1358522 九、發明說明： 【發明所屬之技術領域】 本發明為一種掃雷裝置’尤其是關於一種可以自動進 行掃雷、標示地底物件位置的可承載掃雷器之載具改良。 【先前技術】 將特定物件埋設於地表下藉以達到隱藏目的常見於各</ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; [Prior Art] It is common to bury specific objects under the surface to achieve hidden purposes.
種領域，例如電纜、通訊纜線、地雷等等經常埋設於地底 下。然，這些物件於年代久遠之後常被遺忘其確切位置而 難以找尋。 以地雷為範例，埋設地雷係戰地施工相當重要的工程 八可以大里地損耗敵方人員的作戰能力以及減輕我 方人員防守的壓力。然而’地雷的埋設經常因為年代久遠 =後，忘記地雷的確切位置，導致後續的除雷困難，因此， 吊需要藉助除雷裝置將埋設的地雷予以掃除，確保我方人 員於雷區行進的安全。 s則的除雷裝置很多，依據功能主要可以分為一弓 破壞型以及一掃雷標示型等兩大類，其中，引爆破壞卷 以大型機具或遙控裝置以直接接觸的方式弓丨爆地雷，^ 除雷的㈣。另-類之掃雷標示型則是透過一掃雷機! 雷區内緩灯’逐—找出地雷的位置並予以喷漆標示卷 在以其他的方法移除地雷。 一為了讓掃瞄標示型除雷裝能夠順利避開地雷且能方 區行走’目前的掃瞄標示型除雷裝置常為多腳機器二 4 而，這樣的除雷裝置雖秋 單卻常因為其沾 4到於地雷區行走的目的 /、構複雜而導 導致仃走動作，緩慢且成本高昂。 【發明内容】 了解决目前的掃雷車 6 ，緩慢且成本高昂的問題一構過於複雜’導致行重 動的可承载掃带h毋 x明係為輪軸可移動之四輪權 點。 田。冑具改良，以期解決目前掃雷車之缺 本發明提供 及地底物^之r:10之載具改良，其包含—用於掃猫地雷 於該載具包含Γ田态以及承載該掃描器之載具，其特徵在 一車本體； 控制.主機.，該控制主機包含一 該控制模組電性遠垃 13 “i杈組以及分別與 性連接之一衛星訊號接 — 收發模組、—輪 误、，且 無線讯唬 ^出模、且、一輸入模組以及一記憶模組； -配重模組，其包含： 户且兩：：向滑軌組，其固定設於該車本體之前後兩端 處’且兩個s亥横向滑轨組相互平行； 縱向滑執組，其包含： ^ :.二橫向滑動驅動器，係分別可滑動設於兩個 且每一橫向滑動驅動器接受該控制主機之控 制於對應之該橫向滑轨組上滑移；以及 縱向轨道，其兩端分別固定於兩個該橫向 1358522 滑動驅動器，真分別與兩個該橫向滑動驅動器呈垂直；以 及 一配重件，其包含： /配重件本體； 〆配重件驅動器’其與該配重件本體固定連 結，且其可滑動設於該縱向執道’並接受該控制主機之控 制於該縱向軌道上滑動； —活動車輪組’其包含：Fields such as cables, communication cables, mines, etc. are often buried under the ground. However, these objects are often forgotten in their exact location after a long time and are difficult to find. Taking mines as an example, laying mines is a very important project in the construction of battlefields. Eight can damage the combat capability of enemy personnel and relieve the pressure on our personnel. However, the burial of mines is often because of the age of the old ones. After forgetting the exact location of the mines, it is difficult to remove the mines. Therefore, the cranes need to be removed by means of lightning removal devices to ensure the safety of our personnel in the minefields. . s There are many lightning removal devices. According to the function, it can be divided into two categories: a bow-destroy type and a mine-sweeping type. Among them, the detonation damage roll is a large-scale machine or a remote control device to directly blast the mine, Ray's (four). Another type of mine-sweeping type is through a sweeping machine! Lightning in the minefields is used to find out the location of the mines and to paint the rolls. Other ways to remove the mines. In order to make the scanning type-type lightning-removing device can smoothly avoid the mine and can walk in the square area, the current scanning-type lightning-removing device is often a multi-legged machine 2, and such a lightning-removing device is often because The purpose of walking in the minefield is complicated and leads to the walking movement, which is slow and costly. SUMMARY OF THE INVENTION To solve the current mine-sweeping vehicle 6, the problem of slow and high cost is too complicated, and the load-bearing sweeping belt h导致 x is the four-wheeled weight of the axle. field. The improvement of the cookware to solve the problem of the current mine-sweeping vehicle provided by the present invention and the improvement of the ground material of the r:10, which comprises - for sweeping the cat mine, the vehicle includes the squatting state and carries the scanner The utility model is characterized in that: the vehicle body; the control host. The control host comprises a control module electrically remotely 13 "i杈 group and one of the satellite connections respectively connected with the sexual connection - the transceiver module, the wheel error And a wireless communication module, an input module and a memory module; a weight module, comprising: a household and two:: a sliding rail group, which is fixedly disposed before the vehicle body At both ends, and the two s-horizontal lateral rail groups are parallel to each other; the longitudinal sliding group includes: ^:. two lateral sliding drives, respectively slidably disposed on two and each lateral sliding drive accepts the control host Controlling the sliding on the corresponding lateral rail group; and longitudinal rails, the two ends of which are respectively fixed to the two horizontal 1358552 sliding drivers, which are respectively perpendicular to the two lateral sliding drives; and a weight member, It contains: / weight parts a weight matching drive 'which is fixedly coupled to the weight body and slidably disposed on the longitudinal track and accepting control of the control host to slide on the longitudinal track; — an active wheel set' :
