阅读说明：本技术 一种探排雷一体化设备及其探排雷方法 (Integrated equipment for detecting and removing mines and method for detecting and removing mines ) 是由 王明 赵喻明 施祖强 胡波 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种探排雷一体化设备及其探排雷方法,其中设备可安装于通用无人平台上,包括探雷工作装置、排雷工作装置、限位装置、固定平台；所述探雷工作装置和排雷工作装置分别通过第一紧固件和第二紧固件设置于所述固定平台上；限位装置包括2个限位件,第一限位件设置于第一紧固件周围,用于限制探雷工作装置绕第一紧固件的作业角度范围；第二限位件设置于第二紧固件周围,用于限制排雷工作装置绕第二紧固件的作业角度范围。本发明可以实现探排雷工作装置的一体化。(The invention discloses a mine detection and elimination integrated device and a mine detection and elimination method thereof, wherein the device can be installed on a general unmanned platform and comprises a mine detection working device, a mine elimination working device, a limiting device and a fixed platform; the mine detection working device and the mine clearance working device are arranged on the fixed platform through a first fastening piece and a second fastening piece respectively; the limiting device comprises 2 limiting pieces, and the first limiting piece is arranged around the first fastening piece and used for limiting the operation angle range of the mine detection working device around the first fastening piece; the second limiting piece is arranged around the second fastening piece and used for limiting the operation angle range of the mine clearance working device around the second fastening piece. The invention can realize the integration of the mine detecting and removing working device.)

1. A mine detection and removal integrated device is characterized by being mounted on a general unmanned platform and comprising a mine detection working device, a mine removal working device, a limiting device and a fixed platform; the mine detection working device and the mine clearance working device are arranged on the fixed platform through a first fastening piece and a second fastening piece respectively; the limiting device comprises 2 limiting pieces, and the first limiting piece is arranged around the first fastening piece and used for limiting the operation angle range of the mine detection working device around the first fastening piece; the second limiting piece is arranged around the second fastening piece and used for limiting the operation angle range of the mine clearance working device around the second fastening piece.

2. The integrated equipment for detecting and removing mines according to claim 1, wherein the two position-limiting pieces are both mechanical position-limiting pieces;

the mine detection working device is provided with a first stop block and a second stop block; when the mine detection working device is at the lower limit position of the operation angle range, a first stop block of the mine detection working device is abutted against a first limiting piece and used for limiting the mine detection working device to rotate clockwise; when the mine detection working device is at the upper limit position of the operation angle range, a second stop block of the mine detection working device is abutted against the first limiting piece and used for limiting the mine detection working device to rotate anticlockwise;

the mine clearance working device is provided with a first stop block and a second stop block; when the mine detection working device is at the lower limit position of the working angle range, a first stop block of the mine removal working device is abutted against a second limiting piece and used for limiting the mine detection working device to rotate clockwise; when the mine clearance working device is at the upper limit position of the operation angle range, a second stop block arranged on the mine clearance working device is abutted against a second limiting part and used for limiting the mine clearance working device to rotate anticlockwise.

3. The integrated equipment for detecting and removing mines according to claim 1, wherein the fixed platform is a flange, and a fastener is further arranged at the lower end of the flange and used for fixedly installing the integrated equipment for detecting and removing mines on the universal unmanned platform for operation.

4. The integrated equipment for detecting and removing mines according to claim 1, further comprising a spraying device, wherein the spraying device comprises a nozzle, a paint pipeline and a paint tank; the coating pipeline is arranged along the mine clearance working device, one end of the coating pipeline is connected with the coating tank, the other end of the coating pipeline is connected with a nozzle arranged at the tail end of the mine clearance working device, and the coating pipeline is used for acquiring coating from the coating tank and aligning the coating pipeline to a mine target position through the nozzle to carry out mine identification.

5. The integrated equipment for detecting and removing mines according to claim 1, further comprising a bomb disposal device capable of being arranged on the general unmanned platform, wherein a lifting hook for hooking the bomb disposal device is arranged at the tail end of the bucket of the mine removal working device.

6. The integrated equipment for detecting and removing mines according to any one of claims 1-5, wherein the mine detection working device comprises a first rotary driving device, a rotatable first upright post, a variable amplitude oil cylinder, a mine detection arm and a detection module; the first rotary driving device is fixed on the fixed platform, the first upright post is mounted on the rotary driving device through a fastener, the first end of the mine detecting arm is hinged to the top of the upright post at a first hinge point a1, and the detection module is arranged at the second end of the mine detecting arm; the luffing cylinder is arranged between the first upright post and the mine exploring arm and used for driving the mine exploring arm to rotate around a first hinge point a 1.

