CN109080724B - Investigation robot - Google Patents
Investigation robot Download PDFInfo
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- CN109080724B CN109080724B CN201810729563.2A CN201810729563A CN109080724B CN 109080724 B CN109080724 B CN 109080724B CN 201810729563 A CN201810729563 A CN 201810729563A CN 109080724 B CN109080724 B CN 109080724B
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- swing arm
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- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to a robot, in particular to a detection robot, comprising: the robot comprises a robot main body, a swing arm and a driving device. The driving device is respectively connected with the robot main body and the swing arm and used for driving the swing arm to overturn. The driving device is further used for driving the robot main body to overturn towards the direction opposite to the direction of overturning of the swing arm when the swing arm is blocked. Compared with the prior art, under general conditions, can carry the swing arm by the robot main part and normally travel, and when meetting barriers such as stair or step, can overturn towards the direction of keeping away from the barrier by drive arrangement drive swing arm, blocked until the swing arm, and drive arrangement can utilize the counter force when the swing arm is blocked to drive the robot main part and overturn towards the opposite direction with the swing arm upset when the swing arm is blocked for the robot main part can climb up the step smoothly, realize the climbing to stair.
Description
Technical Field
The invention relates to a robot, in particular to a detection robot.
Background
Battlefield investigation is a mode capable of rapidly acquiring the force deployment of enemies, and the investigation has many different modes, such as aerial camera investigation, ground investigation and the like. The interior investigation of the building is one of the ground investigation, and is generally realized by a robot. The general walking mode of the robot is mainly a crawler type or a roller type. However, the inventor finds that the roller type robot cannot climb a steep slope although the roller type robot is small in structure and flexible in steering, the crawler type robot has strong ground gripping force but has a large friction coefficient with the ground and low working efficiency, and in order to realize stair climbing, the crawler type chassis needs to be provided with two swing arms on two sides of a vehicle body, and the two swing arms rotate synchronously and then are lapped on steps to realize stair climbing, so that the size and the weight of the chassis are increased, and the structure is complex. The investigation robot is generally small in size and short in length, the stair climbing process is easy to overturn backwards, and portability cannot be realized if the length of a vehicle body is increased, so that the stair climbing is difficult to realize no matter the roller type robot or the crawler type small investigation robot.
Disclosure of Invention
The invention aims to provide a reconnaissance robot which can climb stairs easily without affecting normal driving.
In order to solve the above technical problem, an embodiment of the present invention provides a reconnaissance robot, including:
a robot main body;
swinging arms;
the driving device is respectively connected with the robot main body and the swing arm and is used for driving the swing arm to overturn;
the driving device is further used for driving the robot main body to turn towards the direction opposite to the direction of turning of the swing arm when the swing arm is blocked.
Compared with the prior art, the embodiment of the invention has the advantages that the whole robot comprises the robot main body, the swing arm and the driving device. And the driving device is respectively connected with the robot main body and the swing arm and is used for driving the swing arm to overturn. From this it is difficult to discover, under general condition, can carry the swing arm by the robot main part and normally travel, and when meetting barriers such as stair or step, can overturn towards the direction of keeping away from the barrier by drive arrangement drive swing arm, blocked until the swing arm, and drive arrangement can utilize the counter force when the swing arm is blocked to drive the robot main part and overturn towards the opposite direction with the swing arm upset when the swing arm is blocked for the robot main part can climb up the step smoothly, realize the climbing to stair.
Further, the robot main body includes: a first moving part and a second moving part arranged opposite to the first moving part; the swing arm is arranged between the first moving part and the second moving part, and the driving device is fixedly connected with the first moving part, the second moving part and the swing arm respectively. Therefore, the swing arm is positioned between the first moving part and the second moving part, so that the robot main body cannot interfere with the overturning of the swing arm when the swing arm overturns.
Further, the driving device includes:
the motor is fixedly arranged in the swing arm and is fixed with the swing arm;
the transmission shaft is fixedly connected with the first moving part and the second moving part respectively and penetrates through the swing arm to be fixed with the motor;
the motor is used for driving the swing arm to overturn around the axis of the transmission shaft, and the motor is also used for driving the first moving part and the second moving part to overturn around the axis of the transmission shaft in the direction opposite to the direction in which the swing arm overturns when the swing arm is blocked.