二·車輪橫移軌道’其分別固定設於該車本體 的前後兩端，其軸向與該橫向滑轨組之軸向平行； 四個車輪模組，每兩個該車輪模組可移動設 於一個該車輪橫移軌道上，每一個車輪模組包含： 一車輪座體，其可滑動設於其中之一個 X車輪榼移執道上，並接爻该控制主機之控制於對應之該 車輪橫移軌道上移動； 一車輪； π勺节丨）棚設於該旱 位置，.且接受該控制主機之控制轉動該車輪； 動哭 —轉向驅動器’其-轉動軸與該行 。固定連才矣，且該轉動袖與該卩進㈣器之轴心 器二:轉動驅動器接受該控制主機《控制，使該行進 >、β亥車輪對該轉動驅動器轉動；以及 座體以 一活動桿組，其 及該轉動驅動器表面，其接 兩端分別樞設於該車輪 雙該控制主機之控制改 變該轉動驅動器與地表之距離；以及 -個以上的地底物件探測與標定模組，其包含： 一掃瞄轨道，其固定設於挪、3. 向與該橫向滑執組之軸向平行； ' ’且其轴 且接一知晦驅動器，其活動套設於該掃猫執道， 又〜制主機之控·J ’沿該掃瞒軌道滑移； 接受外㈤2掃㈤11表面㈣㈣驅Μ11定連接，並 並2㈣主機之㈣對與其位置對應之區域進行掃雷， ' :▼雷結果傳回給控制主機；以及 ‘不模組，其包含一喷漆嘴、一 —氣壓筒，該噴漆嘴 、问乂及 -喷喈技“丄 又L亥知瞄器之軸心位置，且其 策薄知面朝地面方向，該 斗*〜 之内部空間形成連通，以 ㈣以及該氣愿筒 控制朝1先料 、中，5亥軋壓筒接受該控制模組之 漆4以及喷漆嘴方向輸出高壓氣體； 其中：2. The wheel traverse track 'is fixedly disposed at the front and rear ends of the vehicle body, and the axial direction thereof is parallel to the axial direction of the horizontal slide group; four wheel modules, each of which is movable In a wheel trajectory track, each wheel module comprises: a wheel base body slidably disposed on one of the X wheel squatting lanes, and connected to the control host to control the wheel traverse Moving on the orbit; a wheel; a scooping raft is placed in the dry position, and is controlled by the control panel to rotate the wheel; the crying-steering drive 'there is the axis of rotation and the line. Fixedly connected, and the rotating sleeve and the pivoting device of the thrusting device (four): the rotating drive accepts the control host "control, so that the traveling", the β-heel wheel rotates the rotary drive; and the seat body a movable rod group, and the surface of the rotating driver, the two ends of which are respectively pivoted on the wheel, the control of the control host changes the distance between the rotating driver and the ground surface; and more than one ground object detecting and calibrating module, The utility model comprises: a scanning track, which is fixedly arranged in the movement, 3. is parallel to the axial direction of the transverse sliding group; and the shaft is connected to the driver, and the activity is set on the sweeping cat, and ~ Control of the host computer · J 'slid along the broom track; accept the outer (five) 2 sweep (five) 11 surface (four) (four) drive 11 fixed connection, and 2 (four) host (four) to mine the area corresponding to its location, ' : ▼ Thunder results returned To the control host; and 'no module, which includes a spray nozzle, a - air cylinder, the spray nozzle, the sputum and the squirting technique "丄 L L L 知 瞄 之 之 之 , , , , , Facing the ground, the bucket *~ The internal space is formed to communicate with (4) and the gas cylinder is controlled to receive the high pressure gas in the direction of the paint 4 and the spray nozzle of the control module toward the 1st, middle, and 5th rolling cylinders;
该控制模組分別血II i隹肢、母車輪杈組之該車輪座體、該行 進驅動器、該轉向驅動 °電生連接，並與該配重件驅動器 母H骨動㈣器電性連接’且與 器 知瞄驅動器電性連接； :控制模組讀取無線訊號收發模組之訊號，分別控制 輪模組、該配重件驅動器、每一橫向滑動驅動器、 …田15以及該掃瞄驅動器執行其對應工作； 该控制模組依據接收自 輪模組、該配重件驅ΓΓ 號’控制各車 動益、母一橫向滑動驅動器、該掃瞄 1358522 器以及該掃猫驅動器執行其對應工作；. 該控制模組接收該衛星訊號接受模組所偵測的一衛星 定位座標訊號’並將該衛星定位座標訊號紀錄於該記憶模 組内；以及 該控制模組控制該輸出模組產生一聲光輸出。 其中，該活動桿組包含一致動器及複數個枢接桿，該 動器以及.各樞接;^干之兩端分別框接於該轉向驅動器以及 έ亥車輪座體表面，且該致動垃為4 & ±1 / ,, 发双勒态接欠该控制模組之控制改變 其總長度，已以改變對庳遠技夕絲A „ 人文3¾按之轉向驅動器與地表之相對 位置。 進一步地，該可承載掃雷器之載具改良包含二地底物 件探測與標定模組分別設於該車本體的前端與—底部表面 之中段部位。 n其中，該標示模植包含-噴漆嘴、一漆筒以及-氣壓 诗’遠噴漆嘴固定設於該掃晦器之轴心位置，且其一喷嘴 端面朝地面方向，該噴漆嘴、 ^ Η ^ '4 >1 ^ α, Μ漆疴以及該氣壓筒之内部 成連通m氣壓筒接受 蝴以及喷漆嘴方向輪出高壓氣體。 精此，本發明提供之可 有輪子的車體，除構造相對，雷器之載具改良係為具 進速度快速，同時，本發明^以及成本低廉外，且其行 掃瞄過程遭遇地雷時，可可承載知雷器之載具改良於 能透過改變輪子位置以及二改變前進方向的前提下，仍 繼續掃雷，調整過程快迷且方式，持續朝預設前進方向 〃、有高度的適應性及智慧化。 【實施方式】 °月參考第一A圖、第一 B圖、第一 c圖以及第二 圖’其為本發明可系 乃』承載知雷器之載具改良之較佳實施例， 八匕3 .車本體（1〇)、一配重模組（20)、一活動車輪組 ()個以上之地底物件探測與標定模組（40)以及一控制 主機（50)。 夕 Λ車本體（1 0)可為任意外形，例如圓形、正方形、 長方形等，本較佳實施例之車本體（1 0)為矩形盒體 狀。 忒配重杈組（20)係可活動置於該車本體（1〇)内其 包含兩橫向滑軌組（22)、_縱向滑轨組（24)以及―配重件 (26)。 兩個該橫向滑軌組（22) ®4 *丄 、川疋6又於该車本體（10)之前後 兩方而並互為.平行，.木齡枯餘#彡丨 s 佳貝細例之杈向滑軌組（22)為兩渦 桿。 〜縱向α軌組（24)包含兩個橫向滑動驅動器（242)以及 =向執道（2价該兩個橫向滑動驅動印42)分別活動套 〇又於兩個橫向滑軌組（22)，盆為可3為 M ^ ^ « ，、 叉该控制主機（50)之控 ;以向滑軌組（22)之軸向移動的裝 切幻I置，例如，其可包含 一馬達以及一套設於該馬達之渦鈐 κ渴輪，其中，該渦輪盥該橫 甸滑軌組（22)嚙合。另外，哕浐卜U。 Μ向滑動驅動器（242)之控制 Λ说可以無線或有線方式傳輸， ，、電力之來源可為電池。 该縱向軌道（244)之兩端分別與該 w恍同滑動驅動器（242) ⑴8522 =連接’且該縱向滑軌（244)之轴向與該橫.向滑.軌組（22) 轴向垂直。其中’本較佳實施例之縱向滑執(242)係包含 兩個鄰近且平行的渦桿。 該配重件（26)包含—配重件本體（262)以及—固定設於 -該配重件本體⑽）之配重件驅動器（264)，其中，該配重件 :體(262)為具有一定重量的塊體，其可以密度較大的金屬 1作。該配重件驅動器（264)局㈣該縱向滑執（Μ)嗜合， • 亚接受控制訊號驅動整個配重件（Μ)沿著該縱向滑執（242) 移動。該配重件驅動器(264)可為包含一馬達以及一渦輪， 該渦輪與該縱向滑軌（242)响合。其中，該配重件驅動器（2叫 之電力來源可為-電池，而其控制訊號可以有線或無線的 方式傳輪。 該活動車輪（3〇)可活動設於該車本體（1〇)之一底部表 面，其包含兩個車輪橫移軌道（32)以及四個車輪模組（34)。 該車輪橫移:執道（32)分別設於該車本體（1 〇)之底部表面的 鲁前後兩端處，每一車輪橫移執道（3 2)可為一線性滑軌或為兩 個相互鄰近且平行的渦桿組，本較佳實施例之該車輪橫移 軌道（32)係包含兩個相互平行的渦桿，且該車輪橫移軌道 (32)之軸向與該橫向滑軌組（22)之軸向平行。 »亥四個車輪模組（34) ’每兩個車輪模組（34)可活動設於 • 該車輪橫移執道（32)上，每一車輪模組（34)包含一車輪座體 (342)、一活動桿組（344)、一轉向驅動器（345)、一行進驅 動器（346)以及—車輪（347)。 該車輪座體（342)活動套設於該一個該車輪橫移轨道 1358522 (32)上，該車輪座體（342)套設於該車·輪橫移轨道（32)並局 部嚙合，使該車輪座體（342)可對該車輪橫移轨道（32)移 動’其内可包含一馬達以及一與該車輪橫移執道嚙合之一 渦桿。 該活動桿組（344)包含一致動器（3442)以及複數個樞接 桿（3444)，該致動器（3442)可依據控制訊號改變總長度的組 件，其一端枢接於該車輪座體（342)。