CN109108935A - A kind of empty comprehensive Detecting Robot in land and investigation control system - Google Patents
A kind of empty comprehensive Detecting Robot in land and investigation control system Download PDFInfo
- Publication number
- CN109108935A CN109108935A CN201811200575.2A CN201811200575A CN109108935A CN 109108935 A CN109108935 A CN 109108935A CN 201811200575 A CN201811200575 A CN 201811200575A CN 109108935 A CN109108935 A CN 109108935A
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- Prior art keywords
- robot
- module
- robot body
- land
- investigation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
A kind of empty comprehensive Detecting Robot in land, there is driving mechanism in the application robot body, respectively there are pair of tyres axis shaft in the robot body two sides, there is rubber tyre in the end of the tire axis shaft, the camera and GPS antenna are mounted on robot body, respectively there is a brushless motor at four angles of the robot body, the shaft of the brushless motor is equipped with blade, the aeronautical cell is fixed on robot body by the fixed bracket of power supply, the aeronautical cell connects each electric elements by connecting line, wireless charger chip and wireless charging board are arranged at the robot body bottom, four angles of the motor driven pcb board and main control pcb board are fixed on robot body by fixed copper post and nut.The application combines the cross-country exploration Detecting Robot in land and aerial miniature quadrotor exploration Detecting Robot technology, to expand, exploration investigates radius, improves cruising ability and terrain adaptability is strong, can preferably realize comprehensive exhaustive investigation.
Description
Technical field
The present invention relates to Detecting Robot fields, control more particularly to a kind of empty comprehensive Detecting Robot in land and investigation
System.
Background technique
The investigation of landform exploration at present is mainly detectd by the cross-country exploration Detecting Robot in land, aerial miniature quadrotor exploration
It looks into robot individually to complete, but unmanned plane investigation presence investigation existence form is single, shooting picture is by geographical environment shadow
Sound, the flight time is short, the big defect of exploration investigation limitation of taking photo by plane, and vehicle-mounted camera exploration Detecting Robot in land, which then exists, to be regarded
Wild many defects such as limited, therefore someone wants to land to explore Detecting Robot and aerial exploration Detecting Robot cooperates and visits
Dangerous Detecting Robot group investigates radius, raising cruising ability to expand exploration, but thus needs cross-country using land simultaneously
Detecting Robot and the aerial miniature quadrotor of exploring are explored, and Detecting Robot manipulation is more troublesome, and corollary equipment demand is also more,
It is can be considered when actual use by the cross-country exploration Detecting Robot in land and aerial miniature quadrotor exploration Detecting Robot skill
Art combines, and designs a kind of empty comprehensive Detecting Robot in land.
Summary of the invention
In order to solve problem above, the present invention provides a kind of empty comprehensive Detecting Robot in land and investigation control system, will
The cross-country exploration Detecting Robot in land and aerial miniature quadrotor exploration Detecting Robot technology combine, and detect to expand exploration
Radius is looked into, cruising ability is improved and terrain adaptability is strong, can preferably realize comprehensive exhaustive investigation, for this purpose,
The present invention provides a kind of empty comprehensive Detecting Robot in land, including motor driven pcb board, robot body, tire axis shaft, rubber
Rubber tire tire, camera, brushless motor, blade, main control pcb board, GPS antenna, power supply fixed bracket, aeronautical cell, wireless charging
Electric appliance chip and wireless charging board have driving mechanism in the robot body, and respectively there are a pair of of wheel in the robot body two sides
There are rubber tyre in tire axis shaft, the end of the tire axis shaft, and the camera and GPS antenna are mounted on robot body
On, respectively there is a brushless motor at four angles of the robot body, and the shaft of the brushless motor is equipped with blade, the boat
Empty battery is fixed on robot body by the fixed bracket of power supply, and the aeronautical cell connects each electric elements by connecting line,
Wireless charger chip and wireless charging board, the motor driven pcb board and main control pcb board are arranged at the robot body bottom
Four angles be fixed on robot body by fixed copper post and nut, the motor driven pcb board includes motor driving plate
Main body, the main control pcb board include master board main body, line bank needle, SD card, filter capacitor, power interface, main control chip
And connecting terminal, there are line bank needle, SD card, filter capacitor, power interface, main control chip and wiring in the master board main body
Terminal.
As a kind of improvement of the present invention, there are ultrasonic sensing device, the ultrasonic sensing device on front side of the robot body
There is a pair of of inductor radiation head, there is inductor protection net in the end of the inductor radiation head of the ultrasonic sensing device, ultrasound
Wave inductor may be used to determine front article, there is dust interference setting protection net in order to prevent.