7. The integrated equipment for detecting and removing mines according to claim 6, wherein the mine removal working device comprises a second rotary driving device, a rotatable second column, a movable arm cylinder, a boom, a bucket rod cylinder, a bucket cylinder, a clamping jaw, and a clamping jaw cylinder; the second rotary driving device is fixed on the fixed platform, the second upright post is installed on the second rotary driving device through a fastener, and the first end of the movable arm is hinged with the top of the upright post at a second hinge point a 2; the movable arm oil cylinder is arranged between the second upright post and the movable arm and is used for driving the movable arm to rotate around a second hinge point a 2; the first end of the bucket rod is hinged with the second end of the movable arm at a third hinge point a3, and the bucket rod oil cylinder is arranged between the movable arm and the bucket rod and used for driving the bucket rod to rotate around the third hinge point; the first end of the bucket is hinged with the second end of the arm at a fourth hinge point a4, the second end of the bucket is hinged with the link mechanism, and the bucket cylinder is arranged between the arm and the link and used for driving the bucket to rotate around a fourth hinge point a 4; the second end of the bucket rod is further hinged to the clamping jaw at a fifth hinge point a5, and the clamping jaw oil cylinder is arranged between the bucket rod and the clamping jaw and used for driving the clamping jaw to rotate around a fifth hinge point a 5.

8. The integrated mine detection and elimination device of claim 7, further comprising an autonomous operation control system;

the first rotary driving device is provided with a first rotary encoder which is in communication connection with the autonomous operation control system and is used for acquiring the real-time rotary angle of the mine detection working device; an angle encoder which is in communication connection with the autonomous operation control system is arranged at the first hinge point a1 and is used for acquiring the real-time rotation angle of the mine-exploring arm; the autonomous operation control system is used for calculating a target rotation angle of the mine detection working device according to a preset mine detection algorithm and controlling the first rotation driving device to enable the mine detection working device to rotate to the target rotation angle; the autonomous operation control system is used for calculating a target rotation angle of the mine exploring arm according to a preset mine exploring algorithm and controlling the driving length of the luffing cylinder; the autonomous operation control system is also used for recording the position of the mine target detected by the mine detection working device;

the second rotary driving device is provided with a second rotary encoder which is in communication connection with the autonomous operation control system and is used for acquiring the real-time rotary angle of the mine clearance working device; angle encoders in communication connection with the autonomous operation control system are arranged at the second hinge point a2, the third hinge point a3, the fourth hinge point a4 and the fifth hinge point a5 and are respectively used for acquiring real-time rotation angles of a movable arm, a bucket rod, a bucket and a clamping jaw; the autonomous operation control system is used for calculating a target rotation angle of the mine-clearing working device according to a preset mine-clearing algorithm and a mine target position, and controlling the second rotation driving device to drive the mine-clearing working device to rotate to the target rotation angle; the autonomous operation control system is used for calculating target rotation angles of the movable arm and the bucket rod according to a preset mine clearance algorithm and a mine target position, controlling the driving lengths of the movable arm oil cylinder and the bucket rod oil cylinder and enabling the movable arm and the bucket rod to rotate to the target rotation angles; and the autonomous operation control system is used for planning the angle actions of the bucket and the clamping jaw according to a preset mine clearance algorithm, further controlling the driving lengths of the bucket oil cylinder and the clamping jaw oil cylinder and finally finishing mine clearance operation.

9. A mine detection and elimination method of a mine detection and elimination integrated device is characterized by comprising the following steps:

step 1, controlling a mine detection working device to carry out mine detection to obtain coordinates of a mine target position and a mine removal environment;

step 2, if the coordinates of the mine target position are valid, determining a mine clearance mode according to a mine clearance environment;

step 3, if a mine-clearing mode is adopted, acquiring a real-time rotation angle of the mine-clearing working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotary driving device drives the mine clearance working device to rotate from a real-time rotary angle to a target rotary angle, and the movable arm oil cylinder and the bucket rod oil cylinder drive the movable arm and the bucket rod to rotate to the target rotary angle; acquiring a real-time rotation angle of a bucket, and controlling the driving length of a bucket oil cylinder to enable the bucket to finish mine excavation and mine removal operation;

if a clamping mine clearance mode is adopted, acquiring a real-time rotation angle of the mine clearance working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotary driving device drives the mine clearance working device to rotate from a real-time rotary angle to a target rotary angle, and the movable arm oil cylinder and the bucket rod oil cylinder drive the movable arm and the bucket rod to rotate to the target rotary angle; acquiring a real-time rotation angle of a bucket and a clamping jaw, and controlling the driving length of a bucket oil cylinder and the driving length of the clamping jaw to enable the bucket and the clamping jaw to finish mine clamping and mine removal operation;

if an explosion-inducing and mine-clearing mode is adopted, acquiring a real-time rotation angle of a mine-clearing working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotation driving device is controlled to drive the mine discharging working device to rotate, and the movable arm oil cylinder, the bucket rod oil cylinder and the bucket oil cylinder are controlled to respectively drive the movable arm, the bucket rod and the bucket to rotate, so that the lifting hook reaches the position of the induced explosion bomb and hooks the induced explosion bomb; then, the second rotation driving device is controlled to drive the mine clearance working device to rotate, and the movable arm oil cylinder and the bucket rod oil cylinder are controlled to respectively drive the movable arm and the bucket rod to rotate so that the lifting hook reaches the mine target position; the bucket oil cylinder is controlled to drive the bucket to rotate, so that the lifting hook places the induced explosion bomb at the target position of the mine, and the induced explosion bomb mine disposal operation is completed.