本較佳實施例包含兩 鲁 個樞接彳干（3444)，母個樞接桿（3444)之一端樞接於該車輪座 體（342)，且與該致動器（3442)之樞接位置分離。 該轉向.驅動器（345)可為一馬達，其表面固定連接於該 致動器（3442)、該枢接桿（3444)之另一端樞接’其一轉動軸 之轴向與係與該車輪橫移軌道（32)之圓周切線方向平行。 該行進驅動器（346)可為一馬達，其表面固定設於該轉 向驅動器（345)之轉動軸，其一轉動軸之轴向與該轉向驅動 器（345)之轉動軸軸向垂直。 馨 該車輪（347)固定套設於該行進驅動器（346)之轉動 軸，當订進驅動器（346)接收控制訊號而驅動其轉動軸時， 該車輪（347)開始旋轉而使該車本體（1〇)開始行進，當該轉 向驅動益（345)轉動其轉動軸時，該行進驅動器（346)以及該 車輪（347)對著該轉向驅動器（345)轉動，即可達到轉動車輪 (347)轉向的目的，讓該車本體於行進時得以轉向。 6亥地底物件探測與標定模組（4〇)包含一掃瞄軌道 (42〉' —掃瞄驅動器（44)、一掃瞄器（46)以及一桿示 (47)。 一該掃❹道（42)設於料本體⑽，其可為線性滑執或 -滿桿轨道’本較佳實施例包含兩個地底物件探測與標定 振組(’，其分別設於該車本體(1〇)之前端 段部位，。 該掃瞄驅動器(44)活動套設於該掃瞄軌道(42)，其局部 與該掃瞄軌道（42)鳴合。 八° 該掃猫11(46)係為具㈣測地雷功能㈣置，其固定設 於該㈣驅動器（44)，其㈣測結果傳送至該控制主機 (50)。 "亥‘不拉組（47)為具有位置標示功能的裝置，例如一電 控喷漆裝置等，本較佳實施例之該標示模組（47)與該掃瞎器 (46)固^連接’其於該㈣器（46)發現地雷之後，接受該控 制主機（50)之控制對該地雷區域喷漆。本較佳實施例之該標 不模組（47)包含内部流道均連通的一喷漆嘴（472)、一漆筒 (㈣）以及-氣壓筒(476)’該噴漆嘴（472)設於該㈣器州 之中心位置，且其一噴嘴端朝地面方向延伸，該噴漆嘴Μ”） y X車人& 4漆筒（474)以及該氣壓筒（476)串聯使該氣壓 筒（476)文該控制主機（5〇)控制而輸出高壓氣體時，填充於 該漆筒（474)内部的油漆則朝該噴漆嘴（472)方向輸出，達到 喷漆效果。本較佳實施例包含兩組地底物件探測與標定模 且（40)刀別裝没於該車本體（1〇)之前端以及中段部位，其 中’由於設於前端的地底物件探測與標定模組（4Q)於搜尋地 雷之後即成噴漆等標示工作，故設於該車本體〇 〇)之地 底物件探測.與標定模組⑽）可不包含該標示模組（Ο)，以節 12 1358522 省製造成本。 該控制主機（50)係固定置於該車本體（1〇)，其可分.別與 各橫向滑動驅動器（242)、該配重件驅動器（264)、轉向驅動 * 器（345)、行進驅動器（3扑）、致動器（3442)、掃瞄驅動器 (44)、掃瞄器（46)、氣壓筒（476)·.·等電控裝置電性連接，其 可依據内部設定的行程或依據人為遙控方式，自動或手控 執行地底物.件探測與標示工作（例如探測地底之地雷或金 鲁 屬等）。該控制主機（50)可為一控制電腦，其可包含一控制 模組（52)以及與該控制模組（52)電性連接之一衛星訊號接 文模組（53)、一無線訊號收發模組（54)、輸出模組（55)、一 輸入模組（56)以及一記憶模組（57)。 該控制模組（52)可分別與該車輪座體（342)、該致動器 (3442)、該行進驅動器（346)、該轉向驅動器（345)、該掃瞄 益（46)、該掃目苗驅動器（44)、該氣壓筒（476)、該配重件驅 動器（264)以及該橫向滑動驅動器（242)進行訊號傳遞或呈 馨 電性連接，並進行如下之控制動作（以掃瞄地雷作為範例 說明）： 控制該車輪座體（342)於該車輪橫移軌道（32〉移動，改 便車輪（347)對該車本體（10)的相對位置，以避免車輪（347) - 於行進時壓過地雷； ' 控制各致動器（3442)延伸或收縮，讓特定之該車輪（347) 於適當時刻離開或置於地表，以避免車輪（347)於行進時壓 過地雷； 驅動各行進驅動器（346) ’使該車輪（347)轉動而讓該車 13 1358522 本體（10)於地表移動位置； 驅動各轉向驅動器（345)，使車本體（1〇)之前進方向改 變； 控制該掃瞄器（46)執行地雷掃瞄工作，並持續接收該掃 瞄器（46)之掃瞄結果； 控制該掃瞄驅動器（44)，讓該掃瞄器（46)於該掃瞄軌道 (42)左右橫移，以配合車本體（1〇)行進時，擴大掃瞄範圍（如 第三圖）； 驅動該氣壓筒（476)以於該掃瞄器（46)發現地雷時進行 喷漆標示動作； 驅動該配重件驅動器（264)，以於該車輪（347)移位或舉 起時導致該車本體（1 〇)失去支撐而可能傾倒時，改變車本體 (10)之前後重心位置’避免前述傾倒狀況發生； 驅動該橫向滑動驅動器（242)，以於該車輪（347)移位或 舉起時導致該車本體（10)失去支撐而可能傾倒時，改變車本 體（1 〇)之左右重心位置，避免前述傾倒狀況發生。 。該衛星訊號接受模組（53)係持續接受衛星定位座標訊 號，並於該掃晦器（46)發現地雷時，透過該控制模組间將 地雷的衛星定位位置紀錄於該記憶模組（5 7)。 該無線訊號收發模組（54)為可進行無線訊號傳遞的電 子额，其用於該控制模組(52)與前述的電子功能模組之間 號傳遞，進一步地，該無線訊號收發模組(54) 可作為與-外部遙控器進行訊號傳遞之用，讓使用者可透 過操控該外部遙控γ ,、，4 士， 、控益件以控制本較佳實施之各項動作（如 14 1358522 前進、轉彎、掃雷、喷漆、移輪 '抬輪...等）。 ^輸出模組（55)係、為-可產生聲音、影音、閃光等效果 =1地其配合本較佳實施例於特定時刻產生聲光輸出（例 如發現地雷時、轉彎時…等）。 :輸入模組(56)為-人機輪入介面，其接受使用者操 控，對该控制模組（55)進行工作模式設定，例如，使用者可 透過錢入模組（56)，設定該控制模組（52)執行於一區域範 圍自動掃猫.方法，讓該控制模组（52〉可自動驅動前述各功能 組件’以進行地雷掃晦、自動前進、自動閃避地雷（適時改 變車輪位置或高度）、自動料等’讓本較佳實施例可自 行工作（如第四圖所示）。 請參考第五圖，其為本發明較佳實施例行於雷區内進 行掃聪的各種不同路徑狀況（A、B、C、D)模擬’如圖中a 路徑所不’該掃㈣（46)發現該車本體（叫之右前方有—地 雷（7〇)’在不轉㈣狀況下’該控制模組（52)驅動位於該車 本體（1〇)右別方的車輪模组（34)之致動胃（3442)收縮使位 於右則方的該車輪（347)離開地表（標示為34a),同時，該 t制模組（52)亦驅動該配重件驅動器（264)以及該橫向滑動 驅動器（242)，使該配重件本體（262)移至該車本體（10)的左 後方使》亥車本體（10)之重心移位，讓該車本體於三個 車輪模組（34)之支持下仍可平衡且持續前進。同理，第五圖 中之B路徑亦可以前述方式達到掃雷目的。 而於第五圖的C、〇兩種路徑狀況下，由於該車本體（1 〇) 之左、右前輪前方都有該地雷（70)，因此，該控制模組（52) 15 1358522 需驅動該左、-女分#志 右往该車本體（1〇)之令間移動後，再繼續前 進，而當該車本體（10)二 、 (〇)之則方兩個車輪模組（34)通過該地雷 (70)之後，回復至該車 芏皁本體（1〇)之左、右前方，同理，為了 避免位於該車本體Μη、你士、 )後方之兩個車輪模組（34)碰觸地 雷，需於該車本體Mnw主搞人# ^ ^ ( 〇)持、.只向刖行之前，將後方左右兩個車 輪模組（34)移至後方中間，再兑 1 丹繼、.男向刖直至通過該地雷（7〇)The control module respectively connects the wheel base of the blood II i limb, the mother wheel set, the travel drive, the steering drive, and is electrically connected with the weight drive driver H-bone (four) And electrically connected to the device; the control module reads the signal of the wireless signal transceiver module, respectively controls the wheel module, the weight device driver, each lateral sliding driver, the field 15 and the scanning driver Performing the corresponding work; the control module performs the corresponding work according to the receiving wheel module, the weight member drive number 'control each car mover, the parent-side horizontal slide drive, the scan 1355852 device, and the scan cat driver The control module receives a satellite positioning coordinate signal detected by the satellite signal receiving module and records the satellite positioning coordinate signal in the memory module; and the control module controls the output module to generate a Sound and light output. The movable rod group includes an actuator and a plurality of pivoting rods, and the two ends of the movable rod and the pivoting member are respectively connected to the steering drive and the surface of the wheel housing, and the actuation is performed. The load is 4 & ±1 / , and the control of the control module changes its total length. It has changed the relative position of the steering drive to the surface of the steering wheel. Further, the carrier-enabled mine-sweeping device