CN104690709A - Wheel-track composite moving detection robot - Google Patents

Wheel-track composite moving detection robot Download PDF

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Publication number
CN104690709A
CN104690709A CN201510084935.7A CN201510084935A CN104690709A CN 104690709 A CN104690709 A CN 104690709A CN 201510084935 A CN201510084935 A CN 201510084935A CN 104690709 A CN104690709 A CN 104690709A
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CN
China
Prior art keywords
wheel
road wheel
crawler belt
binocular
robot
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Pending
Application number
CN201510084935.7A
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Chinese (zh)
Inventor
蒋俊美
蒋俊波
蒋阿生
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Liyang Chaoqiang Chains Manufacture Co Ltd
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Liyang Chaoqiang Chains Manufacture Co Ltd
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Publication date
Application filed by Liyang Chaoqiang Chains Manufacture Co Ltd filed Critical Liyang Chaoqiang Chains Manufacture Co Ltd
Priority to CN201510084935.7A priority Critical patent/CN104690709A/en
Publication of CN104690709A publication Critical patent/CN104690709A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a wheel-track composite moving detection robot. The robot comprises a binocular three-dimensional panoramic image capturing device, a controller and a wheel-track composite moving robot, wherein the controller comprises an autonomous navigation control system, an intelligent video analysis system and a microprocessor; the wheel-track composite moving robot can control the driving mode automatically according to road conditions captured through the binocular three-dimensional panoramic image capturing device, adopts wheels when being driven on a pavement with good road conditions and adopts tracks when being driven on a pavement with poor road conditions, realizes the switching between track running or travelling wheel running of a travelling mechanism, and retracts driving travelling wheels and driven travelling wheels into tracks when adopting the tracks to run; the binocular three-dimensional panoramic image capturing device can sends more visual and three-dimensional image information to a control center, so as to ensure that a user can more clearly know site situations, and provide decision support.