10. The method of claim 9, wherein the mine clearance procedure of step 3 further comprises: and when the mine clearance working device rotates to a target rotation angle and the movable arm and the bucket rod rotate to a target rotation angle, controlling a nozzle at the tail end of the mine clearance working device to align to a mine target position for spraying operation.

Technical Field

The invention belongs to the technical field of mine detection and elimination, and particularly relates to mine detection and elimination integrated equipment and a mine detection and elimination method thereof.

Background

In the face of the serious threats of a large number of mines and simple explosion devices in the current and future activities such as anti-terrorism, stability maintenance and the like, the research and development of mine detection and elimination equipment are more and more emphasized in various countries in the world. The current situation of the domestic and foreign mine detection and removal equipment is analyzed, and the following problems mainly exist:

1) the mine detection and removal working devices are separated, multi-vehicle combined operation is required, the cost is high, the efficiency is low, and the potential safety hazard is large;

2) the mine detection and removal working device is universal, standardized and low in modularization degree, and needs a special chassis for carrying operation;

3) the working range of the mine detecting and removing working device is small, and the terrain adaptability is poor;

4) the mine removal mode is single, buried mines or mines with large sizes and unexploded bombs are difficult to process, and the mine removal success rate is not high;

5) the mine detection and elimination automation degree is not high, the number of operation terminals is large, and the manual intervention degree is high.

Disclosure of Invention

The invention aims to solve the technical problem of providing a mine detection and elimination integrated device and a mine detection and elimination method thereof, which can realize the integration of mine detection and elimination working devices.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

a mine detection and removal integrated device can be installed on a general unmanned platform and comprises a mine detection working device, a mine removal working device, a limiting device and a fixed platform; the mine detection working device and the mine clearance working device are arranged on the fixed platform through a first fastening piece and a second fastening piece respectively; the limiting device comprises 2 limiting pieces, and the first limiting piece is arranged around the first fastening piece and used for limiting the operation angle range of the mine detection working device around the first fastening piece; the second limiting piece is arranged around the second fastening piece and used for limiting the operation angle range of the mine clearance working device around the second fastening piece.

According to the technical scheme, the mine detection working device and the mine clearance working device are integrated on one device, and the mine detection working device and the mine clearance working device are respectively limited to work within respective ranges through the limiting device, so that the mine detection working device and the mine clearance working device can work independently in a safety range, and integration of the mine detection and mine clearance working device is realized.

In a more preferred technical scheme, the two limit pieces are both mechanical limit pieces;

the mine detection working device is provided with a first stop block and a second stop block; when the mine detection working device is at the lower limit position of the operation angle range, a first stop block of the mine detection working device is abutted against a first limiting piece and used for limiting the mine detection working device to rotate clockwise; when the mine detection working device is at the upper limit position of the operation angle range, a second stop block of the mine detection working device is abutted against the first limiting piece and used for limiting the mine detection working device to rotate anticlockwise;

the mine clearance working device is provided with a first stop block and a second stop block; when the mine detection working device is at the lower limit position of the working angle range, a first stop block of the mine removal working device is abutted against a second limiting piece and used for limiting the mine detection working device to rotate clockwise; when the mine clearance working device is at the upper limit position of the operation angle range, a second stop block arranged on the mine clearance working device is abutted against a second limiting part and used for limiting the mine clearance working device to rotate anticlockwise.

In a more preferred technical scheme, the fixed platform is a flange plate, and a fastener is further arranged at the lower end of the flange plate and used for fixedly mounting the mine detection and removal integrated equipment on the universal unmanned platform for operation. According to the technical scheme, the fixing piece can be mechanically connected with any other universal unmanned platform, so that the universalization, standardization and modularization degrees of the integrated equipment for detecting and removing mines are improved.

In a more preferable technical scheme, the integrated equipment for detecting and removing mines further comprises a spraying device, wherein the spraying device comprises a nozzle, a coating pipeline and a coating tank; the coating pipeline is arranged along the mine clearance working device, one end of the coating pipeline is connected with the coating tank, the other end of the coating pipeline is connected with a nozzle arranged at the tail end of the mine clearance working device, and the coating pipeline is used for acquiring coating from the coating tank and aligning the coating pipeline to a mine target position through the nozzle to carry out mine identification. The technical scheme can realize the automatic marking function of the land mines.

In a more preferred technical scheme, the integrated equipment for detecting and removing mines further comprises a trap bomb which can be arranged on the universal unmanned platform, and a lifting hook used for hooking the trap bomb is arranged at the tail end of a bucket of the mine removal working device. According to the technical scheme, the mine removal mode is increased, the applicability of the equipment is improved, and the mine removal success rate is improved.

In a more preferred technical scheme, the mine detection working device comprises a first rotary driving device, a rotatable first upright post, a variable amplitude oil cylinder, a mine detection arm and a detection module; the first rotary driving device is fixed on the fixed platform, the first upright post is mounted on the rotary driving device through a fastener, the first end of the mine detecting arm is hinged to the top of the upright post at a first hinge point a1, and the detection module is arranged at the second end of the mine detecting arm; the luffing cylinder is arranged between the first upright post and the mine exploring arm and used for driving the mine exploring arm to rotate around a first hinge point a 1.