Further, the first moving portion includes:
a first housing;
the first driving assembly is fixedly arranged on the first shell;
the first rolling assembly is arranged outside the first shell;
the first driving assembly is further fixedly connected with the first rolling assembly and used for driving the first rolling assembly to drive the first shell to move;
the second moving portion includes:
a second housing;
the second driving assembly is fixedly arranged in the second shell;
the second rolling assembly is arranged outside the second shell;
the second driving assembly is also fixedly connected with the second rolling assembly and used for driving the second rolling assembly to drive the second shell to move;
the swing arm is arranged between the first shell and the second shell, and the driving device is respectively and fixedly connected with the first shell and the second shell.
Further, the first driving assembly includes:
the two first motors are oppositely and fixedly arranged on the first shell;
the two first rollers are respectively in one-to-one correspondence with the two first motors and are respectively coaxially fixed with the main shafts of the respective corresponding first motors;
the second drive assembly includes:
the two second motors are oppositely and fixedly arranged on the second shell;
and the two second rollers are in one-to-one correspondence with the two second motors respectively and are coaxially fixed with the main shafts of the second motors respectively corresponding to the two second rollers. Therefore, the control of each motor to each roller can ensure the normal running of the robot main body and realize the steering of the robot main body.
Further, the two first rollers and the two second rollers may be mecanum wheels or rubber wheels. When mecanum wheels are used, lateral movement of the robot body may be achieved. When the rubber wheels are adopted, four wheels are driven by four independent motors, so that the robot main body can flexibly rotate in situ to adjust the direction.
Alternatively, the first drive assembly comprises:
the first track is sleeved on the two first rollers;
the second track is sleeved on the two second rollers.
The second drive assembly includes:
the second motor is fixedly arranged on the second shell;
the second driving wheel is coaxially fixed with a main shaft of the second motor;
the second driven wheel is opposite to the second driving wheel;
and the second crawler belt is connected with the second driving wheel and the second driven wheel.
In addition, the scout robot further includes:
the remote control terminal is respectively communicated with the robot main body and the driving device and is used for controlling the robot main body and the driving device;
the first camera device is arranged on the robot main body, communicates with the remote control terminal and is used for acquiring panoramic images around the robot main body;
the remote control terminal is further used for displaying the panoramic image acquired by the first camera device.
Therefore, in the process of practical application, the staff can effectively control the robot main body and the swing arm through the remote control terminal according to the image shot by the first camera device.
Further, the first image pickup device includes:
the cameras are annularly arranged around the robot main body and are respectively used for acquiring external images;
the cameras are respectively communicated with the remote control terminal, and the remote control terminal is further used for combining and splicing images acquired by the cameras to form the panoramic image for displaying.
In addition, the scout robot further includes:
the second camera device is arranged on the swing arm, communicates with the remote control terminal and is used for acquiring an external image; and the remote control terminal is also used for displaying the outside image acquired by the second camera device. Therefore, the investigation robot further comprises a second camera device, the second camera device is arranged on the swing arm, and the pitching angle shot by the second camera device can be adjusted through the swing of the swing arm. In addition, as a preferable scheme, the second camera device is a zoom camera, and the focus adjustment can be realized under the control of the remote control terminal, so that an image shot by the second camera device is clearer.
Further, the swing arm includes:
the base is connected with the driving device;
the electric push rod is arranged on the base and used for performing telescopic motion;
wherein the second camera device is arranged on the electric push rod
Further, the remote control terminal is further configured to switch and display between the external image and the panoramic image. The remote control terminal can display the images acquired by the first camera device and the second camera device more clearly.
Drawings
Fig. 1 is a schematic structural diagram of a detection robot according to a first embodiment of the present invention;
FIG. 2 is a front view of FIG. 1;
fig. 3 is a schematic view of a detection robot on a step according to a first embodiment of the present invention;
fig. 4 is a schematic view of a robot main body when climbing a step in the first embodiment of the present invention;
fig. 5 is a schematic structural view of the inspection robot according to the first embodiment of the present invention, in which a crawler belt is used;
FIG. 6 is a schematic structural diagram of a driving device according to a first embodiment of the present invention, in which a motor is used in cooperation with a worm wheel and a worm;
fig. 7 is a block diagram of a circuit module of the investigation robot according to the first embodiment of the invention during driving;
fig. 8 is a schematic structural diagram of a second embodiment of the investigation robot of the invention;
FIG. 9 is a front view of FIG. 7;
fig. 10 is a block diagram of a circuit module of the reconnaissance robot according to the second embodiment of the present invention during image capturing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a reconnaissance robot, as shown in fig. 1 and 2, including: a robot main body, a swing arm 2 and a driving device 3. The robot main body can normally run on the flat ground, the driving device 3 is respectively connected with the robot main body and the swing arm 2, and the driving device 3 is used for driving the swing arm 2 to turn over.