As a kind of improvement of the present invention, the camera is mounted on robot body by holder, and the holder includes
Holder bottom mounting bracket, holder middle bracket and holder top supporting frame, the camera are mounted on holder top supporting frame
On, the holder top supporting frame is connected by holder middle bracket with holder bottom mounting bracket, the holder bottom installation
Bracket is mounted on robot body, and camera cooperates corresponding holder bracket that the better visual field may be implemented.
As a kind of improvement of the present invention, respectively there are a pair of of air bag in the robot body two sides, and the air bag has gas nozzle, each
Air bag is fixed by a pair of of air bag fixed frame, and the end of the air bag fixed frame considers that offshore environment can by air bag fixing piece
Be arranged corresponding air bag in this way just in case fall in it is waterborne can float reduction loss, without when can disassemble.
As a kind of improvement of the present invention, toxic gas sensor is gone back in the master board main body, setting poisonous gas senses
Device may determine that control situation.
As a kind of improvement of the present invention, a pair of of landform inductor is arranged at the robot body bottom, and landform inductor is arranged
It can be used to judge topographic features.
The investigation control system of the empty comprehensive Detecting Robot in a kind of land of the present invention, by land exploration investigation mode control
System, aerial exploration investigation schema control system and central control system three parts processed collectively constitute, it is characterised in that:
Land exploration investigation schema control system by the cross-country drive module of off-road mode, wireless charging console module,
Land exploration investigation module, environment monitoring module, the unmanned module of intelligent barrier avoiding, GPS positioning module, WIFI information feed back mould
Block and path planning module collectively constitute and pass through STM32 main control chip and controlled；
The aerial exploration investigation schema control system by flight module flight drive module, in the air take photo by plane investigate module,
Environment monitoring module, electric power detection, alarm modules, WIFI information feedback module and path planning module collectively constitute and pass through
STM32 main control chip is controlled；
The central control system includes mode switch module, investigation environmental index receiving module, path planning, mobile phone/plate
Computer screen shows image, environment data module, investigation picture screen feedback and takes photo by plane in the air and investigate module and collectively constitute and lead to
The control of long-range remote controlled central control module is crossed, land is explored investigation scheme control system by central control system respective modules
System and the aerial exploration resulting information feedback processing of investigation schema control system carry out control and pattern switching to robot.
A kind of empty comprehensive Detecting Robot in land of the present invention and investigation control system, have the following advantages that；
1 present invention is mutually tied using the cross-country exploration Detecting Robot in land with aerial miniature quadrotor exploration Detecting Robot technology
It closes, mobile by tire when not needing, movement speed is fast, and the flight investigation in some areas may be implemented, therefore investigate
Radius is big, and cruising ability is strong, can preferably realize comprehensive exhaustive investigation；
2 present invention are due to encountering large-scale pit-hole and barrier or muddy road can be logical by flying with rotor
It crosses, such landform is adaptable；
3 present invention use wireless charging, and automatic alarm when electricity will exhaust is positioned according to cross-country platform to designated position
And carry out wireless charging.
4 present invention can also be transferred to the functions such as central control system using various kinds of sensors detection battlefield environmental information.
If 5 two sides of the present invention are each provided with an air bag and force-land in water surface flying, can be floated on the surface by air bag, if
No landform needs are then removed.
Detailed description of the invention
Fig. 1 is schematic diagram one of the invention；
Fig. 2 is schematic diagram two of the invention；
Fig. 3 is internal circuit board schematic diagram of the invention；
Fig. 4 is exploration Reconnaissance system structural block diagram in land of the invention；
Fig. 5 is aerial exploration Reconnaissance system structural frames of the invention；
Fig. 6 is remote control center control structure block diagram of the invention；
In figure: 1. motor driven pcb boards；2. fixed copper post and nut；3, inductor protection net；4. ultrasonic sensing device；
5. robot body；6. tire axis shaft；7. 8. holder bottom mounting bracket of rubber tyre；9. holder middle bracket；10. holder
Top supporting frame；11. camera；12. brushless motor；13. blade；14. main control pcb board；15.GPS antenna；16. power supply is solid
Fixed rack；17. aeronautical cell；18. air bag fixing piece；19. air bag；20. air bag fixed frame；21. gas nozzle；22 wireless charger cores
Piece；23. wireless charging board；24. toxic gas sensor；25. master board main body；26. line bank needle；27.SD card；28. electricity
Machine driving plate main body；29. filter capacitor；30. power interface；31. main control chip；32. connecting terminal；33. landform inductor.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The present invention provides a kind of empty comprehensive Detecting Robot in land and investigation control system, by the cross-country exploration Detecting Robot in land
It is combined with aerial miniature quadrotor exploration Detecting Robot technology, investigates radius to explore, improves cruising ability and ground
Shape is adaptable, can preferably realize comprehensive exhaustive investigation.