The mine detection working device of the technical scheme is provided with the amplitude-variable oil cylinder, so that the whole mine detection arm can be driven to rotate around the hinged point, the height of the detection module from the ground is adjusted, and the adaptability of the mine detection working device to the terrain is improved; and the detection width of the mine detection working device can reach 2.5m-3m, the one-time coverage area is large, and the detection efficiency is greatly improved.

In a more preferred technical scheme, the mine clearance working device comprises a second rotary driving device, a rotatable second upright post, a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder, a clamping jaw and a clamping jaw oil cylinder; the second rotary driving device is fixed on the fixed platform, the second upright post is installed on the second rotary driving device through a fastener, and the first end of the movable arm is hinged with the top of the upright post at a second hinge point a 2; the movable arm oil cylinder is arranged between the second upright post and the movable arm and is used for driving the movable arm to rotate around a second hinge point a 2; the first end of the bucket rod is hinged with the second end of the movable arm at a third hinge point a3, and the bucket rod oil cylinder is arranged between the movable arm and the bucket rod and used for driving the bucket rod to rotate around the third hinge point; the first end of the bucket is hinged with the second end of the arm at a fourth hinge point a4, the second end of the bucket is hinged with the link mechanism, and the bucket cylinder is arranged between the arm and the link and used for driving the bucket to rotate around a fourth hinge point a 4; the second end of the bucket rod is further hinged to the clamping jaw at a fifth hinge point a5, and the clamping jaw oil cylinder is arranged between the bucket rod and the clamping jaw and used for driving the clamping jaw to rotate around a fifth hinge point a 5.

The mine clearance working device has multiple degrees of freedom, and the movable arm, the bucket rod, the bucket and the clamping jaw can independently act through the oil cylinder, so that the flexibility and the terrain adaptability of mine clearance operation are realized, and the mine clearance operation range is improved.

In a more preferable technical scheme, the integrated equipment for detecting and removing mines further comprises an autonomous operation control system;

the first rotary driving device is provided with a first rotary encoder which is in communication connection with the autonomous operation control system and is used for acquiring the real-time rotary angle of the mine detection working device; an angle encoder which is in communication connection with the autonomous operation control system is arranged at the first hinge point a1 and is used for acquiring the real-time rotation angle of the mine-exploring arm; the autonomous operation control system is used for calculating a target rotation angle of the mine detection working device according to a preset mine detection algorithm and controlling the first rotation driving device to enable the mine detection working device to rotate to the target rotation angle; the autonomous operation control system is used for calculating a target rotation angle of the mine exploring arm according to a preset mine exploring algorithm and controlling the driving length of the luffing cylinder; the autonomous operation control system is also used for recording the position of the mine target detected by the mine detection working device;

the second rotary driving device is provided with a second rotary encoder which is in communication connection with the autonomous operation control system and is used for acquiring the real-time rotary angle of the mine clearance working device; angle encoders in communication connection with the autonomous operation control system are arranged at the second hinge point a2, the third hinge point a3, the fourth hinge point a4 and the fifth hinge point a5 and are respectively used for acquiring real-time rotation angles of a movable arm, a bucket rod, a bucket and a clamping jaw; the autonomous operation control system is used for calculating a target rotation angle of the mine-clearing working device according to a preset mine-clearing algorithm and a mine target position, and controlling the second rotation driving device to drive the mine-clearing working device to rotate to the target rotation angle; the autonomous operation control system is used for calculating target rotation angles of the movable arm and the bucket rod according to a preset mine clearance algorithm and a mine target position, controlling the driving lengths of the movable arm oil cylinder and the bucket rod oil cylinder and enabling the movable arm and the bucket rod to rotate to the target rotation angles; and the autonomous operation control system is used for planning the angle actions of the bucket and the clamping jaw according to a preset mine clearance algorithm, further controlling the driving lengths of the bucket oil cylinder and the clamping jaw oil cylinder and finally finishing mine clearance operation.

According to the technical scheme, the rotary driving encoder and the sensors are arranged to collect current angles of the mine detection and mine removal working device in real time, so that mine detection is carried out according to a preset mine detection algorithm, the tail end of the mine removal working device is moved to a mine target position according to the preset mine removal algorithm to complete a mine removal task, and automation of mine detection and removal operation is achieved.

