CN216422573U - Multifunctional unmanned platform for underground space - Google Patents
Multifunctional unmanned platform for underground space Download PDFInfo
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- CN216422573U CN216422573U CN202123083457.8U CN202123083457U CN216422573U CN 216422573 U CN216422573 U CN 216422573U CN 202123083457 U CN202123083457 U CN 202123083457U CN 216422573 U CN216422573 U CN 216422573U
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- underground space
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- unmanned platform
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Abstract
The utility model relates to a multi-functional unmanned platform is used in underground space belongs to unmanned platform technical field, has solved current unmanned platform bulky, can not accomplish the problem of underground space search task smoothly. The utility model provides an underground space is with multi-functional unmanned platform, includes platform chassis, subassembly mounting panel and facial make-up subassembly, the subassembly mounting panel is installed on the platform chassis, the facial make-up subassembly is installed on the subassembly mounting panel. The utility model discloses a multi-functional unmanned platform for underground space passes through the design subassembly mounting panel, and with the facial make-up subassembly integration on the subassembly mounting panel, reduced unmanned platform's volume, make unmanned platform can be at the underground space internalization of complicacy through built-in unmanned procedure, accomplish pure laser SLAM underground map and establish, search for the target and carry out position sign, image passback, goods and materials clamp and get and take each item task such as fortune, independently return to the journey.
Description
Technical Field
The utility model relates to an unmanned platform technical field especially relates to a multi-functional unmanned platform is used to underground space.
Background
As the process of urbanization continues to accelerate, the role of underground facilities on global security becomes increasingly important. Urbanization is often accompanied by the continuous improvement of underground space facilities such as subways, basements, underground garages and the like.
When an accident occurs, the space is more complicated and stereoscopic, and new challenges are brought to rescue. In order to reduce casualties and complete complex tasks of underground spaces smoothly, an unmanned platform integrating search and rescue is a main object for underground space rescue. However, to achieve unmanned underground rescue, a series of difficulties are faced. If underground space communication is difficult, the terrain is complex and changeable, and the space structure is more complex than ground rescue, etc. Because underground space building structure is complicated, and the space is narrow and small, need to go upstairs and downstairs repeatedly, current unmanned platform is difficult to pass through smoothly, can not accomplish underground space search task smoothly.
The existing unmanned platform is large in size and inconvenient to pass when working in an underground space, and the space for placing rescue goods and materials is not reserved in the existing unmanned platform, so that inconvenience is brought to rescue. Without the image return and map information establishment function, underground target information is difficult to obtain. Lack the arm, meet complicated topography and restraint the policy ineligible, can not accomplish that the goods and materials are got to press from both sides and are taken the fortune.
SUMMERY OF THE UTILITY MODEL
In view of the above analysis, the utility model aims at providing a multi-functional unmanned platform is used to underground space to solve current unmanned platform bulky, current inconvenient problem when the operation of underground space.
The purpose of the utility model is mainly realized through the following technical scheme:
the utility model provides an underground space is with multi-functional unmanned platform, includes platform chassis, track, subassembly mounting panel and facial make-up subassembly, two the track is installed respectively the both sides of platform chassis are by driving motor drive in the platform chassis, the subassembly mounting panel is installed on the platform chassis, facial make-up subassembly is installed on the subassembly mounting panel.
Further, the assembly mounting plate comprises a first mounting plate and a second mounting plate, the first mounting plate is mounted on the front inclined plane of the platform chassis, and the second mounting plate is mounted on the rear inclined plane of the platform chassis.
Further, the mechanical arm, the projection lamp and the 32-line laser radar of the upper assembling component are installed on the first installation plate.
Further, the mechanical arm control cabinet, the industrial personal computer and the 16-line laser radar of the upper assembly component are installed on the second installation plate.
Further, the 32-line laser radar is installed on the first installation plate through the first installation bracket.
Further, first installing support includes first radar mounting panel and first supporting leg and the second supporting leg that the symmetry set up, the both ends of first radar mounting panel respectively with first supporting leg and second supporting leg are connected.
Furthermore, a center hole and an arc-shaped groove are formed in the first supporting leg and the second supporting leg, and the circle center of the arc-shaped groove is overlapped with that of the center hole; the relevant position of first radar mounting panel is equipped with first through-hole and second through-hole, first through-hole with the arc wall cooperation, the second through-hole with the centre bore cooperation.
Further, the 16-line laser radar is installed on the second installation plate through the second installation bracket.
Furthermore, the second mounting bracket comprises a second radar mounting plate, a third supporting leg and a fourth supporting leg, wherein the third supporting leg and the fourth supporting leg are symmetrically arranged, and two ends of the second radar mounting plate are connected with the third supporting leg and the fourth supporting leg respectively.
