CN212135201U - Police explosive ordnance disposal vehicle - Google Patents

Abstract

The utility model discloses an it is alert with arranging car that explodes, pick up module, backstage display module, drive module, GPS orientation module, GSM module, power module and microcontroller including automobile body, flight module, detection module, infrared sensor module, steering wheel module, bluetooth module, suspicious thing. The police explosion-removing vehicle adopts a searching method combining automatic searching and manual remote control searching and a detection method combining external detection and underground detection. The detection module comprises a wireless Bluetooth camera unit and a metal sensor unit which are respectively in one-way communication connection with the microcontroller. This practical means of detection is abundant, receives outside objective factor to influence lowly, and greatly reduced appears lou examining probably, and the control coverage area is big, and equipment input cost is low, and the security performance is high, can pinpoint suspicious position, has certain prevention effect to the explosive explosion, provides the initiative protection guarantee and has certain practical value for people's safety.

Description

Police explosive ordnance disposal vehicle

Technical Field

The utility model relates to an it is alert with arranging and explode technical field, specifically be an it is alert with arranging and explode car.

Background

Terrorist activities in the world have become a significant threat to international social security. Terrorist explosions, which are the most common form of explosive activity for terrorists, occur in countries each year. In the 21 st century, the wave of terrorism struck was rolled around the world, and although terrorist organizations lost their command and control systems, terrorist activities were on a large scale.

At present, the explosion action can be easily achieved in the current society by only spending a little money to buy the automobile or the satellite phone. The explosion attack has the characteristics of great harm, easy starting and difficult prevention, and the explosion terrorist becomes the most main method for the terrorist attack at present. In the new form and characteristics of the international explosive terrorism event, the upgrading of the police explosive-handling vehicle and the improvement of the explosive-handling performance become a difficult problem in the current scientific research work. So far, explosive forms are ubiquitous in our lives, such as gasoline, high-concentration wine, and the like. Although people still have a strong terrorism, the police may be injured to some extent when fighting terrorists. The current police explosive-removing vehicle is particularly important when terrorists are attacked. Nowadays, various intelligent products appear in our lives to replace human beings to work in high-risk areas. To follow the development of the era, I also put forward self conception and practice. The single detection mode needs more equipment, needs manual inspection, and is high in cost and has certain dangerous factors. Therefore, a detection device with multiple detection means, less influence from external factors, more comprehensive performance, rapid response, low cost and more guaranteed safety performance is needed. Therefore, the utility model provides a police explosive ordnance disposal vehicle.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a to prior art not enough, the utility model provides a police is with arranging and is exploded car has solved current arrange and has exploded car detection mode singleness, receives the influence of outside objective factor, probably leads to there being the problem of lou examining, and single detection mode needs the equipment many, and is with high costs, and the reaction is slow, the poor scheduling problem of security.

(II) technical scheme

In order to achieve the above purpose, the utility model is realized by the following technical scheme: an explosive ordnance disposal vehicle for police comprises a vehicle body, a flying module, a detection module, an infrared sensor module, a steering engine module, a Bluetooth module, a suspicious object pickup module, a background display module, a driving module, a GPS module, a GSM module, a power supply module and a microcontroller, wherein the vehicle body is built by adopting an aluminum material with European standard 2020 and linear density of 0.51 KG/M; flight module includes big screw, little screw, big screw motor, little screw motor, screw support, big screw connecting rod, little screw connecting rod and screw organism folding bending point etc. and big screw, little screw are respectively with microcontroller communication connection, detection module includes wireless bluetooth camera unit, metal sensor unit, the external bee calling organ of metal sensor unit and LED lamp, and metal sensor unit and microcontroller communication connection, infrared sensor module and microcontroller communication connection, steering wheel module adopts the model S3010' S steering wheel and with microcontroller communication connection, bluetooth module and microcontroller communication connection, suspicious object picking module adopts steering wheel, connecting rod, tongs, the excavation spade equipment that 9 models are S3010 to form, and respectively with microcontroller communication connection, drive module includes step motor, 3010, The self-locking motor is connected with the crawler belt, and each motor is in communication connection with the microcontroller; the GPS module is in communication connection with the microcontroller; the power supply module comprises a solar cell panel, a storage battery, a gyroscope, a controller, an inverter and a plurality of wires and is in communication connection with the microcontroller, a wireless signal transmitter is arranged on the other side of the microcontroller and is electrically connected with the microcontroller, and the wireless signal transmitter can be in communication connection with the receiving terminal in a working state.

Furthermore, the infrared sensor module is an infrared obstacle avoidance sensor, the model is an E18-D80NK photoelectric sensor, the number of the photoelectric sensors is 4, the model is a CH340G Bluetooth module, the Bluetooth module is used for realizing background remote control of the police explosion-proof car, and the gyroscope is a 360-degree rotatable gyroscope.

Furthermore, eight propellers and eight motors are installed on a rack of the flight module, the eight propellers comprise four small propellers and four large propellers, the four small propellers and the motors of the four small propellers are uniformly distributed above the rack and are symmetrically and symmetrically balanced in the same plane, the four large propellers and the motors of the four large propellers are installed below the small propellers and are symmetrically and symmetrically balanced in the same plane, the four small propellers and the four large propellers can work independently, and the eight propellers can also work simultaneously.