The invention also provides a mine detection and elimination method of the mine detection and elimination integrated equipment, which comprises the following steps:

step 1, controlling a mine detection working device to carry out mine detection to obtain coordinates of a mine target position and a mine removal environment;

step 2, if the coordinates of the mine target position are valid, determining a mine clearance mode according to a mine clearance environment;

step 3, if a mine-clearing mode is adopted, acquiring a real-time rotation angle of the mine-clearing working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotary driving device drives the mine clearance working device to rotate from a real-time rotary angle to a target rotary angle, and the movable arm oil cylinder and the bucket rod oil cylinder drive the movable arm and the bucket rod to rotate to the target rotary angle; acquiring a real-time rotation angle of a bucket, and controlling the driving length of a bucket oil cylinder to enable the bucket to finish mine excavation and mine removal operation;

if a clamping mine clearance mode is adopted, acquiring a real-time rotation angle of the mine clearance working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotary driving device drives the mine clearance working device to rotate from a real-time rotary angle to a target rotary angle, and the movable arm oil cylinder and the bucket rod oil cylinder drive the movable arm and the bucket rod to rotate to the target rotary angle; acquiring a real-time rotation angle of a bucket and a clamping jaw, and controlling the driving length of a bucket oil cylinder and the driving length of the clamping jaw to enable the bucket and the clamping jaw to finish mine clamping and mine removal operation;

if an explosion-inducing and mine-clearing mode is adopted, acquiring a real-time rotation angle of a mine-clearing working device and real-time rotation angles of a movable arm and a bucket rod; calculating a target rotation angle of the mine clearance working device and target rotation angles of a movable arm and a bucket rod according to a preset mine clearance algorithm and a mine target position; the second rotation driving device is controlled to drive the mine discharging working device to rotate, and the movable arm oil cylinder, the bucket rod oil cylinder and the bucket oil cylinder are controlled to respectively drive the movable arm, the bucket rod and the bucket to rotate, so that the lifting hook reaches the position of the induced explosion bomb and hooks the induced explosion bomb; then, the second rotation driving device is controlled to drive the mine clearance working device to rotate, and the movable arm oil cylinder and the bucket rod oil cylinder are controlled to respectively drive the movable arm and the bucket rod to rotate so that the lifting hook reaches the mine target position; the bucket oil cylinder is controlled to drive the bucket to rotate, so that the lifting hook places the induced explosion bomb at the target position of the mine, and the induced explosion bomb mine disposal operation is completed.

In a more preferred technical solution, the mine clearance process of step 3 further includes: and when the mine clearance working device rotates to a target rotation angle and the movable arm and the bucket rod rotate to a target rotation angle, controlling a nozzle at the tail end of the mine clearance working device to align to a mine target position for spraying operation.

Advantageous effects

Compared with the prior art, the invention has the following technical effects:

1. integrating the mine detection working device and the mine clearance working device on one device, and respectively limiting the mine detection working device and the mine clearance working device to work in respective ranges through a limiting device, so that the mine detection working device and the mine clearance working device can work independently in a safety range, and the integration of the mine detection and mine clearance working device is realized;

2. the device can be mechanically connected with any other universal unmanned platform through the fixing piece, so that the universalization, standardization and modularization degrees of the integrated equipment for detecting and removing mines are improved;

3. the mine detection working device is provided with the amplitude variation oil cylinder, so that the whole mine detection arm can be driven to rotate around a hinged point, the height of the detection module from the ground is adjusted, and the adaptability of the mine detection working device to the terrain is improved; the mine detection working device adopts a mode of combining a plurality of array detection modules to increase the detection width, the one-time coverage area is large, and the detection efficiency is greatly improved;

4. the mine clearance working device has multiple degrees of freedom, and the movable arm, the bucket rod, the bucket and the clamping jaw can independently act through the oil cylinder, so that the flexibility and the terrain adaptability of mine clearance operation are realized, and the mine clearance operation range is improved;

5. the mine removal working device can determine different mine removal modes according to the mine environment, so that the applicability of the equipment is improved, and the mine removal success rate is improved;

6. by arranging the rotary driving encoder and each sensor, the current angles of the mine detection and mine clearance working device are acquired in real time, so that mine detection is carried out according to a preset mine detection algorithm, the tail end of the mine clearance working device is moved to a mine target position according to the preset mine clearance algorithm to complete a mine clearance task, and automation of mine detection and mine clearance operation is realized;

7. the automatic marking function of the land mine can be realized by arranging the spraying device.

Drawings

Fig. 1 is a front view of the integrated device for detecting and removing mines of the embodiment installed on a general unmanned platform;

fig. 2 is a top view of the integrated equipment for detecting and removing mines of the embodiment installed on a general unmanned platform;

FIG. 3 is a schematic view of the mine detection working device of the present embodiment in a 0 ° direction and the mine clearance working device in a-270 ° direction;

fig. 4 is a schematic view of the mine detection working device in the embodiment in a 180 ° direction and the mine clearance working device in a 0 ° direction;

FIG. 5 is an enlarged fragmentary view of FIG. 4 at the location of the flange;

fig. 6 is a schematic view of a mine detection working device according to the embodiment;

FIG. 7 is a schematic view of a mine clearance working device according to the embodiment;

fig. 8 is a schematic view of the mine clearance working device in the embodiment adopting an excavation mine clearance manner to perform mine clearance;

fig. 9 is a schematic view of the mine clearance working device in the embodiment of the invention adopting a clamping mine clearance method to clear mines;

FIG. 10 is a schematic view of the mine clearance working apparatus of the present embodiment when hooking the bomb trap;

fig. 11 is a schematic view of the mine clearance working device of the embodiment when a trap bomb is thrown.

