CN107082092A - A kind of road robot - Google Patents
A kind of road robot Download PDFInfo
- Publication number
- CN107082092A CN107082092A CN201710256175.2A CN201710256175A CN107082092A CN 107082092 A CN107082092 A CN 107082092A CN 201710256175 A CN201710256175 A CN 201710256175A CN 107082092 A CN107082092 A CN 107082092A
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- CN
- China
- Prior art keywords
- face
- measured
- support arm
- frame
- hollow shaft
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of road robot, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, it is characterized in that, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the two ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis respectively.The walking of robot can be achieved by four groups of walking mechanisms in the present invention, and adapts to complicated landform, and each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can be by the regulation of walking mechanism come adjustable height, with practicality.
Description
Technical field
The present invention relates to machinery equipment technical field, a kind of road robot is particularly related to.
Background technology
The walking of the robot of prior art can be realized in several ways, but the equal Shortcomings in flexibility
Part, it is impossible to adapt to complicated landform, easily tumble；Other existing robot lacks imaging identification system, therefore can not meet
Particular demands.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of road robot, to solve robot in the prior art
Complicated landform can not be adapted to and lack the technical problem of imaging identification system.
In order to solve the above technical problems, embodiments of the invention provide a kind of road robot, including frame, the machine
Frame is provided with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, the vehicle with walking machine
Structure includes hollow shaft and solid shafting, and the hollow shaft sleeve is located at solid shafting outer ring, axle is passed through between the hollow shaft and solid shafting
Connection is held, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of the hollow shaft is located at shell outside
Connected first support arm in place, the two ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, to be set
There is the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis, first support respectively
The outer end of arm is connected with the 3rd support arm by rotating shaft, and the outer end of second supporting part is connected with the 4th by rotating shaft
Brace, the other end of the 3rd support arm is connected with the other end of the 4th support arm by rotating shaft, described hollow
First gear is provided with being located on axle on the inside of frame, the side wall of the frame is provided with the first motor, and first motor passes through
Meshed transmission gear is in first gear, and the end that the solid shafting is located at on the inside of frame is provided with second gear, the frame
The second motor is additionally provided with the wall of side, second motor is by meshed transmission gear in second gear；
Camera device is provided with above the frame, the camera device includes：
One image unit, for being imaged to a region to be measured；
One face detection unit, for being detected to the image acquired in the image unit, to obtain a people to be measured
Face, and record the face to be measured corresponding coordinate value scope in the picture；
One laser Scan orientation system, for the face to be measured that is recorded according to the face detection unit in the picture pair
The coordinate value scope answered is scanned to the face to be measured occurred in region to be measured, to obtain the face to be measured in region to be measured
3 D stereo information, the 3 D stereo information of the face refers to D coordinates value of the every bit of face in region to be measured,
The laser Scan orientation system by calculate laser light the time difference for sending pulse and reflected impulse and the laser light velocity come
The distance between every bit of face in camera device and region to be measured is calculated, so as to obtain the 3 D stereo information of face；
One memory cell, its storage inside has the 3 D stereo information of face of the specific people in region to be measured；With
And
One processor, for the 3 D stereo of the 3 D stereo information of face to be measured and the face of the specific people to be believed
Breath compares, to recognize signal according to comparison result output one.
The solid shafting is made up of aluminium alloy.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the walking of robot can be achieved by four groups of walking mechanisms in the present invention, and adapts to intricately
Shape, each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, and frame can be by the regulation of walking mechanism
Carry out adjustable height, with practicality；Camera device is further provided with, with face identification functions, robot can be used for security protection
In the particular task of class etc..
Brief description of the drawings
Fig. 1 is stereogram of the invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the schematic diagram of the touchdown point of the walking mechanism of the present invention.
Change schematic diagram one when Fig. 4 is the walking of the walking mechanism of the present invention.
Change schematic diagram two when Fig. 5 is the walking of the walking mechanism of the present invention.
Change schematic diagram three when Fig. 6 is the walking of the walking mechanism of the present invention.
Change schematic diagrams of the Fig. 7 for walking mechanism of the invention when being adjusted for bracket height.
