CN108556939B - An all-terrain mobile detection robot - Google Patents

Abstract

The all-terrain mobile detection robot adopts a wheeled structure to walk on a flat road surface, adopts a crawler-type structure to walk on a complex road surface, and comprises wheeled components, a vehicle body, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system; the driving motor comprises a wheel type driving motor and a crawler type chassis driving motor; the chassis system comprises a crawler belt, a synchronous pulley, a chassis supporting frame and a crawler-type chassis driving motor, wherein the synchronous pulley comprises a driving wheel and a driven wheel, the crawler-type chassis driving motor is arranged on the chassis supporting frame, the driving wheel of the synchronous pulley is connected with an output shaft of the crawler-type chassis driving motor, and the crawler belt is meshed with the synchronous pulley to drive the crawler belt to move.

Description

An all-terrain mobile detection robot

technical field

The invention relates to the technical field of robots, in particular to an all-terrain mobile detection robot.

Background technique

At present, the robot chassis usually adopts crawler type and/or wheel type, and the crawler type machinery has a strong ability to pass through complex road surfaces, but it cannot quickly pass through flat road surfaces. Although wheeled machines can pass through flat roads quickly, they can only stay away from more complex roads, such as grass, gravel roads, swamps and other roads. Therefore, it is a problem that needs to be solved in the field of robotics to make the robot autonomously detect the unfamiliar environment and rely on its own strength to cross some ravines or even climb or step down the cliff under the premise of ensuring its own safety.

Contents of the invention

In view of the problems existing in the prior art, the object of the present invention is to propose an all-terrain mobile detection robot, which adopts a combination of crawler and wheel type, so that the all-terrain mobile detection robot in the present invention can complete the crawler to the The mutual switching of the wheeled structure means that it adopts wheeled movement on flat roads, supports the entire body of the all-terrain mobile detection robot through the front and rear two brackets, and can realize fast and unobstructed passage; it uses crawler tracks on complex roads According to the structure, the road condition information is acquired by means of sensors, and then the acquired information is analyzed by the single-chip microcomputer system, and the obstacles that cannot be crossed are avoided according to the analysis results, and the obstacles that can be crossed can be crossed by taking appropriate actions; in the present invention The all-terrain mobile detection robot jointly controls the rotation of different groups of steering gears, raises or lowers the robot chassis so that it can raise or lower its own height, and can automatically return to normal posture in case of overturning.

Technical scheme of the present invention is as follows:

An all-terrain mobile detection robot, which uses a wheeled structure to walk on flat roads and a crawler structure to walk on complex roads. It includes wheeled components, a car body, a chassis system, a steering gear system, a controller, and environmental detection. system, a power supply system and a drive motor, the car body is located above the chassis system; the drive motor includes a wheel drive motor and a crawler chassis drive motor; the chassis system includes crawlers, synchronous pulleys, and chassis support frames and a crawler chassis driving motor, the synchronous pulley includes a driving wheel and a driven wheel, the crawler chassis driving motor is installed on the chassis support frame, the driving wheel of the synchronous pulley and the crawler chassis driving motor The output shaft is connected, and the track meshes with the synchronous pulley to drive the track movement; the wheel component includes a first bracket, a second bracket, a first wheel and a second wheel, and the first bracket and the second The brackets are respectively located at both ends of the crawler vehicle body, the first bracket and the second bracket have a preset length, and both the first bracket and the second bracket can rotate, and are configured to support the The vehicle body, the first wheel is arranged at the end of the first bracket away from the first bracket of the vehicle body, and the second wheel is arranged at the second bracket of the second bracket away from the vehicle body and the first wheel drive motor and the second wheel drive motor of the wheel drive motor and the first wheel is a driving wheel, and the first wheel relies on the first wheel drive motor and the Drive the second wheel drive motor; the steering gear system includes a first steering gear, a second steering gear, a third steering gear, a fourth steering gear, a fifth steering gear and a steering gear controller, and the steering gear The controller controls the actions of the steering gears, and the torque of the fourth steering gear and the second steering gear is greater than the torque of the third steering gear and the first steering gear; the environment detection system includes a first Ultrasonic ranging sensor, the second ultrasonic ranging sensor and the third ultrasonic ranging sensor, the first ultrasonic ranging sensor is arranged at the connection between the first bracket and the first wheel; the angle sensor is arranged at the car body Inside; the main control board of the controller judges the environmental information by receiving the distance information fed back by the ultrasonic sensor; the main control board judges the posture of the robot itself by receiving the angle information fed back by the angle sensor, thereby completing its own normal posture automatic recovery; the power supply system is a step-down power supply system.

Preferably, the crawler chassis driving motor includes a first crawler chassis driving motor and a second crawler chassis driving motor, the crawler belt includes a first crawler belt and a second crawler belt, and the synchronous pulley includes a first synchronous pulley and the second synchronous pulley, the chassis support frame includes a first chassis support frame and a second chassis support frame, which are respectively located on both sides below the car body; The two crawler-type chassis drive motors are respectively installed on respective chassis support frames, and each chassis support frame is connected to the bottom of the car body through connecting pieces.

Preferably, the first synchronous pulley includes a first driving pulley and a first driven pulley, the first track is installed between the first driving pulley and the first driven pulley of the first synchronous pulley, and the first track holes are provided that intermesh with teeth on the first timing pulley; and

The second synchronous pulley includes a second driving pulley and a second driven pulley, the second track is installed between the second driving pulley and the second driven pulley of the second synchronous pulley, and holes are arranged on the second track , the hole meshes with the teeth on the second synchronous pulley;

The first driving wheel of the first synchronous pulley is installed on the output shaft of the first crawler chassis drive motor, and the first driven wheel of the first synchronous pulley is installed on the first chassis support frame, when the first When the crawler drive motor rotates, it drives the first crawler to rotate;

The second driving wheel of the second synchronous pulley is installed on the output shaft of the second crawler chassis drive motor, and the second driven wheel of the second synchronous pulley is installed on the second chassis support frame, when the second When the crawler drive motor rotates, it drives the second crawler to rotate.

Preferably, the first driving wheel in the first synchronous pulley is opposite to the second driven wheel in the second synchronous pulley, and the first driven wheel in the first synchronous pulley is opposite to the second driven wheel in the first synchronous pulley. The second driving pulley in the second synchronous pulley is relatively arranged.