Symbol identification:

the mine detection working device 100 comprises a first rotary driving device 101, a first rotary encoder 102, a first stop block 103, a second stop block 104, a first upright post 105, a mine detection arm 106, a luffing cylinder 107, a detection module 108, an angle encoder 109, a mine detection working device fastener 110,

a mine discharging work apparatus 200, a second swing drive apparatus 201, a second swing encoder 202, a first stopper 203, a second stopper 204, a second column 205, a boom 206, a boom cylinder 207, a camera 208, an arm 209, an arm cylinder 210, a bucket 211, a bucket cylinder 212, a link mechanism 213, a claw 214, a claw cylinder 215, an angle encoder 216, a mine discharging work apparatus fastener 217,

a first stopper 301, a second stopper 302;

the flange 400, the flange fasteners 401,

the fastening device 500, the first fastener 501, the second fastener 502,

an explosion inducing device 600, an explosion inducing bomb 601, a lifting hook 602,

universal unmanned platform 800

Nozzle 901, paint line 902, paint tank 903.

Detailed Description

The following describes embodiments of the present invention in detail, which are developed based on the technical solutions of the present invention, and give detailed implementation manners and specific operation procedures to further explain the technical solutions of the present invention.

The embodiment provides a mine detection and removal integrated device, as shown in fig. 1 and 2, which includes a mine detection working device 100, a mine removal working device 200, a limiting device, a fixing platform, an explosion inducing device, and an autonomous operation control system, wherein the fixing platform is a flange 400. The mine detection working device 100 and the mine clearance working device 200 are respectively installed on the flange plate 400 through a first fastener 501 and a second fastener 502, so that the integration of mine detection and mine clearance work is realized.

The limiting device comprises 2 limiting parts which are respectively arranged on the flange 400 and positioned around the first fastening piece 501 and the second fastening piece 502, and are respectively used for limiting the operation angle range of the mine detection working device 100 around the first fastening piece 501 and limiting the operation angle range of the mine clearance working device 200 around the second fastening piece 502 (see fig. 3 and 4), so that the safety limiting effect is achieved. The present embodiment is explained by referring to fig. 4 and 5, in which the x-axis is 0 °, the operation angle range of the mine-exploring work device 100 is 0 ° -180 °, and the operation angle range of the mine-exploring work device 200 is-270 ° -0 °.

The angular direction in this embodiment is 45 ° in the direction in which the second fastening member 502 points toward the first fastening member 501.

Referring to fig. 5, the mine detection working device 100 is provided with two stoppers: when the mine detection working device 100 is in the 0-degree direction, the first stop block 103 of the mine detection working device 100 is abutted against the first limiting piece 301 and used for limiting the clockwise rotation of the mine detection working device 100; when the mine detection working device 100 is in the 180-degree direction, the second stopper 104 of the mine detection working device 100 is abutted against the first limiting piece 301, so as to limit the mine detection working device 100 to rotate anticlockwise. Thus, the following steps can be realized: the embodiment adopts a mechanical limiting piece to ensure that the mine detection working device 100 works in the range of 0-180 degrees around the first fastening piece 501.

Referring to fig. 5, the mineventing working device 200 is provided with two stoppers: when the mine detecting working device 100 is in the-270-degree direction, the first stop block 203 of the mine clearance working device 200 is abutted against the second limiting piece 302 and used for limiting the clockwise rotation of the mine clearance working device 200; when the mine clearance working device 200 is in the 0 ° direction, the second stopper 204 provided on the mine clearance working device 200 abuts against the second limiting member 302, so as to limit the mine clearance working device 200 to rotate counterclockwise. Thus, the following steps can be realized: the embodiment adopts a mechanical limiting part to ensure that the mine detection working device 100 works in the range of-270-0 degrees around the second fastening piece 502.

The lower end of the flange 400 is provided with a fastener for fixedly mounting the mine detection and elimination integrated device on a flange mounting seat (as a mechanical interface of the universal unmanned platform) of the universal unmanned platform, which is the universal unmanned platform 800 in this embodiment. The integration of the mine detecting and removing integrated equipment and the universal unmanned platform 800 can be realized through the mechanical interface of the universal unmanned platform 800, so that the universalization, standardization and modularization degrees of the mine detecting and removing integrated equipment are improved.

Referring to fig. 6, the mine detection working device 100 is composed of a first rotary driving device 101, a first rotary encoder 102, a first stop block 103, a second stop block 104, a first upright column 105, a mine detection arm 106, a luffing cylinder 107, a detection module 108, a mine detection device fastener 110, an angle encoder 109 and the like. The first hinge point a1 is provided with an angle encoder 109 which can detect the rotation angle of the mine-exploring arm 106 and the detection module 108 around the hinge point a1 in real time; a first rotary encoder 102 is arranged on the first rotary driving device 101, and can detect the rotary angle of the mine detection working device 100 in real time; the first upright column 10515 is a stressed supporting part of the mine detection working device 1001 and is arranged on the first rotary driving device 101 through a fastener; one end of the mine detecting arm 106 is hinged with the first upright column 10515, and the other end is connected with the detection module 108; a luffing cylinder 107 is arranged between the first upright post 105 and the mine exploring arm 106, and can drive the mine exploring arm 106 and the detection module 108 to rotate around a hinge point a1, so that the height of the detection module 108 from the ground is adjusted, and the adaptability of the mine exploring working device 100 to the terrain is improved; the mine detection working device 100 increases the detection width by combining a plurality of array detection modules, has large one-time coverage area, and greatly improves the detection efficiency.