Fig. 8 is the schematic diagram of the camera device of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of road robot, including horizontally disposed frame 1,
The frame 1 is provided with four groups of walking mechanisms 2, and walking mechanism 2 is respectively arranged at the front and back position of the both sides of frame 1 described in four groups,
Position is respectively front left side, forward right side, left rear side, the right lateral side of frame 1, similar to automobile four-wheel installation site, the walking
Mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on the outer ring of solid shafting 22, the hollow shaft 21 with it is solid
By bearing connection (not shown) between axle 22, bearing is connected as prior art, and therefore not to repeat here, can be real by bearing connection
Existing hollow shaft 21 is coaxially disposed with solid shafting 22 and can mutually relatively rotated, and is independent of each other, the outer ring of hollow shaft 21 is connected by bearing
It is connected on the side wall of frame 1, the hollow shaft 21 is horizontally disposed with solid shafting 22, the outer ring of the hollow shaft 21 is located at frame 1
Outside is connected the first support arm 23, and the two ends of the solid shafting 22 grow hollow shaft 21, and the outer ring of the solid shafting 22 is located at
The outside of frame 1 is provided with the second support arm 24, and the support arm 24 of the first support arm 23 and second is located at the axle of hollow shaft 21 respectively
The both sides of line, the outer end of first support arm 23 is connected with the 3rd support arm 25, second supporting part 24 by rotating shaft 3
Outer end the 4th support arm 26 is connected with by rotating shaft 3, the other end of the 3rd support arm 25 and the described 4th support
The other end of arm 26 is connected by rotating shaft 3, is located in the hollow shaft 21 at the inner side of frame 1 and is provided with first gear 27, described
The side wall of frame 1 be provided with the first motor 4, first motor 4 by meshed transmission gear in first gear 27, it is described solid
The end that axle 22 is located at the inner side of frame 1 is provided with second gear 28, the side wall of the frame 1 and is additionally provided with the second motor 5, described
Second motor 5 is by meshed transmission gear in second gear 28.First support arm 23, the second support arm 24, the 3rd support arm 25,
4th support arm 26 constitutes the walking mechanism of a quadrangle, and the junction of the 3rd support arm 25 and the 4th support arm 26 is
Place 6 (as shown in Figure 3), therefore circular arc is made in the end that can touch the 3rd support arm 25 and the 4th support arm 26 with ground
Shape, it is more smooth when walking mechanism is touched with ground.The solid shafting 22 is made up of aluminium alloy.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is shown in solid line position in figure,
Four walking mechanisms 2 drive hollow shaft 21 to rotate to drive the first support arm 23 in the counterclockwise direction to turn by the first motor 4
Move to shown position, the second motor 5 is not rotated and remained stationary as so as to the second support arm 24, thus touchdown point 6 to rear side it is oblique under
Fang Yundong, therefore given frame one driving force forward and up, as shown in figure 5, then the first motor 4 rotate clockwise so as to
The first support arm 23 is driven to be rotated in the clockwise direction to shown position, the second motor 5 rotates counterclockwise to drive second
Brace 24 turns to shown position in the counterclockwise direction, and touchdown point 6 is moved to the oblique upper of front side, and touchdown point 6 is liftoff, makes frame
Soar liftoff, as shown in fig. 6, then the first motor 4 rotates counterclockwise to drive the first support arm 23 in the counterclockwise direction to turn
Move to shown position, the second motor 5 rotates clockwise to drive the second support arm 24 to be rotated in the clockwise direction to diagram position
Put, touchdown point 6 is oliquely downward moved forward, and touchdown point is contacted with ground, complete a period of motion, the step can make machine
People bounds forward.The step of other similar walkings, running, will not be repeated here.
The walking mechanism for the quadrangle being made up of 4 support arms, as long as the first support arm and second by motor control
The position of support arm, the position of that touchdown point is what is be to determine, therefore can realize accurate motion.
As shown in fig. 7, walking mechanism 2 can also be by the way that the first motor 4 be rotated clockwise, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, the starting point of rear 6 touchdown point as motion will be moved up, can thus realize frame 1 from
Ground level have adjusted.