Preferably, the end of the first bracket away from the vehicle body is rotatably connected to a first connecting frame, and the first wheel drive motor and the second wheel drive motor are respectively arranged on the first On the outside of both sides of the connecting frame, the first wheels are respectively connected to the output shafts of the first wheel drive motor and the second wheel drive motor; The first connecting frame is away from the outer side of the vehicle body; the angle between the first wheel and the first bracket is adjusted by the fifth steering gear;

The first connecting frame is connected through the first columnar support and the U-shaped support. The first columnar support is arranged below the connection between the first connecting frame and the first bracket, and is configured to hold the Describe the width of the first bracket to prevent the width of the first bracket from narrowing, affecting the flexibility of rotation between the first bracket and the first bracket and the role of the first columnar bracket in the movement of the third part of the first bracket. The role of support and limit;

The U-shaped support is arranged at the lower end of the inner side of the first connection frame, and the two sides of the U-shaped support are respectively parallel to the bottom edge of the first connection frame, so that the U-shaped support The bottom edge is placed perpendicular to the first connecting frame, the bottom edge of the U-shaped support frame is connected to a first support plate, and a first ultrasonic distance measuring sensor is arranged on the first support plate.

Preferably, the first end of the second connecting frame is rotatably connected to the end of the second bracket away from the vehicle body through a first aluminum column;

The second end of the second connecting frame is provided with a second columnar support, and the second columnar support is configured to maintain the width of the second bracket, so as to prevent the width of the second connecting frame from narrowing and affecting the Rotational flexibility between the second connecting frame and the second bracket.

Preferably, said first bracket comprises a first part, a second part and a third part, said first bracket first part comprises a first part and a second part, said first bracket second part has a bottom and two sides part, the third part of the first bracket has a bottom and two side parts;

After the third steering gear is fixed on the second part of the first part of the first bracket through the aluminum column on the top, the second part of the first part of the first bracket is placed on the first part of the first part of the first bracket so that the first part After the first part of the first part of the bracket overlaps with the second part of the first part of the first bracket, the first overlapping side part of the first part of the first bracket is rotatably connected to the vehicle body, and the first part of the first bracket is connected to the first part of the first bracket. A first rotating connection part is arranged between the second part of the bracket, and the first rotating connecting part is fixedly connected to the other side of the first part of the first part of the first bracket; the first rotating connecting part is a U-shaped structure, The bottom edge of the U-shaped structure of the first rotating connection part is fixedly connected to the first part of the first bracket, and the top end of the U-shaped structure of the first rotating connecting part is respectively connected to the sides of the second part of the first bracket in rotation;

The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear;

The second part of the first bracket and the third part of the first bracket are connected by a second rotating connection part, and the second rotating connecting parts are arranged in pairs, and each of the second rotating connecting parts is connected with the first rotating part respectively. A second part of the bracket is rotationally connected with the third part of the first bracket to realize relative movement between the second part of the first bracket and the third part of the first bracket. The aluminum posts on both sides fix the fifth steering gear to the two sides of the third part of the first bracket.

Preferably, the second bracket includes a first part and a second part, the first part of the second bracket includes a first part and a second part, the second part of the second bracket has a bottom and two side parts; After the first steering gear is fixed on the second part of the first part of the second bracket through the aluminum column on the top, the second part of the first part of the second bracket is placed on the first part of the first part of the second bracket so that the second bracket After the first part of the first part and the second part of the first part of the second bracket are overlapped, the first overlapping side part of the first part of the second bracket is rotatably connected to the vehicle body, and the first part of the second bracket is connected to the second bracket. A third rotational connection is provided between the second parts, and the third rotational connection is fixedly connected to the other side of the first part of the first part of the second bracket that is not connected to the vehicle body; the third rotational connection is U-shaped structure, the bottom edge of the U-shaped structure of the third rotating connection part is affixed to the first part of the second bracket, and the top of the U-shaped structure of the third rotating connecting part is respectively connected to the side of the second part of the second bracket. part rotation connection;

The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear.

Preferably, the power supply system includes a battery configured to provide electrical energy for the all-terrain mobile detection robot system according to the present invention; the battery includes a first battery and a second battery, and the first battery and the second battery The batteries are all 11.1V model aircraft batteries, and the first battery reduces the voltage to the maximum voltage range allowed by each steering gear through the first step-down module, and ensures that each wheel motor and steering gear have sufficient driving current, so as to ensure The torque of each steering gear is to rotate the first bracket and the second bracket and can support the whole car body when the all-terrain mobile detection robot is in a wheeled state, and the second battery is depressurized by the second The module drops the voltage to drive the motor.

The beneficial effects of the present invention are as follows:

Compared with the prior art, the all-terrain mobile detection robot in the present invention has designed a combination of track and wheel according to bionics, so that the all-terrain mobile detection robot in the present invention can cope with the situation of flat ground and complex terrain, At the same time, it can be transformed into a mobile work platform according to needs. Specifically, the two long legs can easily raise and lower the height of the car body, and the car body can be further moved after the height is raised. Using the robot as a mobile work platform, through two With the cooperation of the feet, it can raise and lower its own height at will to carry out exploration and operation. After partial transformation, it can also be used to build simple bridges across rivers or cliffs; the construction function of the mobile working platform can be used in actual exploration. The various resource collection facilities installed on the robot and the information collection of exploration sensors provide great convenience, making the information collected by the robot more accurate and in place.

The all-terrain mobile detection robot in the present invention has an obstacle information detection function, and it can take specific decisions according to the obstacles it faces. Compared with traditional obstacle avoidance cars and obstacle avoidance robots, it is more intelligent.

The all-terrain mobile detection robot in the present invention can realize autonomous posture recovery, and when a rollover situation occurs during use, it can take measures autonomously to deal with it to get out of trouble.

At the same time, because a lot of work has been done in the selection of controllers, sensors, drivers, etc., the performance of the invention is stable and the cost is greatly reduced. It realizes various functions such as obstacle information detection, overcoming obstacles, crossing ravine-shaped obstacles, autonomous posture recovery, and mobile working platform.

Description of drawings

Fig. 1 is a schematic diagram of the first structure of the all-terrain mobile detection robot according to the present invention.

Fig. 2 is a second structural schematic diagram of the all-terrain mobile detection robot according to the present invention.

Fig. 3 is a schematic diagram of the third structure of the all-terrain mobile detection robot according to the present invention.

Fig. 4 is a fourth structural schematic diagram of the all-terrain mobile detection robot according to the present invention.

Fig. 5 is a schematic diagram of a fifth structure of the all-terrain mobile detection robot according to the present invention.

Fig. 6 is a schematic diagram of the sixth structure of the all-terrain mobile detection robot according to the present invention.

Fig. 7 is a schematic diagram of the composition of the all-terrain mobile detection robot according to the present invention.

Fig. 8 is a schematic structural view of the second embodiment of the all-terrain mobile detection robot according to the present invention.

Detailed ways

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

The all-terrain mobile detection robot shown in Figure 1 to Figure 7 uses a wheeled structure to walk on flat roads and a crawler structure to walk on complex roads, which includes wheeled components, car body 3, chassis system, Steering gear system, controller, environment detection system, power supply system and driving motor, the vehicle body is located above the chassis system.

The drive motors include wheel drive motors and crawler chassis drive motors.

The chassis system is located below the car body, and the chassis system adopts a crawler chassis as a crawler component of the robot. The chassis system includes a crawler belt 2, a synchronous pulley, a chassis support frame and a crawler chassis drive motor 1 .