Referring to fig. 7, the mineworker 200 is composed of a second swing driving device 201, a second swing encoder 202, a first stopper 203, a second stopper 204, a second column 205, a fastener, a boom 206, a boom cylinder 207, a camera 208, an arm 209, an arm cylinder 210, a bucket 211, a bucket cylinder 212, a link mechanism 213, a grip 214, a grip cylinder 215, and the like. The angle encoders 216 are mounted at the hinge points a2, a3, a4 and a5, and can detect the rotation angles of the movable arm 206, the bucket rod 209, the bucket 211 and the clamping jaw 214 around the hinge points in real time; the first rotary encoder 102 is arranged on the second rotary driving device 201, and can detect the rotary angle of the mine clearance working device 200 in real time; the second upright column 205 is a stressed supporting component of the mine clearance working device 200 and is arranged on the second rotary driving device 201 through a fastener; one end of the movable arm 206 is hinged with the second upright column 205, and the other end is hinged with the bucket rod 209; a boom cylinder 207 is arranged between the second upright column 205 and the boom 206 and can drive the whole mine discharging arm to rotate around a hinge point; one end of the bucket rod 209 is hinged with the movable arm 206, and the other end is hinged with the bucket 211; an arm cylinder 210 is arranged between the movable arm 206 and the arm 209 and can drive the arm 209 and the lower device thereof to rotate around a hinge point a 3; one end of the bucket 211 is hinged with the bucket rod 209, and the other end of the bucket 211 is hinged with the connecting rod mechanism 213; a bucket oil cylinder 212 is arranged between the arm 209 and the link mechanism 213, and can drive the bucket 211 to rotate around a hinge point a4 to realize the excavation action; the other pivot point at the lower end of the arm 209 is hinged to the jaw 214, and a jaw cylinder 215 is arranged between the arm 209 and the jaw 214 and can drive the jaw 214 to rotate around the pivot point a5, so that clamping and grabbing actions can be realized when the jaw is matched with the bucket 211. The mine clearance working device 200 has multiple degrees of freedom, and the movable arm 206, the bucket rod 209, the bucket 211 and the clamping jaw 214 can independently act through respective cylinder driving, so that the flexibility and the terrain adaptability of mine clearance work are realized, and the mine clearance working range is greatly improved compared with the background technology.

The explosion inducing device 600 comprises an explosion inducing bomb 601 arranged on a covering piece of the universal unmanned platform 800 and a hook 602 arranged on the back of the bucket 211 and used for hooking the explosion inducing bomb 601.

The mine clearance working device 2002 has 3 mine clearance modes in total, which are respectively a digging mode, a clamping mode and an explosion-inducing mode. Referring to fig. 8, the method is a mine digging and removing method, the bucket 211 is large in size and strong in clamping capacity, and buried mines, ground mines and large-sized mines and unexploded bombs can be easily processed; referring to fig. 9, the method is a clamping and moving mine clearance method, and for long cylindrical unexploded bombs, clamping and removing can be realized by adopting the matching action of a bucket 211 and a clamping jaw 214; referring to fig. 10 and fig. 11, the method is an induced explosion mine disposal method (fig. 10 is an induced explosion bomb hooking mode, fig. 11 is an induced explosion bomb throwing mode), and a mine destruction method for placing an induced explosion bomb 601 can be adopted for a section which is inconvenient to excavate and does not need to consider the damage of blasting operation to a road surface and the influence on the surrounding environment. The induced detonation shells 601 are stored on the covering part of the universal unmanned platform 800, the arc-shaped back of the bucket 211 is provided with a lifting hook 602, and the mine clearance working device 200 can automatically hook and release the induced detonation shells 601 according to program control. By the implementation of the mode, the success rate of mine clearance is greatly improved.

The painting apparatus includes a nozzle 901, a paint line 902, and a paint tank 903. Wherein, referring to fig. 7, the paint bin is disposed within a universal unmanned platform 800 vehicle; the coating pipeline is arranged along the mine clearance working device 200, one end of the coating pipeline is connected with the coating box, the other end of the coating pipeline is connected with the nozzle arranged at the fifth hinge point a5, and the coating pipeline is used for acquiring coating from the coating box and carrying out mine marking by aiming at the target position of the mine through the nozzle, so that the automatic marking function of the mine can be realized.

The autonomous operation control system comprises an operation controller, a spraying driving device, a power system, a connecting cable and the like, is in communication connection with the first rotary encoder 102 of the mine detection working device 100, the second rotary encoder 202 of the mine removal working device 200 and all angle encoders, is used for carrying out comprehensive processing according to instructions sent by a remote control terminal, self-sensing information and the like, and sending out control instructions to meet the functional requirements of mine detection and removal integrated equipment, and comprises automatic detection of mines, automatic positioning of mines, automatic identification of mines, automatic disposal of mines, remote control of operation and topographic operation.