As illustrated in figures 1 and 8, camera device 7 is provided with above the frame, the camera device 7 includes：
One image unit, for being imaged to a region to be measured；
One face detection unit, for being detected to the image acquired in the image unit, to obtain a people to be measured
Face, and record the face to be measured corresponding coordinate value scope in the picture；
One laser Scan orientation system, for the face to be measured that is recorded according to the face detection unit in the picture pair
The coordinate value scope answered is scanned to the face to be measured occurred in region to be measured, to obtain the face to be measured in region to be measured
3 D stereo information, the 3 D stereo information of the face refers to D coordinates value of the every bit of face in region to be measured,
The laser Scan orientation system by calculate laser light the time difference for sending pulse and reflected impulse and the laser light velocity come
The distance between every bit of face in camera device and region to be measured is calculated, so as to obtain the 3 D stereo information of face；
One memory cell, its storage inside has the 3 D stereo information of face of the specific people in region to be measured；With
And
One processor, for the 3 D stereo of the 3 D stereo information of face to be measured and the face of the specific people to be believed
Breath compares, to recognize signal according to comparison result output one, to carry out subsequent treatment.Than recognizing that signal is sent to as will be described
One warning device is alarmed, to point out personnel to be measured not to be specific people, available for safety check, security protection generic task.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of road robot, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups point
She Yu not be at the front and back position of frame both sides, it is characterised in that the walking mechanism includes hollow shaft and solid shafting, described hollow
Axle sleeve is located at solid shafting outer ring, is connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring passes through bearing
It is connected on the side wall of frame, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the solid shafting
Two ends grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm with
Second support arm is located at the both sides of hollow shaft axis respectively, and the outer end of first support arm is connected with the 3rd by rotating shaft
Brace, the outer end of second supporting part is connected with the 4th support arm, the other end of the 3rd support arm by rotating shaft
It is connected with the other end of the 4th support arm by rotating shaft, is located in the hollow shaft at frame inner side and is provided with the first tooth
Wheel, the side wall of the frame is provided with the first motor, first motor by meshed transmission gear in first gear, the reality
End of the heart axle position at frame inner side, which is provided with second gear, the side wall of the frame, is additionally provided with the second motor, described second
Motor is by meshed transmission gear in second gear；
Camera device is provided with above the frame, the camera device includes：
One image unit, for being imaged to a region to be measured；
One face detection unit, for being detected to the image acquired in the image unit, to obtain a face to be measured, and
Record the face to be measured corresponding coordinate value scope in the picture；
One laser Scan orientation system, the face to be measured for being recorded according to the face detection unit is corresponding in the picture
Coordinate value scope is scanned to the face to be measured occurred in region to be measured, to obtain the three-dimensional of the face to be measured in region to be measured
Steric information, the 3 D stereo information of the face refers to D coordinates value of the every bit of face in region to be measured, described
Laser Scan orientation system is calculated by calculating the transmission pulse of laser light and the time difference of reflected impulse and the laser light velocity
The distance between every bit of face in camera device and region to be measured, so as to obtain the 3 D stereo information of face；
One memory cell, its storage inside has the 3 D stereo information of face of the specific people in region to be measured；And
One processor, for the 3 D stereo information of the 3 D stereo information of face to be measured and the face of the specific people to be made
Compare, to recognize signal according to comparison result output one.
2. solid shafting according to claim 1, it is characterised in that the solid shafting is made up of aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256175.2A CN107082092B (en) | 2017-04-19 | 2017-04-19 | A kind of road robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256175.2A CN107082092B (en) | 2017-04-19 | 2017-04-19 | A kind of road robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107082092A true CN107082092A (en) | 2017-08-22 |
| CN107082092B CN107082092B (en) | 2019-07-26 |
Family
ID=59612122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710256175.2A Active CN107082092B (en) | 2017-04-19 | 2017-04-19 | A kind of road robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107082092B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2239577C1 (en) * | 2003-04-09 | 2004-11-10 | Волгоградский государственный технический университет | Cross-country vehicle walking support |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| RU2496305C1 (en) * | 2012-04-13 | 2013-10-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Волгоградский государственный технический университет" (ВолгГТУ) | Self-propelled gradient trolley of multisupporting multisectional irrigation system |
| CN103963866A (en) * | 2014-04-24 | 2014-08-06 | 北京航空航天大学 | All-terrain telescopic-leg-type fix-foot rotating advancing robot |
-
2017
- 2017-04-19 CN CN201710256175.2A patent/CN107082092B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2239577C1 (en) * | 2003-04-09 | 2004-11-10 | Волгоградский государственный технический университет | Cross-country vehicle walking support |
| RU2496305C1 (en) * | 2012-04-13 | 2013-10-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Волгоградский государственный технический университет" (ВолгГТУ) | Self-propelled gradient trolley of multisupporting multisectional irrigation system |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103963866A (en) * | 2014-04-24 | 2014-08-06 | 北京航空航天大学 | All-terrain telescopic-leg-type fix-foot rotating advancing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107082092B (en) | 2019-07-26 |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190605 Address after: 315700 Gujiacun 97, Xiaotang Township, Xiangshan County, Ningbo City, Zhejiang Province Applicant after: Hu Zenghao Address before: 315700 Gujiacun 97, Xiaotang Township, Xiangshan County, Ningbo City, Zhejiang Province Applicant before: Yu Jingli |
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| TR01 | Transfer of patent right |
Effective date of registration: 20200922 Address after: 239000 No.66 Tianle Road, Chuzhou City, Anhui Province Patentee after: ANHUI SANJIANG CONSTRUCTION ENGINEERING Co.,Ltd. Address before: Xiangshan County, Zhejiang province 315700 Ningbo City Xiao Tang Xiang Gu Jia Cun No. 97 Patentee before: Hu Zenghao |