Preferably, the crawler chassis driving motor 1 includes a first crawler chassis driving motor 11 and a second crawler chassis driving motor 12, and each of the crawler chassis driving motors is a DC geared motor, that is, the crawler chassis A DC geared motor is used for driving, so that the all-terrain mobile detection robot has the ability to pass through complex roads.

The crawler chassis is driven by two DC geared motors. The crawler belt 2 includes a first crawler belt 21 and a second crawler belt 22 .

The crawler chassis is a crawler vehicle frame integrated chassis. As shown in FIG. 1 , the chassis support frame 4 includes a first chassis support frame 41 and a second chassis support frame 42 , which are respectively located on both sides below the vehicle body 3 . The chassis support frames are respectively located on the inner sides of the crawlers, and the two crawler-type chassis drive motors are respectively installed on the respective chassis support frames. The chassis support frames are connected through fasteners, such as L-shaped connectors, Connect to the bottom of the vehicle body 3 .

The synchronous pulley includes a first synchronous pulley 51 and a second synchronous pulley 52, the first synchronous pulley includes a first driving pulley 511 and a first driven pulley 512, and the first crawler belt 21 is installed on the first Between the first driving pulley 511 and the first driven pulley 512 of the synchronous pulley, holes 6 are arranged on the first crawler belt 21, and the holes mesh with the teeth on the first synchronous pulley.

The second synchronous pulley includes a second driving pulley 521 and a second driven pulley 522, and the second track 22 is installed between the second driving pulley 521 and the second driven pulley 522 of the second synchronous pulley. The track 22 is provided with holes 6 which intermesh with the teeth on the second synchronous pulley.

The first driving wheel 511 of the first synchronous pulley is installed on the output shaft of the first crawler chassis drive motor 11, that is, the first DC reduction motor, and the first driven wheel 512 of the first synchronous pulley Installed on the first chassis support frame 41, when the first DC geared motor rotates, it drives the first crawler belt 21 to rotate.

The second driving wheel 521 of the second synchronous pulley is installed on the second crawler chassis drive motor 12, that is, the second DC gear motor, on the output shaft, and the second driven wheel 522 of the second synchronous pulley is installed On the second chassis support frame 42, when the second DC geared motor rotates, the second crawler belt 22 is driven to rotate.

Wherein, the first driving pulley 511 in the first synchronous pulley 51 is opposite to the second driven pulley 522 in the second synchronous pulley 52, that is, the first driven pulley 512 in the first synchronous pulley 51 It is arranged opposite to the second driving pulley 521 in the second synchronous pulley 52 .

Preferably, the rotation direction and speed of the first DC geared motor and the second DC geared motor are controlled to control the forward, backward, stop and left-right steering of the all-terrain mobile detection robot.

The wheeled components include a first bracket 7, a second bracket 8, a first wheel 9 and a second wheel 10, and the first bracket 7 and the second bracket 8 are respectively located at both ends of the crawler body 3, The first bracket 7 and the second bracket 8 have a preset length, and both the first bracket 7 and the second bracket 8 can rotate, and are configured to support the crawler vehicle body 3, and the first bracket 7 and the height of the second bracket 8 can be selected according to the actual application, the first wheel 9 is arranged on the end of the first bracket 7 away from the first bracket 7 of the vehicle body 3, and the second wheel 10 is arranged on the end of the second bracket 8 away from the second bracket 8 of the vehicle body 3; preferably, the number of the first wheels 9 is two, which are respectively located on the two sides of the first bracket 7 On the side, the number of the second wheels 10 is two, which are respectively located on both sides of the second support 8 .

The wheel drive motors are a first wheel drive motor 100 and a second wheel drive motor 101 . Preferably, each of the wheel drive motors is a DC geared motor.

The end of the first bracket 7 away from the vehicle body 3 is rotatably connected to a first connecting frame 13, and the first wheel drive motor 100 and the second wheel drive motor 101 are respectively arranged at the second On the outer sides of both sides of a connecting frame, the first wheels 9 are respectively connected to the output shafts of the first wheel drive motor 100 and the second wheel drive motor 101 . The first ultrasonic distance measuring sensor is arranged on the outer side of the first connecting frame 13 away from the vehicle body 3 when the first wheel is on the ground.

The first connecting frame 13 is connected through the first columnar support 131 and the U-shaped support 132. The first columnar support 131 is arranged below the connection between the first connecting frame 13 and the first bracket 7, It is configured to maintain the width of the first bracket, so as to prevent the width of the first connecting frame 13 from narrowing and affect the flexibility of rotation between the first connecting frame and the first bracket. At the same time, the first columnar support frame 131 supports and limits the movement of the third part of the first support frame.

The U-shaped support 132 is arranged at the lower end of the inner side of the first connection frame 13, and the two sides of the U-shaped support 132 are respectively parallel to the bottom edge of the first connection frame, so that the U-shaped The bottom edge of the support member 132 is vertically placed with the first connecting frame 13, the bottom edge of the U-shaped support frame 132 is connected with the first support plate 133, and the first ultrasonic distance measuring sensor is arranged on the first support plate 133 90.

The first end of the second connecting frame 14 is rotatably connected to the end of the second bracket 8 away from the vehicle body 3 through a first aluminum post. Preferably, the number of the first aluminum posts is two.

The second end of the second connecting frame 14 is provided with a second columnar support 142, and the second columnar support 142 is configured to maintain the width of the second bracket, so as to prevent the width of the second connecting frame 13 from narrowing and affecting Rotational flexibility between the second connecting frame and the second bracket.

Preferably, the first wheel 9 is a driving wheel, and the first wheel is driven by a first wheel drive motor and a second wheel drive motor.

The steering gear system includes a first steering gear 201, a second steering gear 202, a third steering gear 203, a fourth steering gear 204, a fifth steering gear 205 and a steering gear controller (not shown). The controller controls the actions of the steering gears, and the torque of the fourth steering gear 204 and the second steering gear 202 is greater than the torque of the third steering gear 203 and the first steering gear 201 .

The angle between the first wheel and the first bracket is adjusted by the fifth steering gear. The fifth steering gear is the fifth servo motor. The first bracket includes a first part, a second part and a third part, the first bracket first part includes a first part and a second part, and the first bracket second part has a bottom and two sides. The first bracket third portion has a base and two sides.

After the third steering gear 203 is fixed on the second part of the first part of the first bracket through the aluminum column at the top, the second part of the first part of the first bracket is placed on the first part of the first part of the first bracket so that the first After the first part of the first part of the bracket overlaps with the second part of the first part of the first bracket, the first overlapping side part of the first part of the first bracket is rotatably connected to the vehicle body, and the first part of the first bracket is connected to the first part of the first bracket. A first rotating connection part is provided between the second parts of the bracket, and further, the first rotating connecting part is fixedly connected to the other side part of the first part of the first part of the first bracket that is not connected to the vehicle body. The first rotating connection part is a U-shaped structure, the bottom edge of the U-shaped structure of the first rotating connecting part is fixedly connected to the first part of the first bracket, and the top end of the U-shaped structure of the first rotating connecting part is respectively connected to the The side part of the second part of the first bracket is pivotally connected.

