CN114111489A - Amphibious unmanned aerial vehicle manipulator barrier breaking equipment - Google Patents
Amphibious unmanned aerial vehicle manipulator barrier breaking equipment Download PDFInfo
- Publication number
- CN114111489A CN114111489A CN202111306573.3A CN202111306573A CN114111489A CN 114111489 A CN114111489 A CN 114111489A CN 202111306573 A CN202111306573 A CN 202111306573A CN 114111489 A CN114111489 A CN 114111489A
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- CN
- China
- Prior art keywords
- amphibious unmanned
- vehicle
- unmanned platform
- manipulator
- obstacle
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- 230000004888 barrier function Effects 0.000 title claims abstract description 10
- 239000004744 fabric Substances 0.000 claims abstract description 3
- 230000003111 delayed effect Effects 0.000 claims description 4
- 238000005474 detonation Methods 0.000 claims description 4
- 230000006378 damage Effects 0.000 claims description 3
- 239000002360 explosive Substances 0.000 claims description 2
- 238000005422 blasting Methods 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an amphibious unmanned aerial vehicle manipulator breaks barrier and equips, comprises 4 subassemblies such as amphibious unmanned platform (1), on-vehicle sensor (2), multi-functional manipulator (3), broken barrier ammunition box (4): the vehicle-mounted sensor (2) is fastened around the vehicle body of the amphibious unmanned platform (1) through a standard component and a mounting bracket ring cloth; the mounting support of the multifunctional manipulator (3) is arranged in the middle of the amphibious unmanned platform (1) through a standard component and is arranged at a mounting hole reserved on a rear cabin top cover plate; the barrier-breaking ammunition box (4) is arranged at a reserved mounting interface of a front cabin of the amphibious unmanned platform (1) in the middle in a front-mounted mode through a standard component; the information interaction among all components of the equipment is mainly based on the communication between the vehicle-mounted Ethernet and the CAN port. The amphibious unmanned manipulator obstacle breaking equipment is safe and reliable in operation, can realize the recognition, positioning and blasting of obstacle targets by the equipment, and can greatly reduce the obstacle breaking cost and reduce the casualty risk.
Description
Technical Field
The invention belongs to the technical field of combat safeguard equipment, and particularly relates to amphibious unmanned manipulator obstacle breaking equipment.
Background
At present, in amphibious landing operation, triangular cones and rail rods of a landing place are cleared, namely, 30758 is mainly bombed by using an aviation bomb, and then, single barrier is broken manually. The aerobomb blasting efficiency is low, the combat cost is high, the damage radius is limited, the precision is low, and the damage degree of part of triangular cones and rail bars reaches the obstacle crossing standard or is lifted by air waves to form secondary obstacles; colleagues can generate secondary obstacles such as craters and the like, which are not favorable for equipment to land. The manual obstacle breaking is implemented by using a single-soldier obstacle breaking tool to break the residual rail (30758) and the triangular cone after the aerobomb is exploded by a soldier army in an amphibious landing army, and although the manual obstacle breaking can effectively sweep the residual obstacle, the soldier is directly exposed in the range of enemy firepower, and battle casualties are large. In conclusion, efficient and safe unmanned obstacle-breaking equipment is lacked in the current landing operation.
Disclosure of Invention
The invention aims to solve the problems in the background technology, and provides an amphibious unmanned manipulator obstacle-breaking device.
The invention relates to an amphibious unmanned manipulator obstacle breaking device which comprises an amphibious unmanned platform 1, a vehicle-mounted sensor 2, a multifunctional manipulator 3 and an obstacle breaking ammunition box 4, and is characterized in that: the vehicle-mounted sensor 2 is fastened around the vehicle body of the amphibious unmanned platform 1 through a standard part and a mounting bracket ring cloth; the mounting support of the multifunctional manipulator 3 is arranged at a mounting hole reserved on a rear cabin top cover plate of the amphibious unmanned platform 1 in the middle through a standard component; the barrier-breaking ammunition box 4 is arranged at a reserved mounting interface of a front cabin of the amphibious unmanned platform 1 in the center through a standard component. The information interaction among all components of the equipment is mainly based on the communication between the vehicle-mounted Ethernet and the CAN port.