Further, still include the goods and materials baffle, the goods and materials baffle is located the right back of first mounting panel.
The utility model discloses can realize one of following beneficial effect at least:
(1) the utility model discloses a multi-functional unmanned platform for underground space passes through the design subassembly mounting panel, installs the facial make-up subassembly on the subassembly mounting panel, has reduced unmanned platform's volume on the one hand, has guaranteed the current convenience of unmanned platform at the operation in-process, installs the facial make unmanned platform can accomplish each item task on the other hand subassembly mounting panel.
(2) The utility model discloses be equipped with the goods and materials baffle, and through the cooperation with other parts, can make the goods and materials place on first mounting panel, follow the moving range of all directions restriction goods and materials, prevent effectively that the goods and materials from losing.
The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.
Fig. 1 is a schematic structural diagram of a multifunctional unmanned platform according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a platform chassis and a track according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first mounting plate according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second mounting plate according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a first mounting bracket according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a second mounting bracket according to an embodiment of the present invention.
Reference numerals:
1-16 line laser radar, 2-mechanical arm control cabinet, 3-second mounting bracket, 31-second radar mounting plate, 32-third supporting leg, 33-fourth supporting leg, 4-first mounting plate, 41-first mounting hole, 42-first rib, 43-arch-shaped hole, 44-threading hole, 45-mechanical arm mounting hole, 46-light projector mounting hole, 47-first radar mounting hole, 5-second mounting plate, 51-second mounting hole, 52-second rib, 53-reserved notch, 6-mechanical arm, 7-industrial personal computer, 8-fisheye camera, 9-first mounting bracket, 91-first radar mounting plate, 92-first supporting leg, 93-second supporting leg, 94-central hole, 95-arc groove, 96-first through hole, 97-second through hole, 10-32 line laser radar, 11-platform chassis, 12-crawler, 13-projection lamp and 14-material baffle.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, is made to illustrate, and not to limit the scope of the invention, the embodiments of the invention, and the accompanying drawings are included as part of the present invention.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection via an intermediate medium. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, independent of their orientation in space.
For convenience of description, the front of the unmanned platform in the traveling direction is set as "front", the reverse direction is set as "rear", the left when facing forward is set as "left", and the reverse direction is set as "right". "
The utility model discloses an embodiment, as shown in fig. 1 to fig. 6, discloses a multi-functional unmanned platform is used in underground space, including platform chassis 11, track 12, subassembly mounting panel and facial make-up subassembly, two tracks 12 are installed respectively in the both sides of platform chassis 11, by the driving motor drive in the platform chassis 11, and the subassembly mounting panel is installed on platform chassis 11, and control system installs on the subassembly mounting panel.
In this embodiment, through design assembly mounting panel, with the facial make-up subassembly integration on assembly mounting panel, reduced unmanned platform's volume, guaranteed unmanned platform's current convenience at the operation in-process, on the other hand assembly mounting panel on install the facial make unmanned platform can accomplish each item task. Specifically, the component mounting plates include a first mounting plate 4 and a second mounting plate 5, the first mounting plate 4 being mounted on a front inclined surface of the platform chassis 11, the second mounting plate 5 being mounted on a rear inclined surface of the platform chassis 11.
In this embodiment, the mechanical arm 6, the projection lamp 13, the 32-line laser radar 10 and the first mounting bracket 9 for mounting the 32-line laser radar 10 of the upper assembly are mounted on the first mounting plate 4.
The mechanical arm 6 is used for clamping, carrying and moving the barrier. The projection lamp 13 is used for illuminating a dark environment, providing a visual field for the fisheye camera and facilitating acquisition of underground image information. The 32-line laser radar 10 is used for pure laser SLAM map building, target position identification and data provision for platform planning advancing path.
Specifically, the width of the first mounting plate 4 is smaller than the enveloping range of the tracks 12 on both sides of the platform chassis 11, and the length is smaller than the front length of the platform chassis 11, so as to avoid influencing the trafficability of the unmanned platform during the traveling process of the unmanned platform. The first mounting plate 4 is mounted on the platform chassis 11 through a first mounting hole 41, and the first mounting hole 41 adopts a countersunk structure on the upper surface of the first mounting plate 4 to prevent a protruding bolt head from interfering with an upper mounting component on the first mounting plate 4.
Further, as shown in fig. 3, the lower surface of the first mounting plate 4 is provided with a first rib 42, and the length of the first rib 42 is the same as the width of the first mounting plate 4, so as to enhance the bending strength of the first mounting plate 4 and prevent the first mounting plate 4 from bending and interfering with the track when loaded.