The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear.

The second part of the first bracket and the third part of the first bracket are connected by a second rotating connection part, and the second rotating connecting parts are arranged in pairs, and each of the second rotating connecting parts is connected with the first rotating part respectively. A second part of the bracket is rotationally connected with the third part of the first bracket to realize relative movement between the second part of the first bracket and the third part of the first bracket. The fifth steering gear is fixed to two sides of the third part of the first bracket through aluminum columns located on both sides of the fifth steering gear.

Preferably, on the mechanical heel part of the first bracket 7, further, a fourth steering gear 204, such as a digital steering gear, is set at the main force-bearing part of the mechanical heel part of the first bracket to realize the first For the adjustment of the rotation position of the bracket 7, the fourth steering gear 204 is the fourth servo motor, and the fourth steering gear has a large torque and good stability. A third steering gear 203 is used at the topmost movable part of the mechanical heel of the first bracket, and the third steering gear is a third servo motor. Preferably, the third steering gear is a digital steering gear. The third steering gear is configured to adjust the rotational position of the first wheel 9 on the first bracket 7 around the first bracket axis and the position of the first ultrasonic distance measuring sensor.

The second bracket includes a first part and a second part, the second bracket first part includes a first part and a second part, the second bracket second part has a bottom and two sides. After fixing the first steering gear 201 on the second part of the first part of the second bracket through the aluminum column at the top, place the second part of the first part of the second bracket on the first part of the first part of the second bracket so that the second After the first part of the first part of the bracket overlaps with the second part of the first part of the second bracket, the first overlapping side part of the first part of the second bracket is rotatably connected to the vehicle body, and the first part of the second bracket is connected to the second part of the second bracket. A third rotating connection part is provided between the second parts of the bracket, and further, the third rotating connecting part is fixedly connected to the other side part of the first part of the first part of the second bracket that is not connected to the vehicle body. The third rotating connection part is a U-shaped structure, the bottom edge of the U-shaped structure of the third rotating connecting part is fixedly connected to the first part of the second bracket, and the top end of the U-shaped structure of the third rotating connecting part is respectively connected to the The side part of the second part of the second bracket is rotatably connected.

The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear.

Preferably, on the mechanical heel part of the second bracket 8, further, a second steering gear 202, such as a digital steering gear, is set at the main force-bearing part of the mechanical heel part of the second bracket to realize the second For the adjustment of the rotation position of the bracket, the second steering gear is the second servo motor, and the second steering gear has a large torque and good stability.

The active part at the top of the mechanical heel of the second bracket adopts a first steering gear, which is a first servo motor. Preferably, the first steering gear 201 is a digital steering gear, and the first steering gear is configured to adjust the rotation position of the second wheel on the second bracket around the axis of the second bracket and the position of the angle sensor.

Use a steering gear controller, such as a 32-way steering gear controller, to control the angles of multiple groups of steering gears.

The controller is a single-chip microcomputer; preferably, the steering gear controller is an AVR single-chip microcomputer, so that the all-terrain mobile detection robot can autonomously complete the set work, and the incoming signals of the ultrasonic ranging sensor and the angle sensor Perform analysis and control actuators based on the results, such as track chassis drive motors, wheel drive motors, and steering gear.

The environment detection system includes several ultrasonic sensors and angle sensors, which are configured to help the robot detect unfamiliar environments.

According to an embodiment of the present invention, the environment detection system includes a first ultrasonic ranging sensor 90, a second ultrasonic ranging sensor 91 and a third ultrasonic ranging sensor 92, and the first ultrasonic ranging sensor is arranged on the first bracket The connection with the first wheel; preferably, the first ultrasonic distance measuring sensor is arranged in front of the wheel, and further, the number of the first ultrasonic distance measuring sensor is two. The second ultrasonic distance-measuring sensor and the third ultrasonic distance-measuring sensor are respectively arranged under the vehicle body and close to the first support. Preferably, there are two second ultrasonic distance-measuring sensors, and the first Three ultrasonic distance sensors are two.

The angle sensor 93 is disposed inside the vehicle body and includes a gyroscope and an accelerometer configured to detect an angle of the vehicle body relative to a horizontal plane.

The fifth steering gear 205 drives the ultrasonic emission port of the first ultrasonic ranging sensor 90 to face forward, and cooperates with the rest of the steering gears to support the robot chassis to perform actions such as climbing high and overcoming obstacles.

The main control board of the controller judges the environmental information by receiving the distance information fed back by the ultrasonic sensor, such as obstacles, cliffs and ravines, so as to realize a series of actions to complete the obstacle crossing; the main control board receives the angle information fed back by the angle sensor To judge the posture of the robot itself, so as to complete the automatic recovery of its own normal posture.

The power supply system is a step-down power supply system, and the power supply system includes a battery configured to provide electric energy for the all-terrain mobile detection robot system according to the present invention. Preferably, the battery includes a first battery and a second battery, and both the first battery and the second battery are 11.1V model aircraft batteries, wherein the first battery reduces the voltage to allowable by each steering gear through the first step-down module. In the highest voltage range, and ensure that each wheel motor and steering gear have sufficient drive current, so as to ensure that all steering gears have enough torque to rotate the first bracket and the second bracket and when the all-terrain mobile detection robot is in In the wheeled state, it can support the entire car body. The second battery lowers the voltage to the drive motor through the second step-down module, for example, the wheel drive motor that drives the wheels and the highest voltage allowed by the main control board. Preferably, the second battery is used to supply power to the drive motor of the chassis system To solve the problem of high power consumption of the tracked chassis.

When the all-terrain mobile detection robot uses a crawler structure to walk on a complex road surface, the position of the first wheel drive motor is used as the front part of the all-terrain mobile detection robot. When the terrain mobile detection robot falls to the first side, the angle sensor detects the first angle change value, and the main control board controls the first servo motor to rotate counterclockwise to realize turning over so as to restore the normal posture of the all-terrain mobile detection robot; When the all-terrain mobile detection robot falls to the second side, the angle sensor detects a second angle change value, and the main control board controls the first servo motor to rotate clockwise to realize turning over to restore the all-terrain mobile detection robot Normal posture.

According to the all-terrain mobile detection robot in the second embodiment of the present invention, a wheeled structure is used to walk on a flat road surface, and a crawler structure is used to walk on a complex road surface, which includes wheeled components, a vehicle body 3, a chassis system, Steering gear system, controller, environment detection system, power supply system and driving motor, the vehicle body is located above the chassis system.

The drive motors include wheel drive motors and crawler chassis drive motors.

