CN101672919A - High-emulation snake robot for investigation and exploration - Google Patents
High-emulation snake robot for investigation and exploration Download PDFInfo
- Publication number
- CN101672919A CN101672919A CN200910024089A CN200910024089A CN101672919A CN 101672919 A CN101672919 A CN 101672919A CN 200910024089 A CN200910024089 A CN 200910024089A CN 200910024089 A CN200910024089 A CN 200910024089A CN 101672919 A CN101672919 A CN 101672919A
- Authority
- CN
- China
- Prior art keywords
- emulation snake
- investigation
- exploration
- controller
- emulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a high-emulation snake robot for investigation and exploration, which comprises a high-emulation snake body, a plurality of drive motors I, a battery pack, a signal acquiring unit and a circuit board, wherein the high-emulation snake body comprises a plurality of rotational joints with the cardan joint function; the drive motors I are sequentially installed in the high-emulation snake body from the head to the tail and correspondingly drive the high-emulation snake body to realize flexible movement; the battery pack is connected with the drive motors I; the signal acquiring unit is installed on the high-emulation snake body; the circuit board is installed in the high-emulation snake body; a controller connected with the signal acquiring unit as well as a data storing module and a wireless communication module which are respectively connected with the controller are installed on the circuit board; power output shafts of the drive motors I are connected with the rotational joints by a transmission mechanism; and the drive motors I are connected with the controller. The invention has small volume, reasonable design, simple and convenient control and operation,good hiding effect, perfect function and wide application range and can effectively overcome various defects of the prior investigation and exploration device.
Description
Technical field
The invention belongs to the investigation and exploration technical field, especially relate to a kind of high-emulation snake robot for investigation and exploration.
Background technology
At present, employed investigation and exploration equipment mostly is complex structure such as wheeled robot greatly in military, investigation and field, the speed of travel is fast, volume is big, the automatic or semiautomatic control equipment of Heavy Weight and signal transmission capabilities difference.Thereby in the practical application, all have control inconvenience, defective and deficiencies such as the speed of travel is slow, target easily exposes, function singleness usually, thereby existing investigation and exploration equipment more and more can not satisfy modern military operation, anti-terrorism, actual demand such as investigate the case.
Not long ago, the Israel military succeeds in developing a kind of investigation robot that is similar to snake i.e. " snake robot " and successfully tested and equipment in batches in army.But, nowadays domestic and international defective and the deficiency that also has the following aspects at the research and the use present situation of snake robot: 1, research direction mainly concentrates on the science and technology research of future robot, target is too leading, therefore search time and funds demand are huge and make slow progress, and real industry is not played too big influence; 2, research energy mainly concentrates on above automatic control system and complete machine people's the exploitation; 3, part Study work also rests on paper and thinking stage, does not carry out substantial performance study; 4, industrialization value is little, is not applied to market.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned deficiency of the prior art, a kind of high-emulation snake robot for investigation and exploration is provided, its volume is little, reasonable in design, control and easy and simple to handle and hidden effective, perfect in shape and function, applied widely, can effectively solve existing existing number of drawbacks of investigation and exploration equipment and deficiency.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of high-emulation snake robot for investigation and exploration, it is characterized in that: comprise the high emulation snake body of forming by a plurality of cradle heads with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motor one, the electric battery of joining with drive motor one, be installed in signal gathering unit and the circuit board that is installed in described high emulation snake body inside on the described high emulation snake body, the data memory module and the wireless communication module that the controller that joins with signal gathering unit are housed on the described circuit board and join with controller respectively, the power output shaft of described drive motor one is joined by gear train and cradle head, and described drive motor one joins with controller.
Also comprise the GPS positioning system or the Big Dipper positioning system that are installed in described high emulation snake body inside and join with controller.
The audio collecting device that described signal gathering unit comprises the infrared distance measurement detector, is used to absorb the camera of picture and/or video information and is used for the capturing audio signal, described infrared distance measurement detector, camera and audio collecting device all join with controller.
The external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of pugging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
Described signal gathering unit is installed on the high emulation snake body head.
Also comprise topworks that is laid in described high emulation snake body inside and the drive motor two that described topworks is driven, described drive motor two joins with controller and it is controlled by controller, and drive motor two joins with electric battery.
Described topworks is for igniting mechanism and/or throwing mechanism and/or extraction mechanism.
Described electric battery is installed on the circuit board.
The present invention compared with prior art has the following advantages:
1, simple, the processing and fabricating of snake body structure and easy for installation and be similar to snake outward, limb action is vivid, and because this high emulation snake body is connected to form by a plurality of steering connections with universal joint function, thereby action is very flexible.
2, use operation and control easyly, can long-rangely control, by telepilot to the rotating speed of respective drive motor one with turn to and control adjustment and can realize purpose that the gait of march and the direct of travel of high emulation snake body are accurately controlled.