In this embodiment, the first ribs 42 are provided with 3 pieces, and are uniformly distributed along the length direction of the first mounting plate 4.
Further, the first mounting plate 4 is also provided with an arched door-shaped hole 43, so that the bus bundle of the unmanned platform can pass through the first mounting plate 4, the arched door-shaped structure can increase the effective cross-sectional area, and the influence on the bending rigidity of the first mounting plate 4 is reduced while the bus is convenient to pass through.
Further, still be equipped with through wires hole 44 on the first mounting panel 4 for 32 line laser radar 10's radar pencil can pass first mounting panel 4, avoids the pencil to expose and causes ageing.
Further, the first mounting plate is provided with a first radar mounting hole 47 for mounting the 32-line laser radar 10. To secure the field of view of the 32-line laser radar 10, the first radar mounting hole 47 is located at the front center portion of the first mounting plate.
Further, the first mounting plate 4 is further provided with a mechanical arm mounting hole 45 for mounting the mechanical arm 6. In order to reserve enough working space for the mechanical arm 6 and reduce the bending moment applied to the first mounting plate 4 by the mechanical arm 6, the mechanical arm mounting hole 45 is positioned at the left rear part of the first mounting plate 4 and right above the steel frame of the platform chassis 11, the supporting effect of the platform chassis 11 on the mechanical arm 6 is utilized to the maximum extent, and the deflection of the first mounting plate 4 is reduced.
Further, the first mounting plate 4 is further provided with a projector lamp mounting hole 46 for mounting the projector lamp 13. In order to avoid interference with the working space of the robot arm 6 and to increase the irradiation range of light and improve the field of view as much as possible without affecting the field of view of the 32-line lidar 10, the projector lamp mounting hole 46 is located at the front right of the first mounting plate 4.
In this embodiment, the arm switch board 2, the industrial personal computer 7, the second mounting bracket 3 and the 16-line laser radar 1 of the upper assembling component are installed on the second mounting plate 5. In addition, the structure of the robot arm control cabinet 2 and the structure of the relevant structural part operation performed by the industrial personal computer 7 are existing control structures, and therefore are not specifically shown.
The robot arm control cabinet 2 is used for supplying power and control signals to the robot arm 6. The industrial personal computer 7 is used for processing environment information data, completing image information return and utilizing an unmanned program to control the platform to return automatically. The 16-line laser radar 1 is used for establishing a point cloud map of the surrounding environment of the vehicle and providing data for planning an advancing route of the platform.
Specifically, the width of the second mounting plate 5 is smaller than the enveloping range of the tracks 12 on both sides of the platform chassis 11, and the length is smaller than the length of the rear part of the platform chassis 11, so as to avoid influencing the passing performance of the unmanned platform in the process of the unmanned platform traveling. The second mounting plate 5 is mounted on the platform chassis 11 through the second mounting hole 51, and the second mounting plate 5 adopts a countersunk structure on the upper surface of the second mounting hole 51 to prevent the protruding bolt head from interfering with the upper assembly on the second mounting plate 5.
Further, as shown in fig. 4, the lower surface of the second mounting plate 5 is provided with a second rib 52, and the length of the second rib 52 is the same as the width of the second mounting plate 5, so as to enhance the bending strength of the second mounting plate 5 and prevent the second mounting plate 5 from bending and interfering with the track when loaded.
Further, in consideration of the need for charging the platform chassis 11, the second mounting plate 5 is further provided with a reserved gap 53 for the charging port plug to pass through.
In the present embodiment, the 32-line laser radar 10 is mounted on the first mounting plate 4 via the first mounting bracket 9. As shown in fig. 5, the first mounting bracket 9 includes a first radar mounting plate 91 and a first support leg 92 and a second support leg 93 symmetrically disposed, and both ends of the first radar mounting plate 91 are connected to the first support leg 92 and the second support leg 93, respectively.
Further, in order to adjust the field of view of the 32-line laser radar 10 conveniently, a center hole 94 and an arc-shaped groove 95 are formed in the first supporting leg 92 and the second supporting leg 93, and the center of the arc-shaped groove 95 coincides with the center of the center hole 94. First through-hole 96 and second through-hole 97 are provided at the relevant position of first radar mounting plate 91, and first through-hole 96 cooperates with arc wall 95, and second through-hole 97 cooperates with centre bore 94 for first radar mounting plate 91 can rotate around centre bore 94, and the bolt is screwed when rotating to the anticipated position thereby fixed first radar mounting plate 91.