The chassis system is located below the car body, and the chassis system adopts a crawler chassis as a crawler component of the robot. The chassis system includes a crawler belt, a synchronous pulley, a chassis support frame and a crawler chassis drive motor.

Preferably, the drive motor for the crawler chassis includes a first drive motor for the crawler chassis and a second drive motor for the crawler chassis, and each of the drive motors for the crawler chassis is a DC gear motor, that is, the drive motor for the crawler chassis adopts a DC deceleration The motor is driven so that the all-terrain mobile detection robot has the ability to pass through complex roads.

The crawler chassis is driven by two DC geared motors. The tracks include a first track and a second track.

The crawler chassis is a crawler vehicle frame integrated chassis, and the chassis support frame includes a first chassis support frame and a second chassis support frame, which are respectively located on both sides under the vehicle body. The chassis support frames are respectively located on the inner sides of the crawlers, and the two crawler-type chassis drive motors are respectively installed on the respective chassis support frames. The chassis support frames are connected through fasteners, such as L-shaped connectors, Attached to the underside of the vehicle body.

The synchronous pulley includes a first synchronous pulley and a second synchronous pulley, the first synchronous pulley includes a first driving pulley and a first driven pulley, and the first track is installed on the first synchronous pulley of the first synchronous pulley. Between a driving wheel and the first driven wheel, holes are arranged on the first track, and the holes mesh with the teeth on the first synchronous pulley.

The second synchronous pulley includes a second driving pulley and a second driven pulley, the second track is installed between the second driving pulley and the second driven pulley of the second synchronous pulley, and holes are arranged on the second track , the holes mesh with the teeth on the second synchronous pulley.

The first driving wheel of the first synchronous pulley is installed on the output shaft of the first crawler chassis drive motor, that is, the first DC gear motor, and the first driven wheel of the first synchronous pulley is installed on the first On a chassis supporting frame, when the first DC reduction motor rotates, it drives the first crawler to rotate.

The second driving wheel of the second synchronous pulley is installed on the output shaft of the second crawler chassis drive motor, that is, the second DC gear motor, and the second driven wheel of the second synchronous pulley is installed on the second On the chassis support frame, when the second DC geared motor rotates, it drives the second crawler belt to rotate.

Wherein, the first driving wheel in the first synchronous pulley is opposite to the second driven wheel in the second synchronous pulley, that is, the first driven wheel in the first synchronous pulley is synchronous with the second The second driving pulley in the belt pulley is relatively arranged.

Preferably, the rotation direction and speed of the first DC geared motor and the second DC geared motor are controlled to control the forward, backward, stop and left-right steering of the all-terrain mobile detection robot.

The wheeled components include a first bracket, a second bracket, a first wheel and a second wheel, the first bracket and the second bracket are respectively located at the two ends of the tracked vehicle body, the first bracket and the second The two brackets have a preset length, and both the first bracket and the second bracket can be rotated, and are configured to support the crawler vehicle body, and the heights of the first bracket and the second bracket can be selected according to actual applications , the first wheel is arranged on the end of the first bracket away from the first bracket of the vehicle body, and the second wheel is arranged on the end of the second bracket away from the second bracket of the vehicle body part; preferably, the number of the first wheels is two, which are respectively located on both sides of the first bracket, and the number of the second wheels is two, which are respectively located on both sides of the second bracket.

The first wheel drive motor and the second wheel drive motor; preferably, the first wheel is a driving wheel, and the first wheel is driven by the first wheel drive motor and the second wheel drive motor. The motor is driven.

Preferably, each of the wheel drive motors is a DC geared motor.

The end of the first bracket away from the vehicle body is rotatably connected to a first connecting frame, and the first wheel drive motor and the second wheel drive motor are respectively arranged on both sides of the first connecting frame Each of the first wheels is connected to the output shafts of the first wheel drive motor and the second wheel drive motor respectively. The first ultrasonic distance measuring sensor is arranged on the outer side of the first connecting frame away from the vehicle body when the first wheel is on the ground.

The first connecting frame is connected through the first columnar support and the U-shaped support. The first columnar support is arranged below the connection between the first connecting frame and the first bracket, and is configured to hold the The width of the first bracket is described above, so as to prevent the width of the first connecting frame from narrowing and affect the flexibility of rotation between the first connecting frame and the first bracket. At the same time, the first columnar support frame supports and limits the movement of the third part of the first support.

The U-shaped support is arranged at the lower end of the inner side of the first connection frame, and the two sides of the U-shaped support are respectively parallel to the bottom edge of the first connection frame, so that the U-shaped support The bottom edge is placed perpendicular to the first connecting frame, the bottom edge of the U-shaped support frame is connected to a first support plate, and a first ultrasonic distance measuring sensor is arranged on the first support plate.

The first end of the second connecting frame is rotatably connected to the end of the second bracket away from the vehicle body through a first aluminum post. Preferably, the number of the first aluminum posts is two.

The second end of the second connecting frame is provided with a second columnar support, and the second columnar support is configured to maintain the width of the second bracket, so as to prevent the width of the second connecting frame from narrowing and affecting the second connecting frame. Rotational flexibility with the second bracket.

The steering gear system includes a first steering gear 201', a second steering gear 202', a third steering gear 203', a fourth steering gear 204', a fifth steering gear 205' and a steering gear controller (not shown) , the steering gear controller controls the actions of the steering gears, and the torque of the fourth steering gear 204' and the second steering gear 202' is greater than that of the third steering gear 203' and the first steering gear 201' torque, as shown in Figure 8.

The angle between the first wheel and the first bracket is adjusted by the fifth steering gear 205'. The fifth steering gear 205' is the fifth servo motor. The first bracket includes a first part, a second part and a third part, the first bracket first part includes a first part and a second part, and the first bracket second part has a bottom and two sides. The first bracket third portion has a base and two sides.

After the third steering gear 203' is fixed on the second part of the first part of the first bracket through the aluminum column on the top, the second part of the first part of the first bracket is placed on the first part of the first part of the first bracket so that the first part After the first part of the first part of the bracket overlaps with the second part of the first part of the first bracket, the first overlapping side part of the first part of the first bracket is rotatably connected to the vehicle body, and the first part of the first bracket is connected to the first part of the first bracket. A first rotating connection part is provided between the second parts of the bracket, and further, the first rotating connecting part is fixedly connected to the other side part of the first component of the first part of the first bracket that is not connected to the vehicle body. The first rotating connection part is a U-shaped structure, the bottom edge of the U-shaped structure of the first rotating connecting part is fixedly connected to the first part of the first bracket, and the top end of the U-shaped structure of the first rotating connecting part is respectively connected to the The side part of the second part of the first bracket is pivotally connected.

The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear.

The second part of the first bracket and the third part of the first bracket are connected by a second rotating connection part, and the second rotating connecting parts are arranged in pairs, and each of the second rotating connecting parts is connected with the first rotating part respectively. A second part of the bracket is rotationally connected with the third part of the first bracket to realize relative movement between the second part of the first bracket and the third part of the first bracket. The fifth steering gear 205' is fixed to the two sides of the third part of the first bracket through aluminum columns located on both sides of the fifth steering gear 205'.