As a kind of embodiment of robot of the present invention, the present invention provides a kind of empty comprehensive Detecting Robot in land, including electricity
Machine drives pcb board 1, robot body 5, tire axis shaft 6, rubber tyre 7, camera 11, brushless motor 12, blade 13, master
Control the fixed bracket 16 of pcb board 14, GPS antenna 15, power supply, aeronautical cell 17, wireless charger chip 22 and wireless charging board
23, there is driving mechanism in the robot body 5, respectively there are pair of tyres axis shaft 6, the wheel in 5 two sides of robot body
There is rubber tyre 7 in the end of tire axis shaft 6, and the camera 11 and GPS antenna 15 are mounted on robot body 5, the machine
Respectively there is a brushless motor 12 at four angles of device human agent 5, and the shaft of the brushless motor 12 is equipped with blade 13, the aviation
Battery 17 is fixed on robot body 5 by the fixed bracket 16 of power supply, and the aeronautical cell 17 connects each electric appliance by connecting line
Wireless charger chip 22 and wireless charging board 23,1 He of motor driven pcb board are arranged at element, 5 bottom of robot body
Four angles of main control pcb board 14 pass through fixed copper post and nut 2 is fixed on robot body 5, the motor driven pcb board
1 include motor driving plate main body 28, the main control pcb board 14 include master board main body 25, line bank needle 26, SD card 27,
Filter capacitor 29, power interface 30, main control chip 31 and connecting terminal 32 have line bank needle in the master board main body 25
26, SD card 27, filter capacitor 29, power interface 30, main control chip 31 and connecting terminal 32.
As a kind of specific embodiment of robot of the present invention, the present invention is provided such as a kind of empty comprehensive scout in the land Fig. 1-3
Device people, including motor driven pcb board 1, robot body 5, tire axis shaft 6, rubber tyre 7, camera 11, brushless motor
12, blade 13, main control pcb board 14, GPS antenna 15, power supply fixed bracket 16, aeronautical cell 17, wireless charger chip 22
With wireless charging board 23, there is ultrasonic sensing device 4 on front side of the robot body 5, the ultrasonic sensing device 4 has a pair of of induction
There are inductor protection net 3, ultrasonic sensing device in device radiation head, the end of the inductor radiation head of the ultrasonic sensing device 4
It may be used to determine front article, have dust interference setting protection net in order to prevent, have driving machine in the robot body 5
Respectively there are pair of tyres axis shaft 6 in structure, 5 two sides of robot body, and there are rubber tyre 7, institute in the end of the tire axis shaft 6
It states camera 11 and GPS antenna 15 is mounted on robot body 5, the camera 11 is mounted on robot body by holder
On 5, the holder includes holder bottom mounting bracket 8, holder middle bracket 9 and holder top supporting frame 10, the camera
11 are mounted in holder top supporting frame 10, and the holder top supporting frame 10 is pacified by holder middle bracket 9 and holder bottom
It fills bracket 8 to be connected, holder bottom mounting bracket 8 is mounted on robot body 5, and camera cooperates corresponding holder bracket
The better visual field may be implemented, respectively there is a brushless motor 12 at four angles of the robot body 5, the brushless motor 12
Shaft is equipped with blade 13, and the aeronautical cell 17 is fixed on robot body 5 by the fixed bracket 16 of power supply, the aviation
Battery 17 connects each electric elements by connecting line, and wireless charger chip 22 and wireless charging are arranged at 5 bottom of robot body
Four angles of plate 23, the motor driven pcb board 1 and main control pcb board 14 pass through fixed copper post and nut 2 is fixed on robot
In main body 5, the motor driven pcb board 1 includes motor driving plate main body 28, and the main control pcb board 14 includes master board
Main body 25, line bank needle 26, SD card 27, filter capacitor 29, power interface 30, main control chip 31 and connecting terminal 32, the master
There are line bank needle 26, SD card 27, filter capacitor 29, power interface 30, main control chip 31 and connecting terminal in control panel main body 25
32, respectively there are a pair of of air bag 19 in 5 two sides of robot body, and the air bag 19 has gas nozzle 21, and each air bag 19 passes through a pair of of gas
Capsule fixed frame 20 is fixed, and the end of the air bag fixed frame 20 considers that phase can be set in offshore environment by air bag fixing piece 18
Answer air bag in this way just in case fall in it is waterborne can float reduction loss, without when can disassemble, the master board main body
Toxic gas sensor 24 is gone back on 25, setting poison gas body sensor may determine that control situation, and 5 bottom of robot body has
A pair of of landform inductor 33, setting landform inductor can be used to judge topographic features.