Further, wireless bluetooth camera unit is fixed in front end, the intermediate position of police explosion-proof car with it through carbon element pole, fixing bolt and the support that the length is 70cm, and the scanning of being convenient for is observed, wireless bluetooth camera unit is the long-range domestic monitoring equipment that talkbacks of wireless camera high-definition night vision small-size cell-phone wiFi, wireless bluetooth camera unit and microcontroller communication adopt the one-way communication mode to be connected.

Further, the metal sensor units are magnet magnetic force type metal sensors, the number of the metal sensor units is 5, each metal sensor is externally connected with a buzzer and an LED lamp, and the metal sensor units are communicated with the microcontroller in a one-way communication mode.

Further, the steering engine module is an S3010 type steering engine. The steering engine module of S3010 model is installed to the other end at wireless bluetooth camera unit connection carbon element pole, makes the area that wireless bluetooth camera unit covered wider, and then improves the work efficiency of explosive ordnance disposal car. The steering engine module is connected with the microcontroller in a two-way communication mode.

Furthermore, the background display module is a mobile phone BlueCamAPP and is connected with the microcontroller in a one-way communication mode.

Furthermore, the GSM module adopts a Siemens TC35 wireless module, the GSM module is connected with the microcontroller in a two-way communication mode, the GPS module adopts a GPS module based on an ATGM336H-5N chip, and the GPS module is connected with the microcontroller in a two-way communication mode.

Further, the microcontroller is a K26 singlechip.

Further, the inside of automobile body is provided with places the case, the front sliding connection who places the case has two door plants, two the equal fixedly connected with fixture block in front of door plant, the back fixedly connected with connecting block of door plant, one side of connecting block with place and be provided with reset spring between one side of incasement wall, place the equal fixedly connected with slide rail in both sides of incasement wall, two sliding connection has the rack between the slide rail, the top fixedly connected with L template of rack, the positive fixedly connected with draw-in groove of L template, draw-in groove and fixture block looks adaptation, place the positive fixedly connected with cylinder of incasement wall, cylinder through-hole control switch is connected with external power supply, the one end of cylinder with the back fixed connection of rack.

(III) advantageous effects

This practicality has following beneficial effect:

this practical means of detection is abundant, receives the influence of outside objective factor low, and greatly reduced appears lou examining the possibility, and the control coverage area is big, and equipment input cost is low, and the reaction is rapid, and degree of automation is high, and the security performance is high, can pinpoint suspicious object position, need not the manual work and patrol and examine, reduces manpower financial resources and materials by a wide margin, and has certain prevention effect to the explosive explosion, provides the initiative protection guarantee for people's safety and has certain practical value meaning.

Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.

Drawings

Fig. 1 is a schematic structural view of a first embodiment of the police explosive ordnance disposal vehicle of the present invention;

fig. 2 is a schematic structural diagram of a suspicious object picking module of a police explosive ordnance disposal vehicle according to the present invention;

fig. 3 is a schematic position diagram of an infrared sensor module of the police explosive ordnance disposal vehicle according to the present invention;

fig. 4 is a schematic position diagram of a metal sensor module of a police explosive ordnance disposal vehicle according to the present invention;

fig. 5 is a schematic view of a motor arrangement structure at one side of a driving module of the police explosion-proof truck for stabilizing road conditions;

fig. 6 is a schematic diagram of an arrangement structure of motors on one side of unstable road conditions of a driving module of the police explosive ordnance disposal vehicle;

fig. 7 is a top view of a flight module of the police explosive ordnance disposal vehicle of the present invention;

fig. 8 is a schematic front view of the police explosive ordnance disposal vehicle with the flight module in an open state;

fig. 9 is a schematic view of a folding stainless steel sheet and a folding aluminum material of the police explosive ordnance disposal vehicle of the utility model;

fig. 10 is a schematic structural view of a second embodiment of the police explosive ordnance disposal vehicle of the invention;

FIG. 11 is a front view of the holding box shown in FIG. 10;

FIG. 12 is a schematic view of the arrangement of FIG. 11 showing the door panel of the storage compartment open;

FIG. 13 is a top plan view of the holding box shown in FIG. 11;

FIG. 14 is a side view of the holding box of FIG. 11;

fig. 15 is a schematic structural view of the card slot shown in fig. 11.

In the figure, 1-a detection module, 2-a wireless Bluetooth camera unit, 3-a metal sensor unit, 4-an infrared sensor module, 5-a steering engine module, 6-an LED lamp, 7-a suspicious object picking module, 8-a background display module, 9-a GPS module, 10-a GSM module, 11-a wireless signal transmitter, 12-a buzzer, 13-a microcontroller, 14-a first infrared sensor, 15-a second infrared sensor, 16-a third infrared sensor, 17-a fourth infrared sensor, 18-a first metal sensor, 19-a second metal sensor, 20-a third metal sensor, 21-a fourth metal sensor, 22-a fifth metal sensor, 23-a buzzer and 24-a fifth buzzer, 25-first LED lamp, 26-fifth LED lamp, 27-left front motor, 28-left front crawler, 29-inter-motor first folding tab, 30-inter-motor second folding tab, 31-inter-motor fourth folding tab, 32-inter-motor fifth folding tab, 33-inter-motor sixth folding tab, 34-left rear motor, 35-left rear crawler, 36-large propeller, 37-small propeller, 38-propeller bracket, 39-small propeller connecting rod, 40-small propeller motor, 41-large propeller motor, 42-large propeller connecting rod, 43-propeller body folding bending point one, 44-propeller body folding bending point two, 45-large propeller folding point, 46-small propeller folding point, 47-row explosion vehicle body, 48-foldable aluminum material, 49-foldable stainless steel sheet, 50-placing box, 51-door plate, 52-clamping block, 53-connecting block, 54-return spring, 55-sliding rail, 56-placing frame, 57-L-shaped plate, 58-clamping groove and 59-air cylinder.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by persons skilled in the art based on the embodiments in the present application without any creative work belong to the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "open hole", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", and the like, indicate an orientation or positional relationship, merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present application.