Further, in order to reduce the weight of the unmanned platform, the first support leg 92 and the second support leg 93 are provided with lightening holes.
In this embodiment, the 16-line laser radar 1 is mounted on the second mounting plate 5 via the second mounting bracket 3. As shown in fig. 6, the second mounting bracket 3 includes a second radar mounting plate 31, and third and fourth support legs 32 and 33 symmetrically disposed, and both ends of the second radar mounting plate 31 are connected to the third and fourth support legs 32 and 33, respectively.
Further, the third support leg 32 and the fourth support leg 33 are provided with a front end plate for mounting the fisheye camera 8.
Further, in order to reduce the weight of the unmanned platform, the third and fourth support legs 32 and 33 are provided with lightening holes.
Further, in order to facilitate carrying of materials during underground searching and search and rescue, the unmanned platform of the embodiment is further provided with a material baffle 14, the material baffle 14 is located at the rear right side of the first mounting plate 4, and when the materials are placed on the first mounting plate 4 through the mechanical arm 6, the materials are fixed on the first mounting plate 4 in the transverse direction through the material baffle 14 and the mechanical arm 6; the first mounting plate 4 is fixed in the longitudinal direction through a first mounting bracket 9 and the mechanical arm control cabinet 2; fix through preceding first mounting panel 4 and arm 6 in vertical direction to effectively prevent that the goods and materials from losing.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides an underground space is with multi-functional unmanned platform which characterized in that, includes platform chassis (11), track (12), subassembly mounting panel and facial make-up subassembly, two track (12) are installed respectively the both sides of platform chassis (11), by driving motor in platform chassis (11) drives, the subassembly mounting panel is installed on platform chassis (11), facial make-up subassembly is installed on the subassembly mounting panel.
2. The multifunctional unmanned platform for underground space of claim 1, wherein the assembly mounting plates comprise a first mounting plate (4) and a second mounting plate (5), the first mounting plate (4) is mounted on a front slope of the platform chassis (11), and the second mounting plate (5) is mounted on a rear slope of the platform chassis (11).
3. The multifunctional unmanned platform for underground space of claim 2, wherein the robot arm (6), the floodlight (13) and the 32-line laser radar (10) of the upper assembly are installed on the first installation plate (4).
4. The multifunctional unmanned platform for underground space of claim 2, characterized in that the robot arm control cabinet (2), industrial personal computer (7) and 16-line laser radar (1) of the upper assembly are installed on the second installation plate (5).
5. The multifunctional unmanned platform for underground space of claim 3, wherein the 32-line laser radar (10) is installed on the first installation plate (4) through the first installation bracket (9).
6. The multifunctional unmanned platform for underground space of claim 5, wherein the first mounting bracket (9) comprises a first radar mounting plate (91) and a first supporting leg (92) and a second supporting leg (93) which are symmetrically arranged, and two ends of the first radar mounting plate (91) are respectively connected with the first supporting leg (92) and the second supporting leg (93).
7. The multifunctional unmanned platform for underground space of claim 6, wherein the first support leg (92) and the second support leg (93) are both provided with a central hole (94) and an arc-shaped groove (95), and the center of the arc-shaped groove (95) coincides with the center of the central hole (94); the relevant position of first radar mounting panel (91) is equipped with first through-hole (96) and second through-hole (97), first through-hole (96) with arc wall (95) cooperation, second through-hole (97) with centre bore (94) cooperation.
8. The multifunctional unmanned platform for underground space of claim 4, wherein the 16-line laser radar (1) is installed on the second installation plate (5) through the second installation bracket (3).
9. The multifunctional unmanned platform for underground space of claim 8, wherein the second mounting bracket (3) comprises a second radar mounting plate (31) and third and fourth supporting legs (32, 33) symmetrically arranged, and both ends of the second radar mounting plate (31) are respectively connected with the third and fourth supporting legs (32, 33).
10. The multifunctional unmanned platform for underground space of any one of claims 2 to 9, further comprising a material baffle plate (14), wherein the material baffle plate (14) is positioned at the right rear of the first mounting plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123083457.8U CN216422573U (en) | 2021-12-09 | 2021-12-09 | Multifunctional unmanned platform for underground space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123083457.8U CN216422573U (en) | 2021-12-09 | 2021-12-09 | Multifunctional unmanned platform for underground space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216422573U true CN216422573U (en) | 2022-05-03 |
Family
ID=81343133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123083457.8U Active CN216422573U (en) | 2021-12-09 | 2021-12-09 | Multifunctional unmanned platform for underground space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216422573U (en) |
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2021
- 2021-12-09 CN CN202123083457.8U patent/CN216422573U/en active Active
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