Description

A kind of wheel is carried out compound and is moved sniffing robot
Technical field
The present invention relates to robot probe's engineering research field, specifically a kind of to complicated ground have adaptive ability, the novel of multi-locomotion mode take turns-carry out compound and move sniffing robot.
Background technology
A lot of occasion all needs to use sniffing robot to understand field condition, information is fed back to control centre with the form of image and data, for decision-making provides support.In order to detect different site environments, detection instrument is arranged on mobile robot, by the mobile detection different directions of mobile robot and the field condition of diverse location.For mobile robot, wheeled, crawler type, Tui Shi travel mechanism be people's most study be also the three kinds of travel mechanisms be most widely used at present.Wheeled mobile robot has that structure is simple, translational speed is fast and be convenient to the features such as manipulation, but it is only suitable at smooth ground handling and can not going up or down stairway and Crossing ditch.The feature of caterpillar mobile robot is good stability, and it can walk on broken terrain, and can clear the jumps and ascend larger slope or ladder.But the manipulation in crawler-type mobile mechanism kinematic direction is controlled by the speed difference of left and right crawler belt.Therefore, there will be when turning to that slip, resistance are comparatively large, turning radius and the problem such as center acurracy is poor.Leg type mobile robot refers to that have employed similar people, animal or insect pin takes a step the robot of movement, there is the mobile robot of the forms such as two foots, four-footed, six foots and polypody, their common feature only needs discrete touchdown point, just can walk on level land and broken terrain, can pass over the obstacle such as trench, cave and upper and lower ladder, there is higher mobility.But the control of Tui Shi travel mechanism is more complicated, correlation technique is not overripened yet, and involves great expense.In recent years, many scholars have carried out the research of the mobile robot based on composite structure, but its structure and control complexity remain an obstacle of modern mobile robot's mobility.
Summary of the invention
In view of above-mentioned condition, the invention provides a kind of wheel shoe compound and move sniffing robot.
Technical scheme of the present invention is as follows:
A kind of wheel is carried out compound and is moved sniffing robot, comprises binocular solid panoramic picture acquisition device, and controller and wheel carry out composite mobile robot, and controller comprises automatic navigation control system, intelligent video analysis system and microprocessor.
Wherein, wheel shoe composite mobile robot comprises chassis, drive unit, positive transport wheel, driven road wheel, crawler belt, road wheel elevating mechanism and road wheel telescoping mechanism.Drive unit is arranged on the rear end on chassis, the dynamic output shaft in drive unit both sides.Power output shaft can Direct driver crawler belt or through positive transport wheel power drive mechanism drive positive transport wheel, drive unit is motor.Positive transport wheel and driven road wheel are respectively two, be arranged symmetrically in both sides, chassis, road wheel elevating mechanism and road wheel telescoping mechanism are equipped with in the both sides on chassis, and wherein road wheel elevating mechanism adopts toggle, and road wheel telescoping mechanism adopts extensible link mechanism.Realize the lifting of positive transport wheel and driven road wheel by control lines traveling wheel jacking mechanism and road wheel telescoping mechanism and stretch, crawler belt is made to contact or leave ground, the conversion realizing walking mechanism crawler belt or travel with road wheel, and when using crawler belt to travel, positive transport wheel and driven road wheel are first risen and makes crawler belt kiss the earth, and then positive transport wheel and driven road wheel are retracted in crawler belt, when using road wheel to travel, positive transport wheel and driven road wheel are first stretched out at decline kiss the earth until make crawler belt leave ground.
Binocular panoramic stereo image acquisition device is arranged on wheel and carries out on the front end platform on composite mobile robot chassis, controller is between binocular panoramic stereo image acquisition device and drive unit, and be connected with binocular panoramic stereo image acquisition device and drive unit respectively, automatic navigation control system in controller is connected with microprocessor with intelligent video analysis system, and binocular solid panoramic picture acquisition device carries out the full-view stereo visual image of composite mobile robot periphery for obtaining wheel; Intelligent video analysis system, for the full-view stereo visual image obtained from described binocular solid panoramic picture acquisition device, resolves the territorial environment around wheel shoe composite mobile robot; Automatic navigation control system carries out the territorial environment around composite mobile robot according to the wheel that intelligent video analysis system obtains, and completes to take turns to carry out path planning and the control wheel shoe composite mobile robot employing wheel/shoe move mode that compound moves sniffing robot.
Further, wheel shoe compound moves sniffing robot and also comprises gas detection sensor, infrared sensor and lighting device, gas detection sensor and infrared sensor are respectively in the front, both sides of binocular panoramic stereo image acquisition device, and lighting device is arranged on the front of The Cloud Terrace.