First embodiment

Referring to fig. 1-9, the present embodiment provides a technical solution: the utility model provides a police is with arranging and explodes car, includes automobile body, flight module, detection module 1, infrared sensor module 4, steering wheel module 5, bluetooth module, suspicious object pick up module 7, backstage display module 8, drive module, GPS module 9, GSM module 10, power module and microcontroller 13, the automobile body adopts euro standard 2020, and the linear density is built for 0.51 KG/M's aluminum product, designs a length 120cm, wide 80 cm's police is with arranging and explodes car. The police explosive ordnance disposal vehicle can be designed to be large or small according to the explosive ordnance disposal requirement and the combination of the gravity center position. The police explosive ordnance disposal vehicle is in a bottomless closed state when not in use, and is designed into a bottomless closed rectangle by using a foldable stainless steel sheet 49 and a foldable aluminum material 48; when the mobile phone is opened in a use state, the foldable stainless steel sheet 49 and the foldable aluminum 48 are folded together and automatically placed to the middle position of the police explosive ordnance disposal vehicle, the foldable stainless steel sheet 49 and the foldable aluminum 48 are shown in fig. 9, the flight module comprises a large propeller 36, a small propeller 37, a large propeller motor 41, a small propeller motor 40, a propeller bracket 38, a large propeller connecting rod 42, a small propeller connecting rod 39, a propeller body folding bending point and the like, the large propeller 36 and the small propeller 37 are respectively in communication connection with the microcontroller 13, the detection module 1 comprises a wireless Bluetooth camera unit 2 and a metal sensor unit 3, the metal sensor unit 3 is externally connected with a buzzer 12 and an LED lamp 6, the metal sensor unit 3 is in communication connection with the microcontroller 13, and the current explosives can be paper bags, sacks and metals, either on the ground or buried in the ground surface. Therefore, a detection module combining a wireless Bluetooth camera unit 2 and a metal sensor unit 3 is adopted, an infrared sensor module 4 is in communication connection with a microcontroller 13, a steering engine module 5 adopts a steering engine with the model of S3010 and is in communication connection with the microcontroller 13, the Bluetooth module is in communication connection with the microcontroller 13, a suspected object picking module 7 is assembled by adopting 9 steering engines with the model of S3010, connecting rods, grippers and digging shovels and is in communication connection with the microcontroller 13 respectively, a driving module comprises a stepping motor, a self-locking motor and a crawler belt, and each motor is in communication connection with the microcontroller 13 respectively; the GPS module 9 is in communication connection with the microcontroller 13; the power supply module comprises a solar cell panel, a storage battery, a gyroscope, a controller, an inverter and a plurality of wires and is in communication connection with the microcontroller 13, the other side of the microcontroller 13 is provided with a wireless signal transmitter 11, and the wireless signal transmitter 11 is electrically connected with the microcontroller 13.

Steering engine module 5 mainly has two kinds of places to use: firstly, the lower end of the wireless Bluetooth camera acquisition unit 2 uses a steering engine S3010 to enlarge the search range of suspicious objects; and secondly, the suspicious object picking module 7 is partially composed of 9 steering engines of S3010 type. The other end of the wireless Bluetooth camera unit 2 connected with the carbon rod is provided with an S3010 type steering engine, the area covered by the wireless Bluetooth camera unit 2 is wider by adjusting the median value of the steering engine and the angle of the steering engine, the working efficiency of the explosive disposal vehicle is improved, and the angle of the steering engine is set to be 30 degrees in order to enable the covering surface to reach a plane angle. The suspicious object picking module 7 is composed of 9S 3010 type steering engines, 3 steering engines are used as one group, and 3 steering engines are used as a total group. The suspected object picking module can rotate 360 degrees by adjusting the median value and the hitting angle of each steering engine, so that suspected objects can be picked conveniently and placed into the explosion-removing cylinder, and the steering engine module 5 is connected with the microcontroller 13 in a one-way communication mode. The suspicious object picking module 7 is formed by assembling 9S 3010 type steering engines, connecting rods, grippers and digging shovels, and 3 steering engines are one group for each group, and the total number is 3. By adjusting the median value and the hitting angle of each steering engine, the 9 steering engines can rotate 360 degrees, and suspicious objects can be picked up smoothly. Every 3 steering engines are assembled into a group through connecting rods, bolts and nuts, then 9 steering engines are integrally assembled into a whole, a shape-looking mechanical hand grip is fixed on a group of steering engine heads on the steering engine heads and used for picking up suspicious objects, two sides of the hand grip are respectively connected with an excavating shovel through springs, when a metal sensor detects that metal suspicious objects exist underground, the metal suspicious objects can be excavated out through the excavating shovel, and finally the suspicious object picking module 7 picks up the suspicious objects and puts the suspicious objects into a detonation cylinder. And the suspicious object picking module 7 is in one-way communication connection with the microcontroller 13. The background display module 8 is a mobile phone BlueCamAPP, the image displayed by the background display module is extremely high in definition and high in definition, a terminal worker can conveniently distinguish and analyze suspicious objects, the image collected by the wireless Bluetooth camera unit 2 can be checked and seen in the mobile phone BlueCamAPP, if the explosion elimination work needs, the image from the BlueCam mobile phone can be directly transmitted to a large screen through a projection screen, the background worker can conveniently distinguish and analyze the suspicious objects, and the background display module is connected with the microcontroller 13 in a one-way communication mode.