The product mainly applies the positioning and identifying technology of autonomous barrier breaking based on the amphibious unmanned platform 1. When the multifunctional manipulator 3 is in failure operation, a target obstacle can be identified and calibrated through the vehicle-mounted sensor 2, a laser point cloud model of the target obstacle is constructed, position data of the laser point cloud model is transmitted back to the amphibious unmanned platform 1 to be resolved, and then a combined navigation device in the amphibious unmanned platform 1 is combined with a vehicle-mounted high-precision map to convert a target real-time coordinate. After the amphibious unmanned platform 1 autonomously runs to the position near a target obstacle, the multifunctional manipulator 3 autonomously distributes mechanical arm joints according to the relative position calculated according to the position of the amphibious unmanned platform 1, completes the steps of starting, retracting, catching, fetching, releasing and the like, places barrier-breaking ammunition at a selected position on the obstacle, and detonates the explosive package in a delayed detonation or remote control detonation mode, so that the triangular cone and the rail can be broken 30758.
The amphibious unmanned manipulator obstacle breaking equipment is safe and reliable in operation, can realize the recognition, positioning and blasting of obstacle targets by the equipment, and can greatly reduce the obstacle breaking cost and reduce the casualty risk.
Drawings
FIG. 1 is a schematic diagram for installing an amphibious unmanned manipulator obstacle breaking device
In fig. 1: 1-amphibious unmanned platform, 2-vehicle-mounted sensor, 3-multifunctional manipulator and 4-barrier-breaking ammunition box
Detailed Description
The invention will be further described with reference to the accompanying drawings and the battle scenario.
1 obstacle breaking on water
The on-board sensor 2 is adopted to detect and position the water obstacle, positioning information is transmitted to the amphibious unmanned platform 1, the amphibious unmanned platform 1 is combined with the position and the obstacle information of a vehicle to plan an intelligent amphibious unmanned obstacle breaking equipment route and speed, the amphibious unmanned platform 1 is controlled to be close to the obstacle, the multifunctional manipulator 3 automatically distributes joints to break the obstacle at an obstacle breaking ammunition box 4 to obtain ammunition, the ammunition is combined with a positioning system through a planned logic and placed at a specified position of the obstacle, then the amphibious unmanned platform 1 is withdrawn, and the ammunition is detonated in a delayed mode to break the obstacle.
2 Barrier breaking on land
The amphibious unmanned platform is characterized in that a vehicle-mounted sensor 2 is adopted to detect and position an onshore obstacle, positioning information is transmitted to an amphibious unmanned platform 1, the amphibious unmanned platform 1 is combined with vehicle position and obstacle information to plan an intelligent amphibious unmanned obstacle breaking equipment route and speed, the amphibious unmanned platform 1 is controlled to be close to the obstacle, a multifunctional manipulator 3 automatically distributes a joint to take ammunition at an obstacle breaking ammunition box 4 to be combined with a positioning system through planned logic, the ammunition is placed at a specified position of the obstacle, then the amphibious unmanned platform 1 is withdrawn, and the ammunition is detonated in a delayed mode to complete obstacle breaking.
The equipment is safe and reliable in operation, can realize the recognition, the positioning and the blasting of the obstacle target by the equipment, and can greatly reduce the obstacle breaking cost and lighten the casualty risk.