The beneficial effect that the present invention has is: wheel is carried out compound and moved the surface conditions that sniffing robot can obtain according to binocular panoramic stereo image acquisition device and automatically control its driving mode, wheel is adopted when the good road traveling of road conditions, the advantages such as have mobility strong, noise is little, and speed is fast; This walking mechanism adopts crawler belt when the road traveling that road conditions are poor, and cross-country ability is good, to advantages such as the strong adaptabilities of natural environment.Binocular panoramic stereo image acquisition device can by more intuitively, more three-dimensional image information sends control centre to, more clearly understand field condition, decision support be provided.Gas detection sensor, infrared sensor and lighting device can make sniffing robot also can detect under darker environment, apply wider.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of Lun Lv complex probe robot.
Fig. 2 is the internal structure schematic diagram that wheel carries out composite mobile robot.
Fig. 3 is Lun Lv complex probe robot when using road wheel to travel.
Fig. 4 is Lun Lv complex probe robot when using crawler belt to travel.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described:
A kind of wheel is carried out compound and is moved sniffing robot, comprises binocular solid panoramic picture acquisition device 1, and controller 2 and wheel carry out composite mobile robot 3, and controller comprises automatic navigation control system, intelligent video analysis system and microprocessor.
Wherein, wheel shoe composite mobile robot comprises chassis 4, drive unit 5, positive transport wheel 6, driven road wheel 7, crawler belt 8, road wheel elevating mechanism 9 and road wheel telescoping mechanism 10.Drive unit 5 is arranged on the rear end on chassis 4, the dynamic output shaft 11 in drive unit both sides.Power output shaft 11 can Direct driver crawler belt 8 or through positive transport wheel power drive mechanism drive positive transport wheel 6, drive unit 5 is motor.Positive transport wheel 6 and driven road wheel 7 are respectively two, be arranged symmetrically in both sides, chassis 4, road wheel elevating mechanism 9 and road wheel telescoping mechanism 10 are equipped with in the both sides on chassis 4, and wherein road wheel elevating mechanism 9 adopts toggle, and road wheel telescoping mechanism 10 adopts pantograph linkage.Realize the lifting of positive transport wheel 6 and driven road wheel 7 by control lines traveling wheel jacking mechanism 9 and road wheel telescoping mechanism 102 and stretch, crawler belt 8 is made to contact or leave ground, realize the conversion that wheel is carried out composite mobile robot 3 crawler belt 8 or travelled with road wheel, and when using crawler belt 8 to travel, positive transport wheel 6 and driven road wheel 7 are first risen and makes crawler belt 8 kiss the earth, and then positive transport wheel 6 and driven road wheel 7 are retracted in crawler belt 8, when using road wheel to travel, positive transport wheel 6 and driven road wheel 7 are first stretched out the kiss the earth that declines again until make crawler belt 8 leave ground.
Binocular panoramic stereo image acquisition device 1 is arranged on wheel and carries out on the front end platform 12 on the chassis 4 of composite mobile robot 3, controller 2 is between binocular panoramic stereo image acquisition device and drive unit, and be connected with binocular panoramic stereo image acquisition device 1 and drive unit 5 respectively, automatic navigation control system in controller 2 is connected with microprocessor with intelligent video analysis system, and binocular solid panoramic picture acquisition device 1 carries out the full-view stereo visual image of composite mobile robot 3 periphery for obtaining wheel; Intelligent video analysis system, for the full-view stereo visual image obtained from described binocular solid panoramic picture acquisition device 1, resolves the territorial environment around wheel shoe composite mobile robot 3; The wheel that automatic navigation control system obtains according to intelligent video analysis system carries out the territorial environment around composite mobile robot 3, completes wheel and carries out compound and move the detective path planning of sniffing robot 3 and control wheel and carry out composite mobile robot 3 and adopt wheel/shoe move mode.
Further, wheel shoe compound moves sniffing robot and also comprises gas detection sensor 13, infrared sensor 14 and lighting device 15, gas detection sensor 13 and infrared sensor 14 are respectively in the front, both sides of binocular panoramic stereo image acquisition device 1, and lighting device 15 is arranged on the front of The Cloud Terrace 12.
Compound of carrying out wheel moves the surface conditions that sniffing robot can obtain according to binocular panoramic stereo image acquisition device and automatically controls its driving mode, adopts wheel, the advantages such as have mobility strong, noise is little, and speed is fast when the good road traveling of road conditions; This walking mechanism adopts crawler belt when the road traveling that road conditions are poor, and cross-country ability is good, to advantages such as the strong adaptabilities of natural environment.Binocular panoramic stereo image acquisition device can by more intuitively, more three-dimensional image information sends control centre to, more clearly understand field condition, decision support be provided.Gas detection sensor, infrared sensor and lighting device can make sniffing robot also can detect under darker environment, apply wider.
In a word, the foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.