The driving module comprises stepping motors, self-locking motors and tracks, 6 self-locking motors, 6 stepping motors and 4 tracks are needed, the 6 self-locking motors are divided into two groups, each group is 3, the two groups are respectively arranged on two side parts of the front end of the explosion-removing vehicle, and the two groups are connected together by the tracks; 6 step motor divide into two sets ofly, every 3 is a set of, installs its both sides part in the rear end of arranging the car of exploding respectively, and uses the track to link together it. The front uses a self-locking motor mainly for controlling the direction, and the rear uses a stepping motor mainly for providing power. If the explosion-removing vehicle runs on the ground with good ground, 3 motors are adopted to run on a straight line in an arranging way; if need climb or climb the step, 3 motors adopt and are the regular triangle form and arrange, are convenient for arrange the car of exploding and walk at the road that is not gentle. If the explosion-removing vehicle runs on a stable road condition, the motors on one side are arranged in a mode as shown in figure 5; if the explosive ordnance disposal vehicle walks on unstable road conditions, such as climbing a slope, climbing stairs and the like, the motor of the explosive ordnance disposal vehicle is pulled to the position shown in figure 6 by the folding pull piece, so that the explosive ordnance disposal vehicle can conveniently walk on the unstable road conditions. When the explosion-removing vehicle runs under a stable road condition, the folding-pulling sheets among the motors are arranged in a straight line, for example, a first folding-pulling sheet 29 among the motors, a second folding-pulling sheet 30 among the motors and a third folding-pulling sheet among the motors are arranged in a straight line; when the explosive ordnance disposal vehicle travels under unstable road conditions, the folding and pulling pieces among the motors are arranged in a regular triangle manner, for example, a fourth folding and pulling piece 31 among the motors, a fifth folding and pulling piece 32 among the motors and a sixth folding and pulling piece 33 among the motors are arranged in a regular triangle manner. The realization of this motor arrangement is mainly due to the strong deformation of the tab. And each motor is in communication connection with the microcontroller 13.

The power supply module comprises a solar panel, a storage battery, a gyroscope, a controller, an inverter and a plurality of wires, the gyroscope is a gyroscope capable of rotating by 360 degrees, the storage battery is placed below the suspected object picking module of the explosive-handling vehicle, and an anti-common NPP150AH colloid storage battery is adopted; the gyroscope rotating by 360 degrees is arranged on the upper side of the cylinder body of the explosive disposal cylinder, and a solar cell panel is arranged above the gyroscope; the controller and the inverter are arranged below the solar panel, the power generation wiring harness is fixed on the support, and the wiring harness is connected into a battery in the aircraft body along the support. Solar cell panel can be according to the direction of illumination of sunlight, under the assistance of the gyroscope that can 360 rotations, lets the sunlight be the right angle form and shines on solar cell panel, turns into the electric energy with solar energy to store the electric energy in the battery, and battery, solar cell panel and microcontroller 13 communication connection. The Bluetooth module adopts a CH340G Bluetooth module and is mainly used for remote control of the explosion-venting vehicle, namely, background workers carry out walking instruction control and suspicious object picking control on the explosion-venting vehicle through the Bluetooth module, when image real-time information collected by the wireless Bluetooth camera unit 2 is sent to the background display module 8, the background workers distinguish and analyze objects according to pictures, and if the suspicious object is detected, the background workers can control the suspicious object picking module 7 to pick up the suspicious object and put the suspicious object into an explosion-venting cylinder through the Bluetooth module. If the staff is in order to improve the explosive-handling efficiency, the remote control walking of the police explosive-handling vehicle can be realized through the Bluetooth module, and the Bluetooth module is in one-way communication connection with the microcontroller 13.