In addition, as shown in fig. 7, the reconnaissance robot of the present embodiment further includes a remote control terminal, and the robot main body and the driving device 3 are both in wireless communication with the remote control terminal.
In the practical application process, the remote control terminal can remotely control the driving device 3 and the robot main body, and the driving device 3 can be used for driving the robot main body to turn towards the opposite direction of the turning of the swing arm 2 when the turning of the swing arm 2 is blocked.
It can be easily found from the above that the whole robot includes a robot main body, a swing arm 2 and a driving device 3. The driving device 3 is connected to the robot main body and the swing arm 2, respectively, and drives the swing arm 2 to turn. From this it is not difficult to discover, under general conditions, can carry swing arm 2 by the robot main part and normally travel, and when meetting barriers such as stair or step, as shown in fig. 2, can drive swing arm 2 by drive arrangement 3 and overturn towards the direction of keeping away from the barrier, block up to swing arm 2, and drive arrangement 3 can utilize the produced reaction force when swing arm 2 is blocked to drive the robot main part and overturn towards the opposite direction with swing arm 2 upset when swing arm 2 is blocked, make the robot main part can climb up the step smoothly, realize the climbing to the stair.
Specifically, as shown in fig. 1, the robot main body includes: a first moving part 11 and a second moving part 12 arranged opposite to the first moving part 11. The swing arm 2 is disposed between the first moving portion 11 and the second moving portion 12, and the driving device is respectively fixedly connected to the first moving portion 11, the second moving portion 12 and the swing arm 2. From this, it can be easily found that, since the swing arm 2 is located between the first moving part 11 and the second moving part 12, when the swing arm 2 is turned over, the robot main body does not interfere with the turning over of the swing arm 2.
In the present embodiment, as shown in fig. 1 and 2, the driving device 3 includes: a motor 31 fixed in the swing arm 2, a transmission shaft 32 fixed with the motor 31, and as shown in fig. 7, the motor 31 communicates with a remote control terminal wirelessly, and the remote control terminal controls the motor 31 remotely. The transmission shaft 32 penetrates through the motor 31 and is fixedly connected with the first moving part 11 and the second moving part 12 respectively. In actual operation, as shown in fig. 3, since two ends of the transmission shaft 32 are respectively and fixedly connected to the first moving portion 11 and the second moving portion 12, when the motor 31 drives the transmission shaft 32 to rotate, the motor 31 can directly drive the swing arm 2 to turn over by means of a reaction force generated when the transmission shaft 32 is fixed, when the robot climbs the stair 4 in fig. 1, the motor 31 can drive the swing arm 32 to turn over in a direction opposite to the forward direction of the robot until the swing arm 2 abuts against the step where the robot main body is located, for example, as shown in fig. 3 and 4, when the robot main body is located at the step 41 of the stair 4 and climbs against the step 42, the motor 31 can drive the swing arm 2 to turn over in a direction of the step 41 until the swing arm 2 abuts against the step 41, and at this time, the motor 31 can drive the first moving portion 11 and the second moving portion 12 to turn over in a direction opposite to the reverse direction of the swing arm by means of the reaction force generated when the swing arm 2 is blocked And (4) overturning, so that the first moving part 11 and the second moving part 12 can smoothly climb up the step 42, and the climbing of the whole robot on the stair 4 is realized.
In addition, since the swing arm can rotate 360 degrees, in order to prevent the power supply cable inside the driving device 3 from being twisted together when the swing arm 2 rotates, in the present embodiment, a conductive ring structure can be used inside the driving device 3. Meanwhile, in order to clearly judge the position of the swing arm, an angle sensor can be arranged at the position where the swing arm 2 is connected with the driving device, and the position of the swing arm is monitored in real time through the angle sensor, so that the turning corner of the swing arm 2 can be controlled conveniently.