improvement comprises two bottom object detecting and calibrating modules respectively disposed at a front end portion of the vehicle body and a middle portion of the bottom surface. n wherein the marking mold comprises a spray paint nozzle, The paint cylinder and the pressure poem 'the far spray paint nozzle are fixedly disposed at the axial position of the broom, and one nozzle end face faces the ground direction, the spray paint nozzle, ^ Η ^ '4 > 1 ^ α, Μ 疴And the inside of the air cylinder is connected to the m air cylinder to receive the butterfly and the high pressure gas in the direction of the spray nozzle. In this case, the vehicle body provided with the wheel is provided with the improvement of the carrier of the lightning device. Fast, at the same time, the invention and low cost In addition, when the mine scanning process encounters a mine, the carrier of the cocoa carrying the lightning device is improved to continue to sweep the mine by changing the position of the wheel and changing the direction of the advancement. The adjustment process is fast and the way is continued. The direction of advancement is 〃, and it is highly adaptable and intelligent. [Embodiment] Reference to the first A map, the first B map, the first c map, and the second graph 'is the invention can be carried out The preferred embodiment of the improved vehicle of the lightning device, the vehicle body (1〇), the weight module (20), and the movable wheel group () or more of the ground object detection and calibration module (40) And a control host (50). The vehicle body (10) can be of any shape, such as a circle, a square, a rectangle, etc., and the vehicle body (10) of the preferred embodiment has a rectangular box shape. The counterweight stack (20) is movable within the vehicle body (1〇) and includes two transverse rail sets (22), a longitudinal rail set (24), and a "weighting member (26). The horizontal slide group (22) ® 4 * 丄 and Chuan 疋 6 are in front of and behind the vehicle body (10) and are mutually flat. , 木 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳 佳(2 valences of the two lateral sliding drive prints 42) respectively, the movable sleeve is applied to the two lateral slide groups (22), the basin is 3 for M ^ ^ « , and the control of the control host (50) is The mounting of the slide rail group (22) is axially movable, for example, it may include a motor and a set of vortex 钤 thirteen wheels disposed on the motor, wherein the turbine 盥 the 甸 滑 滑 滑(22) Engagement. In addition, the control of the sliding drive (242) can be transmitted wirelessly or by wire, and the source of the power can be a battery. The two ends of the longitudinal rail (244) are respectively connected with the sliding drive (242) (1) 8522 = and the axial direction of the longitudinal slide (244) is perpendicular to the transverse direction of the slide rail assembly (22). . Wherein the longitudinal slipper (242) of the preferred embodiment comprises two adjacent and parallel scrolls. The weight member (26) includes a weight body (262) and a weight driver (264) fixed to the weight body (10), wherein the weight member (262) is A block having a certain weight, which can be made of a metal 1 having a relatively high density. The counterweight drive (264) is (4) the longitudinal slip (Μ) is incompetent, • the sub-acceptance control signal drives the entire counterweight (Μ) to move along the longitudinal slip (242). The weight drive (264) can include a motor and a turbine that is coupled to the longitudinal rail (242). Wherein, the weight driver (2) can be a battery source, and the control signal can be transmitted in a wired or wireless manner. The movable wheel (3〇) can be set in the body of the vehicle (1〇). a bottom surface comprising two wheel traverse tracks (32) and four wheel modules (34). The wheel traverse: the road (32) is respectively disposed on the bottom surface of the vehicle body (1 〇) At the front and rear ends, each wheel traverse (32) may be a linear slide or two mutually adjacent and parallel vortex groups. The wheel traverse track (32) of the preferred embodiment is Containing two mutually parallel vortex rods, and the axial direction of the wheel traverse rail (32) is parallel to the axial direction of the transverse rail group (22). »Hai four wheel modules (34) 'Every two wheels The module (34) is movable on the wheel traverse (32), and each wheel module (34) includes a wheel base (342), a movable rod set (344), and a steering drive ( 345), a travel drive (346) and a wheel (347). The wheel base (342) is movably disposed on the one of the wheel traverse tracks 13585 22 (32), the wheel base body (342) is sleeved on the vehicle wheel trajectory (32) and partially meshed, so that