The infrared sensor module 4 is an infrared obstacle avoidance sensor, the model number of the infrared sensor module is E18-D80NK photoelectric sensors, the number of the photoelectric sensors is 4, the number of the photoelectric sensors is respectively a first infrared sensor 14, a second infrared sensor 15, a third infrared sensor 16 and a fourth infrared sensor 17, and the photoelectric sensors are installed at fixed positions of the police explosion-proof vehicle, so that the police explosion-proof vehicle can automatically avoid obstacles to walk. The irradiation distances of the first infrared sensor 14, the second infrared sensor 15, the third infrared sensor 16 and the fourth infrared sensor 17 can be adjusted according to working requirements, the farthest distance can be adjusted to 80cm, and if the first infrared sensor 14, the second infrared sensor 15, the third infrared sensor 16 and the fourth infrared sensor 17 do not detect signals, the explosion-proof vehicle stops walking; if the first infrared sensor 14 and the second infrared sensor 15 detect signals and other infrared sensors do not detect signals, the explosive ordnance car stops and turns to the right, at the moment, if the second infrared sensor 15, the third infrared sensor 16 and the fourth infrared sensor 17 detect signals, the explosive ordnance car continues to move forwards, and if the fourth infrared sensor 17 does not detect signals, the explosive ordnance car stops and turns to the left; if the first infrared sensor 14, the third infrared sensor 16 and the fourth infrared sensor 17 cannot detect signals, and the second infrared sensor 15 detects signals, the explosion-proof vehicle travels linearly at a speed set according to a program; if the first infrared sensor 14 and the fourth infrared sensor 17 can not detect signals, and the second infrared sensor 15 and the third infrared sensor 16 can detect signals, the explosive ordnance disposal vehicle turns to the left and then continues to walk; if the first infrared sensor 14, the second infrared sensor 15 and the fourth infrared sensor 17 all detect signals, the third infrared sensor 16 detects signals, and the explosive ordnance disposal vehicle turns to the right. And the first infrared sensor 14, the second infrared sensor 15, the third infrared sensor 16 and the fourth infrared sensor 17 are respectively connected with the microcontroller 13 in a one-way communication mode, and the Bluetooth module adopts a Bluetooth module with a model CH 340G.

Eight propellers and eight motors are arranged on a rack of the flight module, the eight propellers comprise four small propellers 37 and four large propellers 36, the four small propellers 37 and the motors thereof are uniformly distributed above the rack and are symmetrically balanced in the same plane, the four large propellers 36 and the motors thereof are arranged below the small propellers 37 and are symmetrically balanced in the same plane, the rack of the flight module is provided with the four large propellers 36, the four small propellers 37, the four large propeller motors 41, the four small propeller motors 40, the four large propeller connecting rods 42 and the four small propeller connecting rods 39 which are respectively positioned at four corners of the police explosive truck, wherein the four small propellers 37 and the motors thereof are uniformly distributed above the rack and are symmetrically balanced in the same plane, the four large propellers 36 and the motors thereof are arranged below the small propellers 37 and are symmetrically balanced in the same plane, as shown in fig. 8. The four small propellers 37 and the four large propellers 36 of the flight module can work independently, and the eight propellers can also work simultaneously. After the explosive ordnance disposal vehicle receives a work order, if the explosive ordnance disposal vehicle is inconvenient to enter a work area, background workers can remotely control the explosive ordnance disposal vehicle to fly into the work area. Under the condition that no flight command is received, the flight module of the explosive ordnance disposal vehicle is in a folding state, namely the small propeller 37 is folded upwards by 90 degrees at the folding bending point 46 of the small propeller and is parallel to the small propeller connecting rod 39, and the large propeller 36 is folded upwards by 90 degrees at the folding bending point 45 of the large propeller and is parallel to the large propeller connecting rod 42. After all the propellers are folded, the whole propeller body is folded again at the first folding bending point 43 of the propeller body for 110 degrees, so that the propeller support 38 is not in contact with the propellers after the whole propeller body is folded, the damage of the propellers is avoided, and finally the propeller body is folded again at the second folding bending point 44 of the propeller body. Meanwhile, the propeller support 38 is just not contacted with the integrally folded propeller, so that the propeller is prevented from being damaged. Finally, the flying module is folded and arranged in the middle of the police explosive ordnance disposal vehicle and is arranged above the closed and foldable stainless steel sheet 49 and the foldable aluminum material 48. After the flight module receives a background operation command, the second folding bending point 44 of the propeller body and the first folding bending point 43 of the propeller body return to the folding positions, the large propeller 36 and the small propeller 37 also return to the positions vertical to the propeller connecting rods from the positions parallel to the propeller connecting rods, at the moment, only the bottom of the police explosive truck and the wireless Bluetooth camera unit 2 are in the opening state, and the rest are in the closing state, when a background worker remotely controls the police explosive truck to land within a required range according to the wireless Bluetooth camera unit 2, the flight module is folded and folded, meanwhile, the foldable stainless steel sheet 49 and the foldable aluminum material 48 are also folded and arranged at the middle position of the explosive truck, and the influence on the work of the suspect picking module 7 is avoided.

The wireless Bluetooth camera unit 2 is fixed at the front end and the middle position of the police explosive ordnance disposal vehicle through a carbon rod with the length of 70cm, a fixing bolt and a support, the wireless Bluetooth camera unit 2 is a wireless camera high-definition night-vision small-sized mobile phone WiFi remote household talkback monitoring device, the covered area is 150 degrees and 5m long, the wireless Bluetooth camera unit 2 is opened through background remote control, the image displayed by the wireless Bluetooth camera unit 2 can be watched at a background display module 8, a background worker can distinguish and analyze whether the image is suspicious through the image displayed by the background display module 8, if the image is suspicious, the suspicious object is parked through Bluetooth remote control, the suspicious object pickup module 7 is remotely controlled to pick up and put the suspicious object into an explosive ordnance disposal cylinder, then the suspicious object pickup module 7 is automatically reset, the police explosive ordnance disposal vehicle continues to explode, the wireless Bluetooth camera unit 2 is connected with the microcontroller 13 in a one-way communication mode.