Meanwhile, in order to better control the rotation of the swing arm 2, the driving device 3 may be replaced by a structure in which, as shown in fig. 6, the transmission shaft 32 is replaced by a worm 33, and the motor 31 is disposed in the first moving portion 11, but in actual use, the motor 31 may be disposed in the second moving portion 12. And, both ends of the worm 33 can be connected with the first mobile part 11 and the second mobile part 12 respectively in a rotating way, and form a hollow space with the swing arm 2, and the driving device 3 also comprises a worm wheel 34 arranged on the swing arm 2, and the worm wheel 34 is meshed with the worm 33 for transmission. Therefore, when the motor 31 drives the worm 34 to rotate, the worm 34 can drive the swing arm 2 to rotate by means of meshing transmission with the worm wheel 34, so that the stairs can climb. And because the meshing mode of turbine and worm has the characteristic of auto-lock, consequently can avoid the robot to climb the stair and appear the phenomenon that drops.
In order to allow the swing arm 2 to cope with steps of different heights in the present embodiment, the swing arm 2 used in the present embodiment preferably includes: a base 21 connected to the driving device 3 and an electric push rod 22 arranged on the base. The electric push rod 22 is in wireless communication with the remote control terminal and can perform telescopic motion along the length direction under the control of the remote control terminal, so that the electric push rod can meet the climbing of steps with different heights.
Note that, in the present embodiment, as shown in fig. 1, the first moving unit 11 includes: the first rolling device comprises a first shell 111, a first driving assembly 112 fixedly arranged on the first shell 111, and a first rolling assembly 113 arranged outside the first shell 111. The first driving assembly 112 is further fixedly connected to the first rolling assembly 113, and is configured to drive the first rolling assembly 113 to drive the first housing 111 to move. And the second moving part 12 includes: the second housing 121, the second driving assembly 122 fixedly disposed in the second housing 121, and the second rolling assembly 123 disposed outside the second housing 121. The second driving assembly 122 is further fixedly connected to the second rolling assembly 123, and is configured to drive the second rolling assembly 123 to drive the second housing 121 to move. In the present embodiment, in order not to affect the turning of the swing arm 2, the swing arm 2 is located between the first housing 111 and the second housing 121, and the transmission shaft 32 of the driving device 3 is fixedly connected to the first housing 111 and the second housing 121, respectively.
Specifically, as shown in fig. 1, the first driving assembly 112 includes: two first motors 1121 and two first rollers 1122 are oppositely and fixedly arranged on the first housing 111. The two first rollers 1122 are respectively corresponding to the two first motors 1121, and the two first rollers 1122 are further coaxially fixed to the main shafts of the respective corresponding first motors 1121. And the second driving assembly 122 includes: two second motors 1221 oppositely fixed on the second housing 121, and two second rollers 1222. The two second rollers 1222 are respectively in one-to-one correspondence with the two second motors 1221, and the two second rollers 1222 are further coaxially fixed with the spindles of the respective corresponding second motors 1221. In addition, in the present embodiment, as shown in fig. 7, since both the two first motors 1121 and the two second motors 1221 wirelessly communicate with the remote control terminal, it is not difficult to find that each motor can adjust the rotation speed of each roller under the control of the remote control terminal, and thus the robot main body can be steered by the rotation speed difference of each roller while ensuring the normal running of the robot main body.
Moreover, as a preferred scheme, in order to ensure consistency of the rotation speeds of the two first rollers 1122 and the two second rollers 1222, photoelectric encoders (not shown in the figure) may be respectively installed on the main shafts of the two first motors 1121 and the main shafts of the two second motors 1221, the actual rotation speed value of each roller is detected in real time by each photoelectric encoder, and the rotation speed value of each roller is reported to the remote control terminal, and the rotation speed value of each motor main shaft is adjusted by the remote control terminal, so that closed-loop control of the speed of each roller is implemented.
In addition, in the present embodiment, in order to further improve the movement performance of the robot, the two first rollers 1122 and the two second rollers 1222 are both mecanum wheels, and when mecanum wheels are used, the lateral movement of the robot main body can be realized. When the rubber wheels are adopted, the robot main body can flexibly rotate in situ to adjust the direction.