the wheel seat body (342) can move the wheel traverse track (32). A motor and a scroll member meshing with the wheel traverse can be included. The movable rod set (344) includes an actuator (3442) and a plurality of pivot rods (3444), the actuator ( 3442) A component that can change the total length according to the control signal, one end of which is pivotally connected to the wheel base body (342). The preferred embodiment comprises two pivoting ports (3444) and a mother pivoting bar (3444). One end is pivotally connected to the wheel base body (342) and is separated from the pivotal position of the actuator (3442). The steering drive (345) can be a motor whose surface is fixedly coupled to the actuator ( 3442), the other end of the pivoting rod (3444) is pivotally connected. The axial direction of a rotating shaft is parallel to the circumferential tangential direction of the wheel traverse track (32). The traveling drive (346) can be a motor. The surface is fixedly disposed on the rotating shaft of the steering drive (345), and the axial direction of a rotating shaft and the steering drive (345) The moving shaft is axially vertical. The wheel (347) is fixedly disposed on the rotating shaft of the traveling driver (346), and the wheel (347) starts to rotate when the setting drive (346) receives the control signal to drive the rotating shaft thereof. When the vehicle body (1〇) starts to travel, when the steering drive benefits (345) rotates its rotating shaft, the traveling driver (346) and the wheel (347) rotate against the steering driver (345). The purpose of turning the turning wheel (347) is achieved, so that the body of the vehicle can be turned while traveling. The 6-floor object detecting and calibrating module (4〇) includes a scanning track (42>'-scanning drive (44), one sweep The sight (46) and one shot (47). A broom (42) is disposed on the material body (10), which may be a linear slipper or a full rail track. The preferred embodiment includes two ground object detection and calibration vibration groups (', which are respectively disposed in the vehicle The front end portion of the body (1〇), the scanning driver (44) is movably sleeved on the scanning track (42), and partially oscillates with the scanning track (42). Eight° The sweeping cat 11 ( 46) is equipped with (4) mine function (4), which is fixedly located in the (4) driver (44), and (4) the test result is transmitted to the control host (50). "Hai's pull group (47) has position indication a functional device, such as an electronically controlled painting device, etc., the marking module (47) of the preferred embodiment is coupled to the broom (46), and after receiving the mine by the (four) device (46), accepting The control host (50) controls the mine area to be painted. The standard module (47) of the preferred embodiment includes a spray nozzle (472), a paint cylinder ((4)) and an internal flow passage. The air cylinder (476) 'the paint nozzle (472) is located at the center of the (four) state, and a nozzle end thereof extends toward the ground, the spray nozzle Μ") y X The vehicle man's & 4 paint cartridge (474) and the air cylinder (476) are connected in series such that the air cylinder (476) is controlled by the control unit (5) to output high pressure gas, and is filled in the interior of the paint cylinder (474). The paint is outputted toward the spray nozzle (472) to achieve the paint effect. The preferred embodiment comprises two sets of ground object detection and calibration molds and (40) the cutters are not installed on the front end and the middle section of the vehicle body (1〇). The part, in which the ground object detection and calibration module (10) is located in the vehicle body 〇〇) because the ground object detection and calibration module (4Q) located at the front end is marked by painting after searching for the mine. The marking module (Ο) may not be included, and the manufacturing cost is saved in Section 12 1358522. The control host (50) is fixedly disposed on the vehicle body (1〇), which can be divided into various lateral sliding drives (242), The weight drive (264), the steering drive (345), the travel drive (3 flap), the actuator (3442), the scan driver (44), the scanner (46), the air cylinder (476) ···Electrical connection of electric control device, which can be based on internal set stroke or according to person For remote control, automatic or manual control of the grounding, detecting and marking work (such as detecting underground mines or Jinlu, etc.). The control host (50) can be a control computer, which can include a control module ( 52) and a satellite signal interface module (53) electrically connected to the control module (52), a wireless signal transceiver