Preferably, on the mechanical heel part of the first bracket, further, a fourth steering gear 204', for example, a digital steering gear, is set at the main stress-bearing part of the mechanical heel part of the first bracket to realize the first For the adjustment of the rotation position of the support, the fourth steering gear 204 ′ is the fourth servo motor, and the fourth steering gear has a large torque and good stability. A third steering gear 203 is used at the topmost movable part of the mechanical heel of the first bracket, and the third steering gear 203' is the third servo motor. Preferably, the third steering gear 203' is a digital steering gear. The third steering gear 203' is configured to adjust the rotational position of the first wheel on the first bracket around the first bracket axis and the position of the first ultrasonic distance measuring sensor.

The second bracket includes a first part and a second part, the second bracket first part includes a first part and a second part, the second bracket second part has a bottom and two sides. After the first steering gear 201' is fixed on the second part of the first part of the second bracket through the aluminum column on the top, the second part of the first part of the second bracket is placed on the first part of the first part of the second bracket so that the first part After the first part of the first part of the second bracket overlaps with the second part of the first part of the second bracket, the first overlapping side part of the first part of the second bracket is rotatably connected to the vehicle body, and the first part of the second bracket is connected to the first part of the second bracket. A third rotational connection part is provided between the second parts of the two brackets, furthermore, the third rotational connection part is fixedly connected to the other side part of the first part of the first part of the second bracket that is not connected to the vehicle body. The third rotating connection part is a U-shaped structure, the bottom edge of the U-shaped structure of the third rotating connecting part is fixedly connected to the first part of the second bracket, and the top end of the U-shaped structure of the third rotating connecting part is respectively connected to the The side part of the second part of the second bracket is rotatably connected.

The fourth steering gear 204' is fixed to the two sides of the second part of the first bracket through the aluminum posts located on both sides of the fourth steering gear 204'.

Preferably, on the mechanical heel part of the second bracket, further, a second steering gear 202', for example, a digital steering gear, is set at the main stress-bearing part of the mechanical heel part of the second bracket to realize the second For the adjustment of the rotation position of the bracket, the second steering gear 202' is the second servo motor, and the second steering gear has a large torque and good stability.

The active part at the top of the mechanical heel of the second bracket adopts a first steering gear, which is a first servo motor. Preferably, the first steering gear 201' is a digital steering gear, and the first steering gear is configured to adjust the rotation position of the second wheel on the second bracket around the axis of the second bracket and the position of the angle sensor.

Use a steering gear controller, such as a 32-way steering gear controller, to control the angles of multiple groups of steering gears.

The controller is a single-chip microcomputer; preferably, the steering gear controller is an AVR single-chip microcomputer, so that the all-terrain mobile detection robot can autonomously complete the set work, and the incoming signals of the ultrasonic ranging sensor and the angle sensor Perform analysis and control actuators based on the results, such as track chassis drive motors, wheel drive motors, and steering gear.

The environment detection system includes several ultrasonic sensors and angle sensors, which are configured to help the robot detect unfamiliar environments.

According to an embodiment of the present invention, the environment detection system includes a first ultrasonic ranging sensor, a second ultrasonic ranging sensor and a third ultrasonic ranging sensor, and the first ultrasonic ranging sensor is arranged between the first support and the first Wheel connection; Preferably, the first ultrasonic distance measuring sensor is arranged in front of the wheel, further, the number of the first ultrasonic distance measuring sensor is two. The second ultrasonic distance-measuring sensor and the third ultrasonic distance-measuring sensor are respectively arranged under the vehicle body and close to the first support. Preferably, there are two second ultrasonic distance-measuring sensors, and the first Three ultrasonic distance sensors are two.

The angle sensor is disposed inside the vehicle body and includes a gyroscope and an accelerometer configured to detect an angle of the vehicle body relative to a horizontal plane.

The fifth steering gear 205' drives the ultrasonic emission port of the first ultrasonic ranging sensor to face forward, and cooperates with the rest of the steering gears to support the robot chassis to perform actions such as climbing heights and overcoming obstacles.

The main control board of the controller judges the environmental information by receiving the distance information fed back by the ultrasonic sensor, such as obstacles, cliffs and ravines, so as to realize a series of actions to complete the obstacle crossing; the main control board receives the angle information fed back by the angle sensor To judge the posture of the robot itself, so as to complete the automatic recovery of its own normal posture.

The power supply system is a step-down power supply system, and the power supply system includes a battery configured to provide electric energy for the all-terrain mobile detection robot system according to the present invention. Preferably, the battery includes a first battery and a second battery, and both the first battery and the second battery are 11.1V model aircraft batteries, wherein the first battery reduces the voltage to allowable by each steering gear through the first step-down module. In the highest voltage range, and ensure that each wheel motor and steering gear have sufficient drive current, so as to ensure that all steering gears have enough torque to rotate the first bracket and the second bracket and when the all-terrain mobile detection robot is in In the wheeled state, it can support the entire car body. The second battery lowers the voltage to the drive motor through the second step-down module, for example, the wheel drive motor that drives the wheels and the highest voltage allowed by the main control board. Preferably, the second battery is used to supply power to the drive motor of the chassis system To solve the problem of high power consumption of the tracked chassis.

When the all-terrain mobile detection robot uses a crawler structure to walk on a complex road surface, the position of the first wheel drive motor is used as the front part of the all-terrain mobile detection robot. When the terrain mobile detection robot falls to the first side, the angle sensor detects the first angle change value, and the main control board controls the first servo motor to rotate counterclockwise to realize turning over so as to restore the normal posture of the all-terrain mobile detection robot; When the all-terrain mobile detection robot falls to the second side, the angle sensor detects a second angle change value, and the main control board controls the first servo motor to rotate clockwise to realize turning over to restore the all-terrain mobile detection robot Normal posture.

The specific process when the all-terrain mobile detection robot is climbing high places is as follows:

When the first ultrasonic ranging sensor detects that the distance ahead is less than the first set value, the main control board judges that there is an obstacle ahead according to the information collected by the first ultrasonic sensor, and at the same time obtains the information of the all-terrain mobile detection robot and The distance between obstacles, the main control board sends a control signal to control the all-terrain mobile detection robot to perform a preset action group of crossing obstacles to climb.

Preferably, the high place of the obstacle has a plane, so that the vehicle body can completely travel on the plane.

When the all-terrain mobile detection robot performs climbing operations, the specific steps are as follows:

Step 1, through the fourth steering gear, that is, through the fourth servo motor, the first bracket is driven to rotate to lift the first wheel until the height of the first wheel reaches a height higher than the highest point of the obstacle and stops lifting. high action

Step 2, the all-terrain mobile detection robot advances a predetermined distance through the crawler chassis, and the fourth steering gear, that is, the fourth servo motor, drives the first bracket to rotate so that the first wheel falls on the high plane of the obstacle;

Step 3, the second steering gear, that is, the second servo motor, rotates to drive the second bracket, and supports the vehicle body through the second bracket; as the second bracket supports the vehicle body, the first wheel relative to the The angle between the first brackets is adjusted so as to prop up the chassis so as to avoid obstacles.