The metal sensor unit 3 is magnet magnetic force type metal sensor, and quantity is 5, and every metal sensor external a bee calling organ 12 and a LED lamp 6, metal sensor unit 3 adopts the one-way communication mode with microcontroller 13 communication to be connected, is a metal sensor 18, No. two metal sensor 19, No. three metal sensor 20, No. four metal sensor 21, No. five metal sensor 22 respectively, is the line with them and installs the front end at the explosion-proof car, and the distance between every two metal sensors is 20cm, and every metal sensor external a bee calling organ 12 and an LED lamp 6. The buzzer 12 is a first buzzer 23, a second buzzer, a third buzzer, a fourth buzzer and a fifth buzzer 24, the LED lamps are a first LED lamp 25, a second LED lamp, a third LED lamp, a fourth LED lamp and a fifth LED lamp 26 respectively, the metal sensor can detect substances with the depth of 15cm underground, if one metal sensor detects metal, the buzzer 12 externally connected with the metal sensor rings, the LED lamp 6 flickers, the police explosive-removal vehicle automatically stops, the GPS module 9 positions suspicious objects according to the positions of the suspicious objects detected by the metal sensor, the suspicious object picking module 7 excavates and takes out the suspicious objects according to the positions of the suspicious objects, the suspicious object picking module 7 picks up the suspicious objects and puts the suspicious objects into an explosive-removal cylinder, and then the suspicious object picking module 7 automatically resets. And the metal sensor unit 3 is communicated with the microcontroller 13 and is connected in a one-way communication mode, and the buzzer 12 and the LED lamp 6 are respectively connected with the microcontroller 13 in a two-way communication mode.

The background display module 8 is a mobile phone BlueCamAPP and is connected with the microcontroller 13 in a one-way communication mode.

The GSM module 10 adopts a Siemens TC35 wireless module, the GSM module 10 is connected with the microcontroller 13 in a two-way communication mode, the GPS module 9 adopts a GPS module 9 based on an ATGM336H-5N chip, and the GPS module 9 is connected with the microcontroller 13 in a two-way communication mode.

When the explosive ordnance disposal vehicle detects suspicious objects, the GPS module 9 positions the suspicious object points to prepare for the next activity, and the GPS module 9 is connected with the microcontroller 13 in a two-way communication mode. The GSM module 10 adopts a Siemens TC35 wireless module, the longitude and latitude positioned by the GPS module 9 are sent to the background large screen, and the GSM module 10 is connected with the microcontroller 13 in a two-way communication mode. The other side of the microcontroller 13 is provided with a wireless signal transmitter 11, the wireless signal transmitter 11 is electrically connected with the microcontroller 13, the wireless signal transmitter 11 transmits data information of the microcontroller 13, the wireless signal transmitter 11 can be in communication connection with a receiving terminal in a working state, the data acquired and processed by the wireless signal transmitter 11 is transmitted to the receiving terminal, and workers are arranged to perform explosive ordnance disposal in time according to the received position information of the explosive disposal vehicle and the information of explosive disposal points of suspicious objects.

The microcontroller 13 is a K26 single chip microcomputer.

When the explosion-removing vehicle is used, a searching method combining automatic searching and manual remote control searching and a detection method combining external detection and underground detection are adopted. The automatic search of the police explosive ordnance disposal vehicle adopts 4 infrared sensors, the 4 infrared sensors are fixed at corresponding positions of the explosive ordnance disposal vehicle, and the explosive ordnance disposal vehicle realizes related actions of advancing, retreating, turning left, turning right and stopping according to signal conditions detected by the 4 infrared sensors. The manual remote control search of the police explosive ordnance disposal vehicle is mainly completed by the operation of background workers, and the two search methods are adopted to improve the search efficiency. The explosive substances can be paper bags, bags and metals, and can be placed on the ground or buried on the underground surface. Therefore, a detection method combining external detection and underground detection is adopted, namely the detection module 1 combining the wireless Bluetooth camera unit 2 and the metal sensor unit 3. The explosion-proof bus has rich detection means, is low influenced by external objective factors, greatly reduces the possibility of missed detection, has large monitoring coverage area, and can accurately position the position of a suspicious object;

the method comprises the following specific steps:

s1, when the police explosive ordnance disposal vehicle receives an explosive ordnance disposal command, the power supply module is started, and other modules are started later;

s2, if the explosive ordnance disposal vehicle needs to be controlled to fly to a suspicious area, the background needs to confirm to start the flight module again, after the flight module receives a background operation command, the folding bending point II 44 of the propeller body and the folding bending point I43 of the propeller body return to the folding position, the large propeller 36 and the small propeller 37 also return to the position vertical to the propeller connecting rod from the position parallel to the propeller connecting rod, at the moment, only the bottom and the wireless Bluetooth camera unit 2 of the explosive ordnance disposal vehicle for police are in an open state, and the rest are in a closed state; if the aircraft goes to a remote place or needs to fly to a suspicious object area quickly, a starting instruction can be sent to the large propeller 36 and the small propeller 37 of the flight module at the same time, and the eight propellers work at the same time; if the user goes to the nearby place or needs to fly to a suspicious object area slowly, a starting instruction can be sent to the small propeller 37 of the flying module, and the large propeller 36 is always in a closed state at the moment; if the worker needs to start the large propeller 36 according to the requirement, a starting instruction can be sent to the large propeller 36 of the flight module, and the small propeller 37 is always in a closed state at the moment; when the background staff determine that the explosive ordnance disposal vehicle reaches the suspicious region according to the information collected by the wireless Bluetooth camera unit 2; the flying module is folded and folded, meanwhile, the foldable stainless steel sheet 49 and the foldable aluminum material 48 are also folded and automatically placed in the middle of the explosive ordnance disposal vehicle, so that the operation of the suspected object picking module 7 is prevented from being influenced;

if the explosive ordnance disposal vehicle does not need to be controlled to fly to a suspicious object area, the flying module is always in a closed state; the drive module is started.