module (54), an output module (55), and an input module (56) And a memory module (57). The control module (52) can be respectively associated with the wheel base (342), the actuator (3442), the travel drive (346), the steering drive (345), the The scanning benefit (46), the sweeping seed drive (44), the air cylinder (476), the weight drive (264), and the lateral sliding drive (242) are signal-transmitted or electrically connected, and The following control action is performed (using the scanning mine as an example): controlling the wheel seat body (342) to move on the wheel traverse track (32>, changing the relative position of the wheel (347) to the vehicle body (10) To avoid the wheel (347) - over the mine when traveling; ' control each actuator (3442 Extending or contracting to cause a particular wheel (347) to leave or be placed at the surface at an appropriate time to prevent the wheel (347) from overwhelming the mine while traveling; driving each of the travel drives (346) to rotate the wheel (347) And the 13 1358522 body (10) is moved to the ground surface; driving each steering driver (345) to change the forward direction of the vehicle body (1〇); controlling the scanner (46) to perform mine scanning work, and Continuously receiving the scan result of the scanner (46); controlling the scan driver (44) to move the scanner (46) to the left and right of the scan track (42) to match the vehicle body (1〇) While traveling, expand the scanning range (as shown in the third figure); drive the air cylinder (476) to perform the painting marking action when the scanner (46) finds the mine; drive the weight driver (264) to When the wheel (347) is displaced or lifted, causing the vehicle body (1 〇) to lose support and possibly dumping, changing the front and rear center of gravity of the vehicle body (10) to avoid the occurrence of the aforementioned dumping condition; driving the lateral sliding drive ( 242), in order to shift or lift the wheel (347) When lead vehicle body (10) and possible loss of support poured, this change car body (1 square) about the center of gravity of the position to avoid the dumping condition occurs. . The satellite signal receiving module (53) continuously receives the satellite positioning coordinate signal, and when the mine is found by the broom (46), the satellite positioning position of the mine is recorded in the memory module through the control module (5) 7). The wireless signal transceiver module (54) is an electronic amount capable of wireless signal transmission, and is used for number transmission between the control module (52) and the aforementioned electronic function module. Further, the wireless signal transceiver module (54) It can be used as a signal transmission with the external remote control, allowing the user to control the external control γ, , 4, and control parts to control the actions of the preferred implementation (eg 14 1358522) Advance, turn, mine sweeping, painting, transfer wheel 'lifting wheel...etc.). The output module (55) is - can produce sound, video, flash, etc. =1. It cooperates with the preferred embodiment to generate acousto-optic output at a specific time (e.g., when a mine is found, when turning, etc.). The input module (56) is a human-machine wheel-in interface, which is controlled by a user and performs an operation mode setting on the control module (55). For example, the user can set the function through the money entry module (56). The control module (52) executes an area-wide automatic sweeping method. The control module (52> can automatically drive the aforementioned functional components to perform mine broom, automatic advancement, and automatic dodging of mines (change the wheel position in time) Or height), automatic material, etc. 'Let the preferred embodiment work on its own (as shown in the fourth figure). Please refer to the fifth figure, which is a variety of embodiments of the invention in the minefield. Different path conditions (A, B, C, D) simulate 'as shown in Figure a, the path is not'. The sweep (4) (46) finds that the car body (called right front has - mine (7 〇)' in the non-turning (four) situation The lower control module (52) drives the actuation of the stomach module (342) of the wheel module (34) located on the right side of the vehicle body (1) to cause the wheel (347) located on the right side to leave the surface ( Marked as 34a), at the same time, the t-module (52) also drives the counterweight driver (264) and the To the sliding drive (242), the weight body (262) is moved to the left rear of the vehicle body (10) to shift the center of gravity of the vehicle body (10), and the vehicle body is applied to the three wheel modules. With the support of (34), it can