The autonomous operation control system is used for calculating a target rotation angle of the mine detection working device 100 according to a preset mine detection algorithm in mine detection work and controlling the first rotation driving device 101 to enable the mine detection working device 100 to rotate to the target rotation angle; the system is used for calculating a target rotation angle of the mine exploring arm 106 according to a preset mine exploring algorithm and controlling the driving length of the luffing cylinder 107; for recording the position of the mine object detected by the mine-exploring work device 100.

The autonomous operation control system is used for calculating a target rotation angle of the mine clearance working device 200 according to a preset mine clearance algorithm and a mine target position during mine clearance work, and controlling the second rotation driving device 201 to drive the mine clearance working device 200 to rotate to the target rotation angle; the autonomous operation control system is used for calculating target rotation angles of the movable arm 206 and the arm 209 according to a preset mine clearance algorithm and a mine target position, controlling the driving lengths of the movable arm cylinder 207 and the arm cylinder 210, and enabling the movable arm 206 and the arm 209 to rotate to the target rotation angles; the autonomous operation control system is used for planning the angle actions of the bucket 211 and the clamping jaw 214 according to a preset mine clearance algorithm, further controlling the driving lengths of the bucket cylinder 212 and the clamping jaw cylinder 215, and finally completing mine clearance operation.

The invention also provides an embodiment of a mine detection and elimination method of the mine detection and elimination integrated equipment, which comprises the following steps:

step 1, controlling a mine detection working device 100 to carry out mine detection to obtain coordinates of a mine target position and a mine-clearing environment;

step 2, if the coordinates of the mine target position are valid, determining a mine clearance mode according to a mine clearance environment;

step 3, if a mine clearance excavation mode is adopted, acquiring a real-time rotation angle of the mine clearance working device 200 and real-time rotation angles of the movable arm 206 and the bucket rod 209; calculating a target rotation angle of the mine clearance working device 200 and target rotation angles of the movable arm 206 and the arm 209 according to a preset mine clearance algorithm and a mine target position; the second swing driving device 201 drives the mine clearance working device 200 to rotate from a real-time swing angle to a target swing angle, and the boom cylinder 207 and the arm cylinder 210 drive the boom 206 and the arm 209 to rotate to the target swing angle; acquiring a real-time rotation angle of the bucket 211, and controlling the driving length of the bucket cylinder 212 to enable the bucket 211 to finish mine excavation and mine removal operation;

if the clamping and moving mine clearance mode is adopted, the real-time rotation angle of the mine clearance working device 200 and the real-time rotation angles of the movable arm 206 and the bucket rod 209 are obtained; calculating a target rotation angle of the mine clearance working device 200 and target rotation angles of the movable arm 206 and the arm 209 according to a preset mine clearance algorithm and a mine target position; the second swing driving device 201 drives the mine clearance working device 200 to rotate from a real-time swing angle to a target swing angle, and the boom cylinder 207 and the arm cylinder 210 drive the boom 206 and the arm 209 to rotate to the target swing angle; acquiring a real-time rotation angle of the bucket 211 and the clamping jaw 214, and controlling the driving lengths of the bucket cylinder 212 and the clamping jaw 214 to enable the bucket 211 and the clamping jaw 214 to complete mine clamping and mine removing operation;

if an explosion-inducing and mine-clearing mode is adopted, acquiring a real-time rotation angle of the mine-clearing working device 200 and real-time rotation angles of a movable arm 206 and a bucket rod 209; calculating a target rotation angle of the mine clearance working device 200 and target rotation angles of the movable arm 206 and the arm 209 according to a preset mine clearance algorithm and a mine target position; the second swing driving device 201 is controlled to drive the mine discharging working device 200 to swing, and the boom cylinder 207, the arm cylinder 210 and the bucket cylinder 212 are controlled to respectively drive the boom 206, the arm 209 and the bucket 211 to rotate, so that the hook 602 reaches the storage position of the trap bomb 601 and catches the trap bomb 601; then, the second rotation driving device 201 is controlled to drive the mine clearance working device 200 to rotate, and the boom cylinder 207 and the arm cylinder 210 are controlled to respectively drive the boom 206 and the arm 209 to rotate, so that the hook 602 reaches the mine target position; the bucket cylinder 212 is controlled to drive the bucket 211 to rotate, so that the hook 602 places the induced-explosion bomb 601 at the target position of the mine, and the induced-explosion bomb mine-clearing operation is completed.

More preferably, the mine clearance process at step 3 further comprises: when the mine clearance working device 200 rotates to a target rotation angle and the movable arm 206 and the bucket rod 209 rotate to a target rotation angle, a nozzle at the tail end of the mine clearance working device 200 is controlled to align with a mine target position for spraying operation.

The above embodiments are preferred embodiments of the present application, and those skilled in the art can make various changes or modifications without departing from the general concept of the present application, and such changes or modifications should fall within the scope of the claims of the present application.