S3, starting to confirm the searching mode, namely, adopting automatic searching or manual remote control searching; if automatic search is adopted, the infrared sensor module 4 confirms the start again, and the explosive ordnance disposal vehicle moves forwards, backwards, turns left and turns right according to signals received by the first infrared sensor 14, the second infrared sensor 15, the third infrared sensor 16 and the fourth infrared sensor 17; if remote control searching is adopted, the infrared sensor module 4 is in a closed state, and workers can perform background control on the explosion-removing vehicle according to the requirement of explosion-removing work; as long as the explosion-proof vehicle runs, the detection module 1 is automatically opened without confirmation, namely, the wireless Bluetooth camera unit 2 and the metal sensor unit 3 are automatically powered;

s4, a detection method of the detection module 1 and a picking and processing process of suspicious objects; the wireless Bluetooth camera unit 2 mainly collects ground images, the images displayed by the wireless Bluetooth camera unit 2 can be transmitted to the background display module 8 through the GSM module 10, background workers can distinguish whether the images are suspicious objects through the images displayed by the background display module 8, if the images are suspicious objects, the vehicles are remotely controlled to stop through the Bluetooth module, the suspicious objects are picked up and placed into the explosion-removing cylinder through the remote control suspicious object picking module 7, then the suspicious object picking module 7 automatically returns to the original position, the explosion-removing vehicle for police continues to carry out explosion removal, and as the image collecting range of the wireless Bluetooth camera unit 2 is about 5m and is 150 degrees, a steering engine of S3010 type is installed at the other end of the carbon rod provided with the wireless Bluetooth camera unit 2, the angle of attack of the steering engine is adjusted to be 30 degrees, and therefore the wireless Bluetooth camera unit 2 can collect planes of 180 degrees; the adopted metal sensor unit 3 selects 5 magnet magnetic force type metal sensors, the metal sensors are arranged at the front end of an explosion-proof vehicle in a row, the distance between every two metal sensors is 20cm, each metal sensor is externally connected with a buzzer 12 and an LED lamp 6, if one metal sensor detects metal, the external buzzer 12 of the metal sensor rings, the LED lamp 6 flickers, the explosion-proof vehicle is used for police to automatically stop, a GPS module 9 positions suspicious objects according to the positions of the metal sensors, a suspicious object picking module 7 excavates and takes out the suspicious objects according to the positioning positions of the suspicious objects, the suspicious object picking module 7 picks up the suspicious objects and puts the suspicious objects into an explosion-proof cylinder, and then the suspicious object picking module 7 automatically returns to the position; the adopted explosion-proof cylinder is a hemisphere with the size of 45cm, the cylinder cover can be automatically opened and closed, when the suspicious object picking module 7 works, the cylinder cover of the explosion-proof cylinder is automatically opened, and when the suspicious object picking module 7 puts the suspicious object into the explosion-proof cylinder, the cylinder cover of the explosion-proof cylinder is automatically closed;

s5, installing a wireless Bluetooth camera unit 2 in the direction opposite to the opening of the explosion-venting cylinder, monitoring the dynamic state of the explosion-venting cylinder in real time, if suspicious objects cannot be placed in the explosion-venting cylinder, automatically stopping the police explosion-venting vehicle, sending an explosion-venting cylinder full instruction to a background worker through a wireless signal transmitter 11, and waiting for the worker to send a next instruction; if the explosive-handling vehicle needs to return, whether the vehicle flies back or walks back needs to be confirmed; meanwhile, the GPS module 9 positions the return position of the explosive disposal vehicle in real time, and the GSM module 10 sends position information and return picture information to the background in real time;

s6, a wireless signal transmitter 11 is arranged on the other side of the microcontroller 13, the wireless signal transmitter 11 is electrically connected with the microcontroller 13, the wireless signal transmitter 11 transmits data information of the microcontroller 13, the wireless signal transmitter 11 can be in communication connection with a receiving terminal in a working state, the collected and processed data is transmitted to the receiving terminal in real time, and workers are arranged to perform detonation elimination in time according to the received information of the position of the detonation elimination vehicle and the information of the detonation elimination point of the suspected object.

Second embodiment

Referring to fig. 10 to fig. 15 in combination, a second embodiment of the present application provides another police explosive ordnance disposal vehicle based on the first embodiment of the present application. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.

In particular, the second embodiment of the application provides a police explosive ordnance disposal vehicle which is different in that, a placing box 50 is arranged in the vehicle body, two door plates 51 are connected to the front surface of the placing box 50 in a sliding manner, clamping blocks 52 are fixedly connected to the front surfaces of the two door plates 51, a connecting block 53 is fixedly connected to the back of the door plate 51, a return spring 54 is arranged between one side of the connecting block 53 and one side of the inner wall of the placing box 50, the two sides of the inner wall of the placing box 50 are both fixedly connected with slide rails 55, a placing rack 56 is connected between the two slide rails 55 in a sliding way, the top of the placing frame 56 is fixedly connected with an L-shaped plate 57, the front of the L-shaped plate 57 is fixedly connected with a clamping groove 58, the front side of the inner wall of the placing box 50 is fixedly connected with an air cylinder 59, and one end of the air cylinder 59 is fixedly connected with the back side of the placing frame 56.