Claims (3)

1. wheel is carried out compound and is moved a sniffing robot, comprises binocular solid panoramic picture acquisition device, and controller and wheel carry out composite mobile robot, and controller comprises automatic navigation control system, intelligent video analysis system and microprocessor.
2. one wheel according to claim 1 is carried out compound and is moved sniffing robot, it is characterized in that: wherein, wheel is carried out composite mobile robot and is comprised chassis, drive unit, positive transport wheel, driven road wheel, crawler belt, road wheel elevating mechanism and road wheel telescoping mechanism; Drive unit is arranged on the rear end on chassis, the dynamic output shaft in drive unit both sides.Power output shaft can Direct driver crawler belt or through positive transport wheel power drive mechanism drive positive transport wheel, drive unit is motor.Positive transport wheel and driven road wheel are respectively two, be arranged symmetrically in both sides, chassis, road wheel elevating mechanism and road wheel telescoping mechanism are equipped with in the both sides on chassis, and wherein road wheel elevating mechanism adopts toggle, and road wheel telescoping mechanism adopts extensible link mechanism; Realize the lifting of positive transport wheel and driven road wheel by control lines traveling wheel jacking mechanism and road wheel telescoping mechanism and stretch, crawler belt is made to contact or leave ground, the conversion realizing walking mechanism crawler belt or travel with road wheel, and when using crawler belt to travel, positive transport wheel and driven road wheel are first risen and makes crawler belt kiss the earth, and then positive transport wheel and driven road wheel are retracted in crawler belt, when using road wheel to travel, positive transport wheel and driven road wheel are first stretched out at decline kiss the earth until make crawler belt leave ground;
Binocular panoramic stereo image acquisition device is arranged on wheel and carries out on the front end platform on composite mobile robot chassis, controller is between binocular panoramic stereo image acquisition device and drive unit, and be connected with binocular panoramic stereo image acquisition device and drive unit respectively, the automatic navigation control system in controller is connected with microprocessor with intelligent video analysis system; Binocular solid panoramic picture acquisition device carries out the full-view stereo visual image of composite mobile robot periphery for obtaining wheel; Intelligent video analysis system, for the full-view stereo visual image obtained from described binocular solid panoramic picture acquisition device, resolves the territorial environment around wheel shoe composite mobile robot; The wheel that automatic navigation control system obtains according to intelligent video analysis system carries out the territorial environment around composite mobile robot, completes wheel and carries out compound and move the detective path planning of sniffing robot and control wheel and carry out composite mobile robot and adopt wheel/shoe move mode.
3. one wheel according to claim 2 is carried out compound and is moved sniffing robot, it is characterized in that: also comprise gas detection sensor, infrared sensor and lighting device, gas detection sensor and infrared sensor are respectively in the front, both sides of binocular panoramic stereo image acquisition device, and lighting device is arranged on the front of The Cloud Terrace.
CN201510084935.7A 2015-02-16 2015-02-16 Wheel-track composite moving detection robot Pending CN104690709A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160332554A1 (en) * 2015-05-13 2016-11-17 Stratom, Inc. Robotic cargo system
CN106155059A (en) * 2016-08-16 2016-11-23 邹霞 The Intelligent unattended control loop of view-based access control model
CN106155054A (en) * 2016-07-05 2016-11-23 中国科学院深圳先进技术研究院 Wheel carries out control system and the method for composite mobile robot
CN108980643A (en) * 2018-08-01 2018-12-11 东莞市闻誉实业有限公司 The ground LED is from line light source

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60176871A (en) * 1984-02-24 1985-09-10 Toshiba Corp Travel gear for robot
CN201484526U (en) * 2009-09-11 2010-05-26 燕山大学 Wheel and crawler dual-purpose travelling mechanism
CN201800804U (en) * 2010-07-07 2011-04-20 中国科学院沈阳自动化研究所 Wheel-track combined transformable mobile robot
CN202264834U (en) * 2011-10-24 2012-06-06 常熟理工学院 Obstacle-surmounting rescue vehicle
CN102873675A (en) * 2012-09-19 2013-01-16 浙江工业大学 Biomimetic crop picking robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60176871A (en) * 1984-02-24 1985-09-10 Toshiba Corp Travel gear for robot
CN201484526U (en) * 2009-09-11 2010-05-26 燕山大学 Wheel and crawler dual-purpose travelling mechanism
CN201800804U (en) * 2010-07-07 2011-04-20 中国科学院沈阳自动化研究所 Wheel-track combined transformable mobile robot
CN202264834U (en) * 2011-10-24 2012-06-06 常熟理工学院 Obstacle-surmounting rescue vehicle
CN102873675A (en) * 2012-09-19 2013-01-16 浙江工业大学 Biomimetic crop picking robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160332554A1 (en) * 2015-05-13 2016-11-17 Stratom, Inc. Robotic cargo system
US9944213B2 (en) * 2015-05-13 2018-04-17 Stratom, Inc. Robotic cargo system
CN106155054A (en) * 2016-07-05 2016-11-23 中国科学院深圳先进技术研究院 Wheel carries out control system and the method for composite mobile robot
CN106155059A (en) * 2016-08-16 2016-11-23 邹霞 The Intelligent unattended control loop of view-based access control model
CN108980643A (en) * 2018-08-01 2018-12-11 东莞市闻誉实业有限公司 The ground LED is from line light source

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Application publication date: 20150610