Further, as an alternative, in the present embodiment, as shown in fig. 5, the above-mentioned first driving assembly 112 further includes: a first track 1126. And second drive assembly 122 further comprises: a second track 1226. The first caterpillar bands 1126 are directly sleeved on the two first rollers 1122, and the second caterpillar bands 1226 are directly sleeved on the two second rollers 1222. In this embodiment, the first driving assembly 112 and the second driving assembly 122 both include a crawler belt, so that the robot can better pass through complicated road conditions due to the good ground gripping performance of the crawler belt. Meanwhile, since the first caterpillar 1126 is directly sleeved on the two first rollers 1122 and the second caterpillar 1226 is directly sleeved on the two second rollers 1222, when the caterpillar is not needed, for example, in the case of a small height of stairs or a small slope, the caterpillar can be directly taken down, so that the robot can meet more working conditions.
The second embodiment of the present invention relates to a reconnaissance robot, which is a further improvement on the first embodiment, and the main improvements are as follows: as shown in fig. 8, the investigation robot of the present embodiment further includes: the investigation robot of this embodiment further includes: and the first camera device is arranged on the robot main body, is communicated with the remote control terminal and is used for acquiring panoramic images around the robot main body. Meanwhile, the remote control terminal is also used for displaying the panoramic image acquired by the first camera device. Therefore, in the process of practical application, the staff can control each motor through the remote control terminal according to the images shot by the first camera device, so that the functions of advancing, retreating, steering, climbing and the like of the robot can be effectively realized.
Specifically, referring to fig. 10, the first camera device includes a plurality of cameras 51 electrically connected to the main control system, and in the present embodiment, as shown in fig. 1, four cameras 51 are provided, and each camera 51 is disposed around the robot main body, and each camera 51 corresponds to one side of the robot main body, two cameras 51 are disposed on the first casing 111, and the other two cameras 51 are disposed on the second casing 121. The remote control terminal is further used for combining and splicing the images acquired by the cameras 51 to form a panoramic image for displaying, so that an operator can see the surrounding scenes of the robot by means of the remote control terminal, and blind spots are avoided.
In addition, as shown in fig. 9, the investigation robot of the present embodiment further includes: and a second imaging device 6 disposed on the swing arm 2. Moreover, the camera device used in this embodiment may be a zoom camera 6, and the camera 6 communicates with the remote control terminal, and is configured to acquire an external image, upload the acquired image to the remote control terminal, and display a corresponding image by the remote control terminal. In an actual application process, the remote control terminal is further configured to display an external image acquired by the zoom camera 6. Meanwhile, the zoom camera 6 is arranged on the swing arm 2, so that the shooting angle of the camera 6 can be adjusted by controlling the swing arm 2 to turn over, and the generation of blind spots is further avoided. Moreover, as a preferred scheme, the zoom camera 6 can be specifically arranged on the electric push rod 22 of the swing arm 2, and the height position of the zoom camera 6 can be adjusted in a telescopic motion mode through the control of the remote control terminal on the electric push rod 22, so that the shooting performance of the robot can be further improved.
In addition, as a preferable scheme, in the present embodiment, the remote control terminal is further configured to switch and display between the external image and the panoramic image, so that the remote control terminal can more clearly display the images acquired by the first camera device and the second camera device, thereby further improving user experience.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A reconnaissance robot, comprising:
a robot main body, a first moving part, and a second moving part arranged opposite to the first moving part;
swinging arms;
the driving device is respectively connected with the robot main body and the swing arm and is used for driving the swing arm to overturn;
the driving device is also used for driving the robot main body to turn towards the direction opposite to the direction of turning of the swing arm when the swing arm is blocked;
the swing arm is arranged between the first moving part and the second moving part, and the driving device is respectively and fixedly connected with the first moving part, the second moving part and the swing arm;
the driving device comprises a motor and a transmission shaft, the motor is fixedly arranged in the swing arm and fixed with the swing arm, and the transmission shaft is respectively fixedly connected with the first moving part and the second moving part and penetrates through the swing arm to be fixed with the motor;
the motor is used for driving the swing arm to turn around the axis of the transmission shaft, and the motor is also used for driving the first moving part and the second moving part to turn around the axis of the transmission shaft towards the direction opposite to the direction of turning of the swing arm through the transmission shaft when the swing arm is blocked;
the position of the swing arm is monitored in real time through the angle sensor, so that the turning angle of the swing arm can be conveniently controlled.