Police equipment that police's staff used can be placed through the setting of rack 56, and the start through cylinder 59, make rack 56 slide forward, and then drive L template 57 and move forward, L template 57 moves forward and drives draw-in groove 58 and move forward, and then separate with two fixture blocks 52, two reset spring 54 shrink this moment, drive two connecting blocks 53 and move from each other, and then make two door plant 51 move from each other and open, rack 56 also slides out of placing box 50 forward gradually this moment, thereby made things convenient for police's staff to take police equipment, better various incident of coping.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The preferred embodiments of the present invention disclosed above are intended only to aid in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the utility to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The present application is limited only by the claims and their full scope and equivalents.

Claims (9)

1. The utility model provides a police is with arranging car that explodes, includes automobile body, flight module, detection module (1), infrared sensor module (4), steering wheel module (5), bluetooth module, suspicious pickup module (7), backstage display module (8), drive module, GPS module (9), GSM module (10), power module and microcontroller (13), its characterized in that: the vehicle body is built by adopting an aluminum material with the European standard 2020 and the linear density of 0.51KG/M, the flight module comprises a large propeller (36), a small propeller (37), a large propeller motor (41), a small propeller motor (40), a propeller bracket (38), a large propeller connecting rod (42), a small propeller connecting rod (39), a propeller body folding bending point and the like, the large propeller (36) and the small propeller (37) are respectively in communication connection with the microcontroller (13), the detection module (1) comprises a wireless Bluetooth camera unit (2) and a metal sensor unit (3), the metal sensor unit (3) is externally connected with a buzzer (12) and an LED lamp (6), the metal sensor unit (3) is in communication connection with the microcontroller (13), the infrared sensor module (4) is in communication connection with the microcontroller (13), the steering engine module (5) adopts a steering engine with the model of S3010 and is in communication connection with the microcontroller (13), the Bluetooth module is in communication connection with the microcontroller (13), the suspicious object picking module (7) is formed by assembling 9 steering engines with the models of S3010, connecting rods, grippers and digging shovels and is in communication connection with the microcontroller (13) respectively, the driving module comprises a stepping motor, a self-locking motor and a crawler, and each motor is in communication connection with the microcontroller (13) respectively; the GPS module (9) is in communication connection with the microcontroller (13); the power supply module comprises a solar cell panel, a storage battery, a gyroscope, a controller, an inverter and a plurality of wires, and is in communication connection with the microcontroller (13), a wireless signal transmitter (11) is arranged on the other side of the microcontroller (13), and the wireless signal transmitter (11) is electrically connected with the microcontroller (13).

2. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the infrared sensor module (4) is an infrared obstacle avoidance sensor, the model is E18-D80NK photoelectric sensor, the number of the photoelectric sensor is 4, the model of the Bluetooth module is CH340G, and the gyroscope is a 360-degree rotatable gyroscope.

3. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the flight module is characterized in that eight propellers and eight motors are mounted on a rack of the flight module, the eight propellers comprise four small propellers (37) and four large propellers (36), the four small propellers (37) and the motors thereof are uniformly distributed above the rack and are symmetrically and symmetrically balanced in the same plane, and the four large propellers (36) and the motors thereof are mounted below the small propellers (37) and are symmetrically and symmetrically balanced in the same plane.

4. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: wireless bluetooth camera unit (2) is fixed in front end, the intermediate position of police-oriented explosion-proof car with it through long carbon element pole, fixing bolt and the support that is 70cm, wireless bluetooth camera unit (2) is the long-range domestic monitoring equipment that talkbacks of wireless camera high-definition night small-size cell-phone wiFi, wireless bluetooth camera unit (2) and microcontroller (13) communication adopt the one-way communication mode to be connected.

5. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the metal sensor unit (3) is magnet magnetic force type metal sensor, and quantity is 5, and every metal sensor external buzzer (12) and LED lamp (6), metal sensor unit (3) and microcontroller (13) communication adopt the one-way communication mode to be connected.

6. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the background display module (8) is a mobile phone BlueCamAPP and is connected with the microcontroller (13) in a one-way communication mode.

7. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the GPS module (9) is a GPS module (9) based on an ATGM336H-5N chip, and the GPS module (9) is connected with the microcontroller (13) in a bidirectional communication mode.

8. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: the microcontroller (13) is a K26 singlechip.

9. A police explosive ordnance disposal vehicle as claimed in claim 1, wherein: a placing box (50) is arranged in the vehicle body, the front surface of the placing box (50) is connected with two door plates (51) in a sliding way, the front surfaces of the two door plates (51) are fixedly connected with clamping blocks (52), the back of the door plate (51) is fixedly connected with a connecting block (53), a return spring (54) is arranged between one side of the connecting block (53) and one side of the inner wall of the placing box (50), both sides of the inner wall of the placing box (50) are fixedly connected with sliding rails (55), a placing rack (56) is connected between the two sliding rails (55) in a sliding way, the top of the placing frame (56) is fixedly connected with an L-shaped plate (57), the front of the L-shaped plate (57) is fixedly connected with a clamping groove (58), the front side of the inner wall of the placing box (50) is fixedly connected with an air cylinder (59), and one end of the air cylinder (59) is fixedly connected with the back side of the placing frame (56).

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