3, perfect in shape and function and realization are convenient, when adopting camera that video datas such as the landform in the place ahead barrier, direct of travel, monitored place and deployment are caught, adopt infrared infrared distance measurement detector to carry out the distance detecting, measure moving target, adopt audio collecting device to obtain corresponding sound signal simultaneously, can record and sonic detection, and have the accurate localization function.In addition, also be provided with the topworks that can carry out corresponding specific tasks, only need in the practical operation correspondingly to get final product in the inner topworks of installing of snake body according to specifically executing the task, after measuring the present invention by positioning system and walking to the monitoring place, only need drive motor two to be controlled and to realize that snake robot carries out the purpose of corresponding specific tasks by telepilot.
4, data rate is fast and data-handling capacity is strong, robotization and intelligent degree height, signal gathering unit is uploaded to controller synchronously with the real-time Monitoring Data of obtaining, controller is sent to upper location supervisory by wireless communication module after the Monitoring Data that receives is carried out corresponding pre-service.
5, hidden and camouflage effectiveness good, the set disguise of snake external body has the multiple-protection function, is difficult for very much exposing, thereby can completes successfully secret shooting, measuring distance, obtains multiple executing the task such as sample.
6, applied widely, can suit in the mountain region, complex environments such as forest, marsh, Gobi desert, pipeline, local-style dwelling houses, mansion move, and should be able to promote being suitable for to military affairs, criminal investigation, anti-terrorism, solving criminal cases, ground observation and geologic prospecting, biological study, dangerous biological observation, emergency relief, construction blasting and detecting, nuclear work radiation area task dispatching correlative technology field mutually.
In sum, volume of the present invention is little, reasonable in design, control and easy and simple to handle and hidden effective, perfect in shape and function, applied widely, can effectively solve existing existing number of drawbacks of investigation and exploration equipment and deficiency.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is an external structure synoptic diagram of the present invention.
Fig. 2 is a circuit block diagram of the present invention.
Description of reference numerals:
The 1-cradle head; 2-drive motor one; The 3-signal gathering unit;
3-1-infrared distance measurement detector; The 3-2-camera; The 3-3-audio collecting device;
The 4-controller; The 5-data memory module; The 6-wireless communication module;
The 7-GPS positioning system; 8-ignites mechanism; 9-drive motor two;
The 10-throwing mechanism; The high emulation snake of 11-body head; The 12-electric battery.
Embodiment
As Fig. 1, shown in Figure 2, the present invention includes the high emulation snake body of forming by a plurality of cradle heads 1 with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motor 1, the electric battery 12 of joining with drive motor 1, be installed in signal gathering unit 3 and the circuit board that is installed in described high emulation snake body inside on the described high emulation snake body, the data memory module 5 and the wireless communication module 6 that the controller 4 that joins with signal gathering unit 3 are housed on the described circuit board and join with controller 4 respectively, the power output shaft of described drive motor 1 is joined by gear train and cradle head 1, and described drive motor 1 joins with controller 4.Described wireless communication module 6 is specially the 3G wireless communication module.
In the present embodiment, the present invention also comprises GPS positioning system 7 or the Big Dipper positioning system that is installed in described high emulation snake body inside and joins with controller 4.Described signal gathering unit 3 is installed on the high emulation snake body head 11, and described electric battery 12 is installed on the circuit board.The audio collecting device 3-3 that described signal gathering unit 3 comprises infrared distance measurement detector 3-1, is used to absorb the camera 3-2 of picture and/or video information and is used for the capturing audio signal, described infrared distance measurement detector 3-1, camera 3-2 and audio collecting device 3-3 all join with controller 4.
The external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of pugging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
Simultaneously, the present invention also comprises topworks that is laid in described high emulation snake body inside and the drive motor 29 that described topworks is driven, and described drive motor 29 joins with controller 4 and it is controlled by controller 4.Described topworks is for igniting mechanism 8 and/or throwing mechanism 10 and/or extraction mechanism, and drive motor 29 joins with electric battery 12.In the actual mechanical process, can determine in the corresponding topworks of the inner installation of described high emulation snake body according to the task difference of concrete needs execution.In the present embodiment, when going to a certain monitoring place to throw in explosive before needs control the present invention, then need to ignite mechanism 8 and/or throwing mechanism 10 inner installation of described high emulation snake body, when by telepilot control and after utilizing GPS positioning system 7 or the Big Dipper positioning system to position to determine that the present invention walks to the monitoring place, then pass through controller 4 controlling and driving motors, 29 startups and respective drive throwing mechanism 10 and earlier explosive is thrown in behind demolition point, controlling and driving ignition mechanism 8 ignites again.And when going to a certain monitoring place to extract corresponding object before needs the present invention, then need be in the inner extraction mechanism of installing of described high emulation snake body.
Correspondingly, if do not need to go to carry out corresponding task before the present invention in the practice, and when going to monitor information such as peripheral terrain environment that the place obtains monitored ground, orientation, distance before only needing, then need be in the inner installation of described high emulation snake body topworks, to alleviate the dead weight capacity of high emulation snake body.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (8)
1. high-emulation snake robot for investigation and exploration, it is characterized in that: comprise the high emulation snake body of forming by a plurality of cradle heads (1) with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motor one (2), the electric battery (12) of joining with drive motor one (2), be installed in the signal gathering unit (3) on the described high emulation snake body and be installed in the circuit board of described high emulation snake body inside, the data memory module (5) and the wireless communication module (6) that the controller (4) that joins with signal gathering unit (3) are housed on the described circuit board and join with controller (4) respectively, the power output shaft of described drive motor one (2) is joined by gear train and cradle head (1), and described drive motor one (2) joins with controller (4).
