the blasting process, need flee from the blasting area of explosive as early as possible, the orbit is followed the module and is started the back, and the robot is automatic to be followed the explosive and removed, and the robot maintains original velocity direction and flees from with higher speed along this velocity direction after blasting, is favorable to the robot to flee from the blasting area, reduces the robot and receives the possibility of explosive shock, has saved the step of commander's operation simultaneously, has made things convenient for the operation.
To sum up, the utility model discloses a beneficial technological effect does:
1. the flying robot carries the remote blasting device, so that the blasting process is not limited by the ground topography;
2. the remote blasting device is kept vertical through the angle adjusting device, and the gravity center of the robot is kept unchanged in the action process through the gravity center calculating module, so that the robot can perform vertically downward blasting in the translation action;
3. the track following module enables the robot to automatically follow and move explosives to move synchronously, so that the operation and blasting process of commanders is facilitated.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of another view angle of the present invention;
fig. 3 is a schematic diagram of the system structure of the present invention.
In the figure, 1, a robot body; 2. a remote blasting device; 3. an angle adjusting device; 31. an electric telescopic rod; 4. an image acquisition module; 5. a distance measurement module; 51. a laser ranging module; 52. and an ultrasonic distance measurement module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 and 3, the blasting flying robot comprises a central processing unit and a communication module coupled with the central processing unit, wherein the central processing unit is in wireless communication connection with a ground command center through the communication module, and the ground command center can operate and control the robot to act and obtain all information obtained by the robot through the communication module.
Referring to fig. 2 and 3, the robot includes a remote blasting device 2 for blasting explosives remotely, an angle adjusting device 3 for adjusting a launching angle of the remote blasting device 2, a distance measuring module 5 for measuring a distance from the robot to the explosives, and an image acquiring module 4 for acquiring ground image information of a position where the ground robot is located.
Angle adjusting device 3 sets up to six electric telescopic handle 31, six electric telescopic handle 31 divide into two sets of that are located robot body 1 upper and lower both sides respectively, every electric telescopic handle 31 of group has threely, the length direction place straight line of electric telescopic handle 31 of the same group is located the coplanar and the length direction contained angle of two adjacent electric telescopic handle 31 is one hundred twenty degrees, every electric telescopic handle 31 all has one end and robot body 1 ball joint, one end and the barrel outside ball joint of armour-piercing projectile launcher, six electric telescopic handle 31 are all coupled and are controlled by control center, can adjust the angle of armour-piercing projectile launcher barrel through adjusting six electric telescopic handle 31, thereby make the barrel of armour-piercing projectile launcher always vertical decurrent when robot body 1 inclines.
The ranging module 5 comprises a laser ranging module 51 and an ultrasonic ranging module 52, the measuring directions of the laser ranging module 51 and the ultrasonic ranging module 52 are the same as the direction of the gun barrel of the armor-piercing projectile launcher, and the laser ranging module 51, the ultrasonic ranging module 52 and the image acquisition module 4 are circularly and symmetrically distributed on the outer side of the gun barrel of the armor-piercing projectile launcher. Laser rangefinder module 51 and ultrasonic rangefinder module 52 all can record the uncovered distance to ground explosive of armor piercing projectile launcher, and make the precision of record distance higher through two kinds of range finding modes.
Because ranging module 5 and image acquisition module 4 all are located the barrel of armor piercing projectile launcher, so when the uncovered orientation of the barrel of armor piercing projectile launcher is adjusted through angle adjusting device 3, ranging module 5's range finding direction and image acquisition module 4's shooting direction all can follow the barrel action of armor piercing projectile launcher to the explosive action and the range finding direction deviation armor piercing projectile launcher's of ranging module 5 transmission direction in the image information who obtains when having avoided barrel angle modulation, the influence blasting process.
The central processing unit is internally and integrally provided with a gravity center calculating module, mass information of all parts on the robot is recorded in the gravity center calculating module, the gravity center of the robot is obtained through calculation, the gravity center of the robot is coincided with the axis of the armor piercing projectile launcher through arrangement of all parts of the robot, when the robot body 1 tilts, the central processing unit drives the angle adjusting device 3 to act so as to keep the vertical state of the armor piercing projectile launcher barrel, and the gravity center calculating module still works in the process that the central processing unit drives the angle adjusting device 3 to act so that the armor piercing projectile launcher barrel is vertical after the robot body 1 tilts and the gravity center of the robot is coincided with the axis of the armor piercing projectile launcher barrel. The central processing unit enables the armor piercing projectile launcher to be vertically downward when the robot makes various flight actions, and the gravity center line of the robot body 1 is kept to be coincident with the axis of a gun barrel of the armor piercing projectile launcher, so that the robot can vertically and downwardly launch a launching cartridge of the armor piercing projectile launcher in various action processes, and the possibility of gravity center unbalance of the robot in the action process of the armor piercing projectile launcher is reduced.
And a track following module for following the action of the explosive and a linear escape module for quickly escaping from an explosion area after the explosion is finished are integrated in the central processing unit.