still be balanced and continue to advance. Similarly, the B path in the fifth figure can also achieve the purpose of minesweeping in the foregoing way. However, in the case of the two paths of C and 第五 in the fifth figure, due to the vehicle body (1 〇) The mine has the mine (70) in front of the left and right front wheels. Therefore, the control module (52) 15 1358522 needs to drive the left, the female, and the right to the body (1〇). After moving between the two, the two wheel modules (34) of the vehicle body (10) and (〇) pass through the mine (70), and then return to the body of the rut soap (1〇) ) The left and right fronts, in the same way, in order to avoid the two wheel modules (34) located behind the car body Μη,你士, ) touch the mine, the main body of the car Mnw is engaged in people # ^ ^ ( 〇 ), before moving to the front, move the rear left and right wheel modules (34) to the middle of the rear, and then exchange 1 Danji, male to 刖 until the passage Ray (7〇)
為止。其中，為了讓該控制模組（52)正確取得於行進過程地 :的相對位置’本較佳實施例之車本體（1Q)下表面中段部位 。又有地底物件探測與標定模組（4〇)，讓該車本體（1 〇)於前 進時，該控制模組（52)仍能掌控該地雷（7Q)之位置，而能於 適當的時刻移動該車輪模組（34)。 請參考第六圓，其分別為該控制模組（52)執行於該區域 範圍自動掃㈤方法之流程圖，其步驟包含：讀取衛星定位 座標（811)、.執行掃雷（812)、判斷是否結束（813)、判斷是 否發現地雷（821)、停止前進（822)、騎是否為前置掃目苗器 發現地雷（831)、執行標示作業（832)、判斷是否需要進行車 輪閃避作業（841 )、計算並改變配重件位置（842)、改變車輪 位置（843)以及繼續前進（851)。 該讀取衛星定位座標（8彳彳）步驟中，係為該控制模組（52) 持續由該衛星訊號接收模組（53)讀取所在位置的衛星定位 座標。 該執打掃雷（81 2)步驟，為該控制模組（52)驅動該掃瞄 器（46)及該掃瞄驅動器（44)以進行掃雷。 該判斷是否結束（813)步驟，為該控制模組（52)判斷該 16 輸入模組（5 6)或該I & % % ~ _ ^ …線訊唬收發模組（54)是否接受使用-者 輸^止訊號，右判斷結果為該控制模組（52)確實收到該 停止訊號，則跳出區域範圍自動掃瞎方法之流程，反之^ 則繼續進行下一步驟。 該判斷是否發現地雷（821)步驟，係為該控制模 判斷該㈣器（46)是否發現地雷，若判斷結果為否，則執行 ^取何星；t位座標（811)步驟，反之，則進行下一步羯。 該停止前進（822)步驟，為該控制模組（52)停止各車輪 j組（34)之行進驅動器（346)，讓該車本體⑽停止繼續向 月1j 。 該判斷是否為前置掃晦器發現地雷（831)步驟，為該控 制模組㈣判斷是由前置之該㈣器（46)發現地雷，或為該 置於该車本體(to)底部表面中段部位的掃聪器(46)發現地 雷’若判斷結果確實是該前置的料器州發現地雷，則進 灯下一步驟(832)，反之，則進行該判斷是否需要進行車輪 閃避作業（841)步驟。 早輪 該執行標示作業（832)步驟中，為該控制模組⑽驅動 “廢筒(476)，讓漆料喷出而標示於該掃猫器(46)對庫位 置的地表，同時’該控制模組(52)將此時的衛星定位位置纪 錄於該記憶模組（57)。 、 該判斷是否需要進行車輪閃避作業（841)步驟，為該控 制模組（52)依據該掃猫器（46)發現地雷的位置判斷地^ f是否與車輪（347)預設之前進隸重疊，若賴結果發現 車本體⑽朝預設方向繼續前進時，該車輪（347)將觸碰所 17 發現的地雷者，則執行下一步驟，反之 星定位座標（811)步驟。 該計算並改變配重件位置（842)步驟，為該控制模組間 依據所發現的地雷的位置(例如：左前方、右前方、左中段、 右中段、左右前方、；吐、 中奴_··等）’依據前述的方式判 段各車輪模組（34)預計進行閃避的位置後，依據車本體⑽until. In order to allow the control module (52) to correctly obtain the relative position of the traveling process, the middle portion of the lower surface of the vehicle body (1Q) of the preferred embodiment. There is also a ground object detection and calibration module (4〇), so that when the vehicle body (1 〇) is moving forward, the control module (52) can still control the position of the mine (7Q), and at the appropriate time Move the wheel module (34). Please refer to the sixth circle, which is a flow chart of the automatic scanning (5) method performed by the control module (52) in the region, and the steps include: reading the satellite positioning coordinates (811), performing the minesweeping (812), and determining Whether to end (813), determine whether or not the mine is found (821), stop the forward movement (822), whether the ride is a pre-sweeping device, find a mine (831), perform a marking operation (832), and determine whether a wheel dodging operation is required ( 841), calculate and change the weight member position (842), change the wheel position (843), and continue to advance (851). In the step of reading the satellite positioning coordinate (8彳彳), the control module (52) continuously reads the satellite positioning coordinates of the location by the satellite signal receiving module (53). The sweeping (81 2) step drives the scanner (46) and the scan driver (44) for the mine control by the control module (52). Whether the determination ends (813), the control module (52) determines whether the 16 input module (56) or the I & % % ~ _ ^ ... line signal transceiver module (54) accepts use - The user inputs the stop signal, and the right judgment result is that the control module (52) does receive the stop signal, and then jumps out of the process of the area range automatic broom method, otherwise, the process proceeds to the next step. The determining whether to find the mine (821) step is to determine whether the (four) device (46) finds a mine for the control mode, and if the judgment result is no, execute the star; the t-bit coordinate (811) step, otherwise, Go to the next step. The stop advance (822) step stops the travel driver (346) of each wheel j group (34) for the control module (52) to stop the vehicle body (10) from continuing to the month 1j. The determining is whether the front broom finds a mine (831) step, and the control module (4) determines that the mine is found by the front (4) device (46), or is placed on the bottom surface of the