2. The reconnaissance robot of claim 1, wherein the first moving part comprises:
a first housing;
the first driving assembly is fixedly arranged on the first shell;
the first rolling assembly is arranged outside the first shell;
the first driving assembly is further fixedly connected with the first rolling assembly and used for driving the first rolling assembly to drive the first shell to move;
the second moving portion includes:
a second housing;
the second driving assembly is fixedly arranged in the second shell;
the second rolling assembly is arranged outside the second shell;
the second driving assembly is also fixedly connected with the second rolling assembly and used for driving the second rolling assembly to drive the second shell to move;
the swing arm is arranged between the first shell and the second shell, and the driving device is respectively and fixedly connected with the first shell and the second shell.
3. The reconnaissance robot of claim 2, wherein: the first drive assembly includes:
the two first motors are oppositely and fixedly arranged on the first shell;
the two first rollers are respectively in one-to-one correspondence with the two first motors and are respectively coaxially fixed with the main shafts of the respective corresponding first motors;
the second drive assembly includes:
the two second motors are oppositely and fixedly arranged on the second shell;
and the two second rollers are in one-to-one correspondence with the two second motors respectively and are coaxially fixed with the main shafts of the second motors respectively corresponding to the two second rollers.
4. The reconnaissance robot of claim 3, wherein: the first drive assembly further comprises:
the first track is sleeved on the two first rollers;
the second track is sleeved on the two second rollers.
5. The reconnaissance robot of claim 3, wherein: the two first rollers and the two second rollers are Mecanum wheels or rubber wheels.
6. The reconnaissance robot of claim 1, wherein: the reconnaissance robot further comprises:
the remote control terminal is respectively communicated with the robot main body and the driving device and is used for controlling the robot main body and the driving device;
the first camera device is arranged on the robot main body, communicates with the remote control terminal and is used for acquiring panoramic images around the robot main body;
the remote control terminal is further used for displaying the panoramic image acquired by the first camera device.
7. The reconnaissance robot of claim 6, wherein: the first image pickup apparatus includes:
the cameras are annularly arranged around the robot main body and are respectively used for acquiring external images;
the cameras are respectively communicated with the remote control terminal, and the remote control terminal is further used for combining and splicing images acquired by the cameras to form the panoramic image for displaying.
8. The reconnaissance robot of claim 6, wherein: the reconnaissance robot further comprises:
the second camera device is arranged on the swing arm, communicates with the remote control terminal and is used for acquiring an external image;
and the remote control terminal is also used for displaying the outside image acquired by the second camera device.
9. The reconnaissance robot of claim 8, wherein: the swing arm includes:
the base is connected with the driving device;
the electric push rod is arranged on the base and used for performing telescopic motion;
wherein, the second camera device is arranged on the electric push rod.
10. The reconnaissance robot of claim 8, wherein: the remote control terminal is also used for switching and displaying the outside image and the panoramic image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729563.2A CN109080724B (en) | 2018-07-05 | 2018-07-05 | Investigation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729563.2A CN109080724B (en) | 2018-07-05 | 2018-07-05 | Investigation robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109080724A CN109080724A (en) | 2018-12-25 |
| CN109080724B true CN109080724B (en) | 2021-07-27 |
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| CN201810729563.2A Active CN109080724B (en) | 2018-07-05 | 2018-07-05 | Investigation robot |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7011171B1 (en) * | 2002-10-08 | 2006-03-14 | Poulter Andrew R | Rugged terrain robot |
| CN102849132B (en) * | 2012-03-30 | 2014-11-26 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN103909991B (en) * | 2014-04-01 | 2016-02-10 | 南京赫曼机器人自动化有限公司 | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof |
| CN104647343B (en) * | 2015-03-13 | 2016-05-25 | 北京理工大学 | A kind of microminiature upset stair climbing robot |
| CN204623602U (en) * | 2015-05-07 | 2015-09-09 | 青岛理工大学 | A kind of convertible barrier-exceeding vehicle |
| US10058999B2 (en) * | 2016-10-12 | 2018-08-28 | Lunghwa University Of Science And Technology | Wheeled jumping robot |
| CN206407010U (en) * | 2017-01-03 | 2017-08-15 | 北京交通大学 | A kind of drive lacking deforms wheeled barrier-surpassing robot |
| CN107719491A (en) * | 2017-09-19 | 2018-02-23 | 林瑞春 | A kind of caterpillar mobile robot |
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2018
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| CN109080724A (en) | 2018-12-25 |
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