Step 4, the all-terrain mobile detection robot advances through the first wheel and the second wheel, so that the entire vehicle body is on a high plane, and the climbing action is completed.

When the all-terrain mobile detection robot works across ravines or cliffs, its specific steps are as follows:

When the second ultrasonic ranging sensor detects that the distance below the all-terrain mobile detection robot is greater than the second set value, the main control board judges that the front is a cliff or a ravine according to the information monitored by the second ultrasonic ranging sensor, and the main control board The control board sends a control signal to control the all-terrain mobile detection robot to perform a preset action group of crossing obstacles.

Among them, the specific steps of the cliff-crossing action are as follows:

Step 1, the fourth steering gear, that is, the fourth servo motor, drives the first bracket to rotate, so that the first wheel falls on the first plane;

Step 2, the second steering gear, that is, the second servo motor drives the second bracket to rotate so that the second wheel falls on the second plane, and the height of the first plane is lower than the height of the second plane;

Step 3, the all-terrain mobile detection robot continues to advance through the first wheel and the second wheel until the vehicle body falls completely to the first plane;

Preferably, during the continuous advancement of the all-terrain mobile detection robot in step 3, the fifth steering gear, that is, the fifth servo motor continuously adjusts the position of the first wheel.

Preferably, during the continuous advancement of the all-terrain mobile detection robot described in step 3, the first steering gear, that is, the first servo motor, continuously adjusts the position of the second wheel.

The all-terrain mobile detection robot moves across a ravine, the vehicle body spans from the third plane to the fourth plane, and there is a ravine between the third plane and the fourth plane. The specific steps are as follows:

Step 1, the car body is located on the third plane, and the fourth steering gear, that is, the fourth servo motor drives the first bracket to rotate, so that the first wheel falls across the ravine to the fourth plane;

Step 2, using the second steering gear, that is, the second servo motor to drive the second bracket to rotate so that the second wheel falls on the third plane;

Step 3, the all-terrain mobile detection robot continues to advance through the first wheel and the second wheel until the main body crosses the ravine from above the ravine and reaches the fourth plane.

The all-terrain mobile detection robot uses a wheeled structure to walk on a flat road, and a crawler structure to walk on a complex road. The specific steps of the mutual switching process from the crawler to the wheel are as follows:

The all-terrain mobile detection robot is in a crawler configuration, and the first wheel and the second wheel are separated from the ground.

When the first steering gear rotates until the second wheel touches the ground and stops, the fifth steering gear and the fourth steering gear rotate until the first wheel touches the ground, and the first bracket and the second bracket work together to support the car body to ensure The vehicle body is horizontal, and this series of actions completes the switching of the all-terrain mobile detection robot from the crawler form to the wheel form. Doing the opposite action on this basis completes the switching of the all-terrain mobile detection robot from the wheeled form to the tracked form.

Optimization, expansion and replacement of the present invention:

A. Optimize the mechanical structure so that the robot can cross obstacles of various heights, such as cliffs or ravines;

B. Replace the lighter material to reduce the overall weight of the robot;

C. Further optimize the crawler chassis of the robot, such as changing the material and width of the crawler to reduce power consumption and speed up the passage;

D. Use motors and steering gear with faster speed and torque to make the robot move more efficiently, and perform longer tasks more powerful and stable.

Finally, it should be noted that: the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand : It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention range.

Claims (9)