Because the explosive probably is in the mobile state, the simple level of robot flies to suspend and carry out vertical blasting above the explosive and can't satisfy the blasting needs that remove the explosive, and the commander of ground command center operates the robot simultaneously and follows the explosive action and carry out the blasting process more difficultly, and the setting of track following module can make the robot follow the explosive synchronous motion automatically to make the commander only need operate the blasting process can. The trajectory following module acquires the moving trajectory of the explosive through the image information acquired by the image acquisition module 4.
It can be understood that the following action of the trajectory following module is only suitable for explosives with uniform linear motion.
The linear escape module specifically automatically escapes from the explosion region after the robot completes the explosion process. When the robot moves synchronously along with explosives, after a commander launches the armor piercing bullet of the armor piercing bullet launcher, in order to enable the robot body 1 to escape from an explosion area as soon as possible, the robot body 1 automatically acts to maintain the speed direction when the armor piercing bullet of the armor piercing bullet launcher is launched and provide the maximum acceleration which can be achieved by the robot in a suspension manner along the speed direction, so that the robot escapes from a blasting site through accelerated linear motion, the robot is far away from the explosion area of the explosives as far as possible, and the influence of the explosives on the robot is reduced.
In the specific working process: the commander operates the robot to fly to the vicinity of the area where the explosive is located, and the position of the explosive is determined through the image information acquired by the image acquisition module 4; if the explosive is in a static state, the operation and control robot hovers above the explosive, the armor piercing projectile of the armor piercing projectile launcher is vertically launched downwards to blast the explosive, after the armor piercing projectile is launched, the operation and control robot is instructed to act to escape from an explosion area, and whether the range of the armor piercing projectile launcher meets the blasting requirement or not can be judged through the ranging module 5; if the explosive is in a moving state, the robot can automatically follow the explosive to move synchronously through the track following module, and the direction of the image acquired by the image acquisition module 4 is always vertically downward, so that the explosive moving in the image acquired by the commander is relatively static, thereby facilitating the operation of the blasting process by the commander.
In the action process of the robot, due to the matching of the gravity center calculating module and the angle adjusting device 3, the gun barrel of the armor piercing projectile launcher always faces vertically downwards, and the gravity center line of the robot is always coincided with the axis of the gun barrel of the armor piercing projectile launcher, so that the robot can fly stably, and convenience can be provided for the blasting process.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (9)
1. A kind of blasting flying robot, characterized by: the robot comprises a robot body (1), a remote blasting device (2) which is arranged on the robot body (1) and used for blasting explosives vertically and downwards remotely, an image acquisition module (4) used for acquiring bottom surface image information and a communication module used for being in wireless communication connection with a bottom surface command center.
2. The blast flying robot of claim 1, wherein: the robot further comprises an angle adjusting device (3) used for adjusting the launching angle of the remote blasting device (2) to keep the launching angle vertically downward, and a gravity center calculating module used for calculating the gravity center of the robot to keep the gravity center unchanged in the action process of the robot.
3. The blast flying robot of claim 2, wherein: the robot comprises a robot body (1), wherein a yielding hole for vertical passing of a remote blasting device (2) is formed in the robot body (1), the angle adjusting device (3) comprises two groups of electric telescopic rods (31) which are respectively located on the upper side and the lower side of the robot body (1), each group of electric telescopic rods (31) comprises three electric telescopic rods (31) which are distributed in the outer side of the remote blasting device (2) in a circular symmetry mode, and two ends of each electric telescopic rod (31) are respectively in ball joint with the remote blasting device (2) and the robot body (1).
4. The blast flying robot of claim 1, wherein: the remote blasting device (2) comprises a armor piercing projectile launcher and armor piercing projectiles matched with the armor piercing projectile launcher.
5. The blast flying robot of claim 2, wherein: the image acquisition module (4) is arranged to be fixed on the outer side of the remote blasting device (2) and provided with a camera with a shooting direction parallel to the blasting direction of the remote blasting device (2).
6. The blast flying robot of claim 2, wherein: and a distance measuring module (5) for measuring the distance from the remote blasting device (2) to the explosive along the launching direction is arranged on the outer side of the remote blasting device (2).
7. The blast flying robot of claim 6, wherein: the distance measuring module (5) comprises a laser distance measuring module (51) and an ultrasonic distance measuring module (52).
8. The blast flying robot of claim 2, wherein: the robot further comprises a trajectory following module for moving synchronously following the moving explosives.
9. The blast flying robot of claim 8, wherein: the robot also includes a linear escape module for maintaining the original velocity direction and providing a maximum acceleration that is positive to the original velocity direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276661.1U CN210526857U (en) | 2019-08-07 | 2019-08-07 | Blasting flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276661.1U CN210526857U (en) | 2019-08-07 | 2019-08-07 | Blasting flying robot |
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| Publication Number | Publication Date |
|---|---|
| CN210526857U true CN210526857U (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921276661.1U Active CN210526857U (en) | 2019-08-07 | 2019-08-07 | Blasting flying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406678A (en) * | 2019-08-07 | 2019-11-05 | 北京凌天世纪控股股份有限公司 | Explosion flying robot |
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2019
- 2019-08-07 CN CN201921276661.1U patent/CN210526857U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406678A (en) * | 2019-08-07 | 2019-11-05 | 北京凌天世纪控股股份有限公司 | Explosion flying robot |
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