Claims (1)
1. The utility model provides an amphibious unmanned aerial vehicle manipulator breaks barrier and equips, comprises amphibious unmanned platform (1), on-vehicle sensor (2), multi-functional manipulator (3), broken barrier ammunition box (4), characterized by: the vehicle-mounted sensor (2) is fastened around the vehicle body of the amphibious unmanned platform (1) through a standard component and a mounting bracket ring cloth; the mounting support of the multifunctional manipulator (3) is arranged in the middle of the amphibious unmanned platform (1) through a standard component and is arranged at a mounting hole reserved on a rear cabin top cover plate; the barrier-breaking ammunition box (4) is arranged at a reserved mounting interface of a front cabin of the amphibious unmanned platform (1) in the middle in a front-mounted mode through a standard component; when the multifunctional manipulator (3) is in failure operation, a target obstacle is identified and calibrated through the vehicle-mounted sensor (2), a laser point cloud model of the target obstacle is constructed, position data of the laser point cloud model are transmitted back to the amphibious unmanned platform (1) to be resolved, and then a combined navigation device in the amphibious unmanned platform (1) is combined with a vehicle-mounted high-precision map to convert a target real-time coordinate; after the amphibious unmanned platform (1) autonomously runs to the position near a target obstacle, the multifunctional manipulator (3) autonomously distributes mechanical arm joints according to the relative position calculated according to the position of the amphibious unmanned platform (1) to complete the steps of starting, retracting, catching, fetching, releasing and the like, barrier breaking ammunition is placed at the selected position of the obstacle, and explosive packages are detonated in a delayed detonation or remote control detonation mode to achieve the destruction of the triangular cone and the rail bar 30758.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111306573.3A CN114111489A (en) | 2021-11-05 | 2021-11-05 | Amphibious unmanned aerial vehicle manipulator barrier breaking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111306573.3A CN114111489A (en) | 2021-11-05 | 2021-11-05 | Amphibious unmanned aerial vehicle manipulator barrier breaking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114111489A true CN114111489A (en) | 2022-03-01 |
Family
ID=80380782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111306573.3A Pending CN114111489A (en) | 2021-11-05 | 2021-11-05 | Amphibious unmanned aerial vehicle manipulator barrier breaking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114111489A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5708230A (en) * | 1996-07-01 | 1998-01-13 | The United States Of America As Represented By The Secretary Of The Navy | Ocean surface-delivered ordnance explosive mine and obstacle clearance method |
| CN201998754U (en) * | 2010-09-14 | 2011-10-05 | 沈阳北方重型机械有限公司 | Amphibious rescue vehicle |
| US20140195095A1 (en) * | 2008-12-30 | 2014-07-10 | Elbit Systems Ltd. | Autonomous navigation system and method for a maneuverable platform |
| CN109871022A (en) * | 2019-03-18 | 2019-06-11 | 江苏科技大学 | An intelligent path planning and obstacle avoidance method for amphibious unmanned search and rescue vehicles |
| CN209166455U (en) * | 2018-12-27 | 2019-07-26 | 海南航泰航空科技发展有限公司 | A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning |
| CN112394726A (en) * | 2020-10-20 | 2021-02-23 | 自然资源部第一海洋研究所 | Unmanned ship obstacle fusion detection method based on evidence theory |
| CN113341932A (en) * | 2021-06-22 | 2021-09-03 | 北京理工大学 | Land-air amphibious vehicle domain control system and control method thereof |
| CN214446414U (en) * | 2021-01-28 | 2021-10-22 | 南京埃尔乔亿自控设备有限公司 | Crawler-type barrier-breaking robot |
-
2021
- 2021-11-05 CN CN202111306573.3A patent/CN114111489A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5708230A (en) * | 1996-07-01 | 1998-01-13 | The United States Of America As Represented By The Secretary Of The Navy | Ocean surface-delivered ordnance explosive mine and obstacle clearance method |
| US20140195095A1 (en) * | 2008-12-30 | 2014-07-10 | Elbit Systems Ltd. | Autonomous navigation system and method for a maneuverable platform |
| CN201998754U (en) * | 2010-09-14 | 2011-10-05 | 沈阳北方重型机械有限公司 | Amphibious rescue vehicle |
| CN209166455U (en) * | 2018-12-27 | 2019-07-26 | 海南航泰航空科技发展有限公司 | A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning |
| CN109871022A (en) * | 2019-03-18 | 2019-06-11 | 江苏科技大学 | An intelligent path planning and obstacle avoidance method for amphibious unmanned search and rescue vehicles |
| CN112394726A (en) * | 2020-10-20 | 2021-02-23 | 自然资源部第一海洋研究所 | Unmanned ship obstacle fusion detection method based on evidence theory |
| CN214446414U (en) * | 2021-01-28 | 2021-10-22 | 南京埃尔乔亿自控设备有限公司 | Crawler-type barrier-breaking robot |
| CN113341932A (en) * | 2021-06-22 | 2021-09-03 | 北京理工大学 | Land-air amphibious vehicle domain control system and control method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20220301 |