vehicle body (to) The sweeper (46) in the middle section finds that the mine is 'if the result is that the mine is found in the front feeder state, then the next step is to enter the light (832). Otherwise, it is judged whether the wheel dodging operation is required ( 841) Steps. In the step of performing the marking operation (832) in the early morning, the control module (10) drives the "waste canister (476) to eject the paint and mark the surface of the sweeping device (46) against the storage location, and The control module (52) records the satellite positioning position at the current time in the memory module (57). The determining whether the wheel doping operation (841) step is required, and the control module (52) according to the mouse sweeping device (46) It is found that the position of the mine is judged whether the ground f is overlapped with the pre-set of the wheel (347). If it is found that the vehicle body (10) continues to advance in the preset direction, the wheel (347) will touch the spot 17 The mines perform the next step, otherwise the star positioning coordinates (811) step. The calculation and change the weight position (842) step, according to the position of the mine found between the control modules (for example: left front , right front, left middle, right middle, left and right front; spit, middle slave _··, etc.) according to the above-mentioned manner, the position of each wheel module (34) is expected to be dodged, according to the vehicle body (10)
於亡車輪模組(34)調整後可能的配重失衡，驅動該配重器驅 動為（264)以及該橫向滑動驅動器（342)，讓該配重件本體 (262)先行改變該車本體（1〇)之重心。 該改變車輪位置（843)步驟，係為該控制模組（52)依據 前-步驟(842)的計算結果，驅動需要移位或舉起之車輪模 組（34)，達到閃避地雷的目的。 、 ^該繼續前進（851)步驟，係為該控制模組（52)於各車輪 模組（34)完成位置調整之後，驅動及控制各車輪模組⑼)之The possible counterweight imbalance after adjustment of the dead wheel module (34) drives the counterweight drive (264) and the lateral sliding drive (342) to cause the counterweight body (262) to change the vehicle body first ( 1〇) The center of gravity. The step of changing the wheel position (843) is such that the control module (52) drives the wheel module (34) that needs to be displaced or lifted according to the calculation result of the previous step (842) to achieve the purpose of dodging the mine. The step of continuing (851) is to drive and control each wheel module (9) after the control module (52) completes the position adjustment of each wheel module (34).
則進行該讀取衛 仃進驅動器（346)及轉向驅動器（345)，讓車本體（繼 預設的方向前進。 朝 【圖式簡單說明】 第一 Α圖為本發明較佳實施例之立體圖' 第一 B圖為本發明較佳實施例之側視圖。 第一 C圖為本發明較佳實施例之局部放大圖。 第一圖為本發明較佳實施例之系統方塊圖。 第二圖為本發明較佳實施例之第一使用示意圖。 第四圖為本發明較佳實施例之第二使用示意圖。 18 1358522 第五圖為-本發明較佳實施例之第三使用示意圖。 第六圖為本發明較佳實施例之流程圖。 【主要元件符號說明】 (10)車本體 (20)配重模組 (22)橫向滑執組 (2 4)縱向滑軌組 (242)橫向滑動驅動器 (244)縱向執道 (26)配重件 (262)配重件本體 (264)配重件驅動器 (30)活動車輪組 (32)車輪橫移軌道 (34)車輪模組 (342)車輪座體 (344) 活動桿組 (3442)致動器 (3444)枢接桿 (345) 轉向驅動器 (346) 行進驅動器 (347) 車輪 (40)地底物件探測與標定模組 (42)掃瞄軌道 19 1358522 (44)掃瞄驅動器 (46) 掃瞄器 (47) 標示模組 (472)喷漆嘴 (474)漆筒 (476)氣壓筒 (50)控制主機 (52) 控制模組 (53) 衛星訊號接受模組 (54) 無線訊號收發模組 (55) 輸出模組 (5 6)輸入模組 (57)記憶模組 20Then, the reading deflation drive (346) and the steering drive (345) are performed to advance the vehicle body (advancing direction in a preset direction.) [Brief Description] The first drawing is a perspective view of a preferred embodiment of the present invention. 1 is a side view of a preferred embodiment of the present invention. The first C is a partial enlarged view of a preferred embodiment of the present invention. The first figure is a block diagram of a system according to a preferred embodiment of the present invention. The first use schematic diagram of a preferred embodiment of the present invention. The fourth figure is a schematic diagram of the second use of the preferred embodiment of the present invention. 18 1358522 The fifth figure is a third use schematic diagram of a preferred embodiment of the present invention. The figure is a flow chart of a preferred embodiment of the present invention. [Description of main component symbols] (10) Vehicle body (20) weight module (22) Horizontal sliding group (2 4) Longitudinal sliding group (242) lateral sliding Drive (244) longitudinal way (26) counterweight (262) counterweight body (264) counterweight drive (30) movable wheel set (32) wheel traverse track (34) wheel module (342) wheel Seat (344) Moving Rod Set (3442) Actuator (3444) Pivot Rod (345) Steering Drive (346) Travel Drive (347) Wheel (40) Ground Object Detection and Calibration Module (42) Scan Track 19 1358522 (44) Scan Driver (46) Scanner (47) Marker Module (472) Paint Spray Tip (474) Paint Tube (476) air cylinder (50) control panel (52) control module (53) satellite signal receiving module (54) wireless signal transceiver module (55) output module (5 6) input module (57) memory Module 20