1. An all-terrain mobile detection robot, which adopts a wheeled structure to walk on a flat road surface, and adopts a crawler structure to walk on a complex road surface, is characterized in that: it includes a wheeled component, a car body, a chassis system, a steering gear system, A controller, an environment detection system, a power supply system and a drive motor, the vehicle body is located above the chassis system; the drive motor includes a wheel drive motor and a crawler chassis drive motor; The chassis system includes crawler belts, synchronous pulleys, chassis support frames and crawler chassis drive motors, the synchronous pulleys include driving wheels and driven wheels, the crawler chassis drive motors are installed on the chassis support frame, and the synchronous The driving wheel of the pulley is connected to the output shaft of the drive motor of the crawler chassis, and the crawler belt is meshed with the synchronous pulley to drive the crawler belt to move; The wheeled components include a first bracket, a second bracket, a first wheel and a second wheel, the first bracket and the second bracket are respectively located at the two ends of the tracked vehicle body, the first bracket and the second The second bracket has a preset length, and both the first bracket and the second bracket can be rotated, and are configured to support the vehicle body, and the first wheel is arranged at a position where the first bracket is far away from the vehicle body. the end of the first bracket of the vehicle body, and the second wheel is arranged at the end of the second bracket away from the second bracket of the vehicle body; and The wheel drive motor includes a first wheel drive motor and a second wheel drive motor; and the first wheel is a driving wheel, and the first wheel relies on the first wheel drive motor and the second wheel drive motor Driven by a wheel drive motor; The steering gear system includes a first steering gear, a second steering gear, a third steering gear, a fourth steering gear, a fifth steering gear and a steering gear controller, and the steering gear controller controls the actions of the steering gears , and the torque of the fourth steering gear and the second steering gear is greater than the torque of the third steering gear and the first steering gear; The first steering gear is used at the topmost movable part of the mechanical heel of the second bracket; the first steering gear adjusts the position of the second wheel on the second bracket around the second bracket axis and the position of the angle sensor; The second steering gear is set at the main stress-bearing part of the mechanical heel part of the second bracket to realize the adjustment of the rotation position of the second bracket; the third steering gear is used at the topmost movable part of the mechanical heel of the first bracket, so The third steering gear adjusts the rotation position of the first wheel on the first bracket around the first bracket axis and the position of the first ultrasonic distance measuring sensor; The steering gear realizes the adjustment of the rotation position of the first bracket; the fifth steering gear is fixed to the two sides of the third part of the first bracket, and the angle between the first wheel and the first bracket is determined by the adjust the fifth steering gear; The environment detection system includes a first ultrasonic ranging sensor, a second ultrasonic ranging sensor and a third ultrasonic ranging sensor, and the first ultrasonic ranging sensor is arranged at the joint between the first bracket and the first wheel; the angle The sensor is arranged inside the vehicle body; The main control board of the controller judges the environmental information by receiving the distance information fed back by the ultrasonic ranging sensor; the main control board judges the posture of the robot itself by receiving the angle information fed back by the angle sensor, thereby completing its own normal posture automatic recover. 2. The all-terrain mobile detection robot as claimed in claim 1, characterized in that: said crawler-type chassis drive motor comprises a first crawler-type chassis drive motor and a second crawler-type chassis drive motor, and said crawler belt comprises a first crawler belt and the second crawler belt, the synchronous pulley includes a first synchronous pulley and a second synchronous pulley, and the chassis support frame includes a first chassis support frame and a second chassis support frame, which are respectively located on both sides below the car body The chassis support frames are respectively located on the inner sides of the crawlers, the two crawler chassis drive motors are respectively installed on the respective chassis support frames, and the chassis support frames are connected to the bottom of the car body through connectors. 3. The all-terrain mobile detection robot as claimed in claim 2, characterized in that: the first synchronous pulley comprises a first driving wheel and a first driven wheel, and the first crawler belt is installed on the first synchronous pulley. Between the first driving wheel and the first driven wheel, holes are provided on the first track, and the holes mesh with the teeth on the first synchronous pulley; and The second synchronous pulley includes a second driving pulley and a second driven pulley, the second track is installed between the second driving pulley and the second driven pulley of the second synchronous pulley, and holes are arranged on the second track , the hole meshes with the teeth on the second synchronous pulley; The first driving wheel of the first synchronous pulley is installed on the output shaft of the first crawler chassis drive motor, and the first driven wheel of the first synchronous pulley is installed on the first chassis support frame, when the first When the crawler drive motor rotates, it drives the first crawler to rotate; The second driving wheel of the second synchronous pulley is installed on the output shaft of the second crawler chassis drive motor, and the second driven wheel of the second synchronous pulley is installed on the second chassis support frame, when the second When the crawler drive motor rotates, it drives the second crawler to rotate. 4. The all-terrain mobile detection robot as claimed in claim 3, characterized in that: the first driving wheel in the first synchronous pulley is set opposite to the second driven wheel in the second synchronous pulley, and The first driven pulley of the first synchronous pulley is opposite to the second driving pulley of the second synchronous pulley. 5. The all-terrain mobile detection robot as claimed in claim 4, characterized in that: the end of the first bracket away from the vehicle body is rotatably connected with a first connecting frame, and the first wheeled The driving motor and the second wheel-type driving motor are respectively arranged on the outer sides of both sides of the first connecting frame, and the first wheels are respectively connected to the output shafts of the first wheel-type driving motor and the second wheel-type driving motor; The first ultrasonic distance measuring sensor is arranged on the outer side of the first connecting frame away from the vehicle body when the first wheel is on the ground; the angle between the first wheel and the first bracket passes through the fifth The steering gear is adjusted; The first connecting frame is connected through the first columnar support and the U-shaped support. The first columnar support is arranged below the connection between the first connecting frame and the first bracket, and is configured to hold the Describe the width of the first bracket to prevent the width of the first bracket from narrowing, affecting the flexibility of rotation between the first bracket and the first bracket and the role of the first columnar bracket in the movement of the third part of the first bracket. The role of support and limit; The U-shaped support is arranged at the lower end of the inner side of the first connection frame, and the two sides of the U-shaped support are respectively parallel to the bottom edge of the first connection frame, so that the U-shaped support The bottom edge is placed perpendicular to the first connecting frame, the bottom edge of the U-shaped support is connected to a first support plate, and a first ultrasonic distance measuring sensor is arranged on the first support plate. 6. The all-terrain mobile detection robot according to claim 5, characterized in that: the first end of the second connecting frame is rotatably connected to the end of the second bracket away from the vehicle body through a first aluminum column; The second end of the second connecting frame is provided with a second columnar support, and the second columnar support is configured to maintain the width of the second bracket, so as to prevent the width of the second connecting frame from narrowing and affecting the Rotational flexibility between the second connecting frame and the second bracket. 7. The all-terrain mobile detection robot as claimed in claim 6, characterized in that: the first support comprises a first part, a second part and a third part, and the first part of the first support comprises a first part and a second part components, the second portion of the first frame has a bottom and two sides, and the third portion of the first frame has a bottom and two sides; After the third steering gear is fixed on the second part of the first part of the first bracket through the aluminum column on the top, the second part of the first part of the first bracket is placed on the first part of the first part of the first bracket so that the first part After the first part of the first part of the bracket overlaps with the second part of the first part of the first bracket, the first overlapping side part of the first part of the first bracket is rotatably connected to the vehicle body, and the first part of the first bracket is connected to the first part of the first bracket. A first rotating connection part is arranged between the second part of the bracket, and the first rotating connecting part is fixedly connected to the other side of the first part of the first part of the first bracket; the first rotating connecting part is a U-shaped structure, The bottom edge of the U-shaped structure of the first rotating connection part is fixedly connected to the first part of the first bracket, and the top end of the U-shaped structure of the first rotating connecting part is respectively connected to the sides of the second part of the first bracket in rotation; The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear; The second part of the first bracket and the third part of the first bracket are connected by a second rotating connection part, and the second rotating connecting parts are arranged in pairs, and each of the second rotating connecting parts is connected with the first rotating part respectively. A second part of the bracket is rotationally connected with the third part of the first bracket to realize relative movement between the second part of the first bracket and the third part of the first bracket. The aluminum posts on both sides fix the fifth steering gear to the two sides of the third part of the first bracket. 8. The all-terrain mobile detection robot as claimed in claim 7, characterized in that: said second support comprises a first part and a second part, said second support first part comprises a first part and a second part, said The second part of the second bracket has a bottom and two side parts; after the first steering gear is fixed on the second part of the first part of the second bracket through the aluminum column at the top, the first part of the second bracket is second After the parts are placed on the first part of the second bracket first part so that the first part of the second bracket first part overlaps with the first part of the second bracket first part second part, the first overlapping side part of the first part of the second bracket is aligned with the vehicle body Rotation connection, a third rotation connection part is provided between the first part of the second bracket and the second part of the second bracket, and the third rotation connection part is not connected to the vehicle body with the first part of the first part of the second bracket The other side of the second bracket is affixed; the third rotating connection part is a U-shaped structure, and the bottom edge of the U-shaped structure of the third rotating connecting part is fixedly connected to the first part of the second bracket, and the third rotating connecting part The top ends of the U-shaped structure are respectively rotatably connected to the sides of the second part of the second bracket; The fourth steering gear is fixed to the two sides of the second part of the first bracket through aluminum columns located on both sides of the fourth steering gear. 9. The all-terrain mobile detection robot as claimed in claim 8, wherein: the power supply system includes a battery, and the battery is used to provide electric energy for the all-terrain mobile detection robot system; the battery includes a first battery and a second battery. Two batteries, the first battery and the second battery are both 11.1V model aircraft batteries, wherein the first battery reduces the voltage to the maximum voltage range allowed by each steering gear through the first step-down module, and ensures that each wheel motor and The steering gear has sufficient driving current, so as to ensure the torque of each steering gear to rotate the first bracket and the second bracket and support the entire vehicle body when the all-terrain mobile detection robot is in a wheeled state , the second battery drops the voltage to drive the motor through the second step-down module.