2. according to the described high-emulation snake robot for investigation and exploration of claim 1, it is characterized in that: also comprise the GPS positioning system (7) or the Big Dipper positioning system that are installed in described high emulation snake body inside and join with controller (4).
3. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described signal gathering unit (3) comprises infrared distance measurement detector (3-1), be used to absorb the camera (3-2) of picture and/or video information and be used for the audio collecting device (3-3) of capturing audio signal, and described infrared distance measurement detector (3-1), camera (3-2) and audio collecting device (3-3) all join with controller (4).
4. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: the external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of pugging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
5. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described signal gathering unit (3) is installed on the high emulation snake body head (11).
6. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: also comprise topworks that is laid in described high emulation snake body inside and the drive motor two (9) that described topworks is driven, described drive motor two (9) joins with controller (4) and it is controlled by controller (4), and drive motor two (9) joins with electric battery (12).
7. according to the described high-emulation snake robot for investigation and exploration of claim 6, it is characterized in that: described topworks is for igniting mechanism (8) and/or throwing mechanism (10) and/or extraction mechanism.
8. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described electric battery (12) is installed on the circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910024089A CN101672919A (en) | 2009-09-27 | 2009-09-27 | High-emulation snake robot for investigation and exploration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910024089A CN101672919A (en) | 2009-09-27 | 2009-09-27 | High-emulation snake robot for investigation and exploration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101672919A true CN101672919A (en) | 2010-03-17 |
Family
ID=42020228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910024089A Pending CN101672919A (en) | 2009-09-27 | 2009-09-27 | High-emulation snake robot for investigation and exploration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101672919A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274638A (en) * | 2011-05-31 | 2011-12-14 | 深圳华强文化科技集团股份有限公司 | Simulation boa robot |
| CN105091931A (en) * | 2015-08-05 | 2015-11-25 | 广州杰赛科技股份有限公司 | Directional blasting method, sensor and directional blasting apparatus |
| CN105867226A (en) * | 2016-04-13 | 2016-08-17 | 中南林业科技大学 | Field biological detecting and early-warning system |
-
2009
- 2009-09-27 CN CN200910024089A patent/CN101672919A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274638A (en) * | 2011-05-31 | 2011-12-14 | 深圳华强文化科技集团股份有限公司 | Simulation boa robot |
| CN102274638B (en) * | 2011-05-31 | 2013-09-04 | 深圳华强文化科技集团股份有限公司 | Simulation boa robot |
| CN105091931A (en) * | 2015-08-05 | 2015-11-25 | 广州杰赛科技股份有限公司 | Directional blasting method, sensor and directional blasting apparatus |
| CN105867226A (en) * | 2016-04-13 | 2016-08-17 | 中南林业科技大学 | Field biological detecting and early-warning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108583920B (en) | Offshore landing platform for unmanned aerial vehicle and control method for landing of unmanned aerial vehicle | |
| CN109760837B (en) | Unmanned aerial vehicle system is patrolled and examined in cable pit and tunnel | |
| CN201537922U (en) | High-simulation robot snake for investigation and exploration | |
| CN105159318B (en) | Conservation culture monitoring device and system | |
| CN105204516B (en) | Ecological agriculture monitoring method, apparatus and system | |
| CN104890761B (en) | Intelligent safety patrol robot and its control system | |
| CN109630905A (en) | A kind of full intelligent inspection system of oil-gas pipeline based on unmanned aerial vehicle remote sensing and deep learning | |
| CN108015810A (en) | A kind of robot with shock-absorbing function | |
| CN103448063A (en) | Humanoid explosive-handling robot | |
| CN105842019A (en) | Unmanned aerial vehicle (UAV) ambient air sample acquisition and ambient air on-site qualitative detection system | |
| CN102211624A (en) | Searching and rescuing positioning system robot | |
| CN105538285A (en) | Life detection robot equipment based on multi-sensor information | |
| CN109240315A (en) | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method | |
| CN112295145A (en) | Artificial intelligent fire-fighting robot, disaster detection method, computer device and medium | |
| CN110315499A (en) | Inspection robot for power distribution room | |
| CN101672919A (en) | High-emulation snake robot for investigation and exploration | |
| CN109683205B (en) | Aerial detection device and ground ejection system | |
| CN109649654A (en) | A kind of low altitude coverage localization method | |
| CN206654197U (en) | Unmanned plane in a kind of Multifunctional air | |
| CN109029131A (en) | A kind of ball firing target robot system | |
| Fukushima et al. | Humanitarian Demining Robot Gryphon–Current Status And An Objective Evaluation– | |
| CN108839571A (en) | A kind of wind energy and the unmanned monitoring car system of Driven by Solar Energy field environment | |
| CN203510240U (en) | Mechanical arm of explosive-handling robot | |
| CN109612456B (en) | Low-altitude search positioning system | |
| CN206557155U (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100317 |