As a kind of embodiment of control system of the present invention, a kind of present invention offer land sky as Figure 4-Figure 6 is comprehensive to be detectd
The investigation control system for looking into robot, by land exploration investigation schema control system, aerial exploration investigation mode control
System and central control system three parts processed collectively constitute:
Exploration investigation schema control system in land of the present invention is by the cross-country drive module of off-road mode, wireless charging platform
Module, land exploration investigation module, environment monitoring module, the unmanned module of intelligent barrier avoiding, GPS positioning module, WIFI information
Feedback module and path planning module collectively constitute and pass through STM32 main control chip and controlled；
The aerial exploration investigation schema control system is by mode switch module, flight module flight drive module, aerial
Taking photo by plane, it is total to investigate module, environment monitoring module, electric power detection, alarm modules, WIFI information feedback module and path planning module
It is controlled with composition and by STM32 main control chip；
Central control system of the present invention includes investigation environmental index receiving module, path planning, mobile phone/tablet computer screen
Display image, environment data module, investigation picture screen feedback and in the air take photo by plane investigate module collectively constitute and pass through remotely it is distant
Central control module control is controlled, by central control system respective modules by land exploration investigation schema control system and in the air
The exploration resulting information feedback processing of investigation schema control system carries out control and pattern switching to robot.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (8)
1. a kind of empty comprehensive Detecting Robot in land, including motor driven pcb board (1), robot body (5), tire axis shaft
(6), rubber tyre (7), camera (11), brushless motor (12), blade (13), main control pcb board (14), GPS antenna (15),
Power supply fixed bracket (16), aeronautical cell (17), wireless charger chip (22) and wireless charging board (23), it is characterised in that:
There is driving mechanism in the robot body (5), respectively there are pair of tyres axis shaft (6) in robot body (5) two sides, described
The end of tire axis shaft (6) has rubber tyre (7), and the camera (11) and GPS antenna (15) are mounted on robot body
(5) on, respectively there are a brushless motor (12), the shaft peace of the brushless motor (12) in four angles of the robot body (5)
Equipped with blade (13), the aeronautical cell (17) is fixed on robot body (5) by power supply fixed bracket (16), the boat
Empty battery (17) connects each electric elements by connecting line, robot body (5) bottom have wireless charger chip (22) and
Four angles of wireless charging board (23), the motor driven pcb board (1) and main control pcb board (14) pass through fixed copper post and spiral shell
Female (2) are fixed on robot body (5), and the motor driven pcb board (1) includes motor driving plate main body (28), the master
Controlling pcb board (14) includes master board main body (25), line bank needle (26), SD card (27), filter capacitor (29), power interface
(30), main control chip (31) and connecting terminal (32) have line bank needle (26), SD card on the master board main body (25)
(27), filter capacitor (29), power interface (30), main control chip (31) and connecting terminal (32).
2. the empty comprehensive Detecting Robot in a kind of land according to claim 1, it is characterised in that: the robot body
(5) front side has ultrasonic sensing device (4), and the ultrasonic sensing device (4) has a pair of of inductor radiation head.
3. the empty comprehensive Detecting Robot in a kind of land according to claim 2, it is characterised in that: the ultrasonic sensing device
(4) end of inductor radiation head has inductor protection net (3).
4. the empty comprehensive Detecting Robot in a kind of land according to claim 1, it is characterised in that: the camera (11) is logical
Holder is crossed to be mounted on robot body (5), the holder include holder bottom mounting bracket (8), holder middle bracket (9) and
Holder top supporting frame (10), the camera (11) are mounted on holder top supporting frame (10), the holder top braces
Frame (10) is connected by holder middle bracket (9) with holder bottom mounting bracket (8), holder bottom mounting bracket (8) peace
On robot body (5).
5. the empty comprehensive Detecting Robot in a kind of land according to claim 1, it is characterised in that: the robot body
(5) two sides respectively have a pair of of air bag (19), and the air bag (19) has gas nozzle (21), and each air bag (19) passes through a pair of of air bag fixed frame
(20) fixed, the end of the air bag fixed frame (20) passes through air bag fixing piece (18).
6. the empty comprehensive Detecting Robot in a kind of land according to claim 1, it is characterised in that: the master board main body
(25) toxic gas sensor (24) are gone back on.
7. the empty comprehensive Detecting Robot in a kind of land according to claim 1, it is characterised in that: the robot body
(5) a pair of of landform inductor (33) is arranged at bottom.
8. being visited using the investigation control system of the empty comprehensive Detecting Robot in land described in claim 1-7 any one by land
Dangerous investigation schema control system, aerial exploration investigation schema control system and central control system three parts are common
Composition, it is characterised in that:
Land exploration investigation schema control system by the cross-country drive module of off-road mode, wireless charging console module,
Land exploration investigation module, environment monitoring module, the unmanned module of intelligent barrier avoiding, GPS positioning module, WIFI information feed back mould
Block and path planning module collectively constitute and pass through STM32 main control chip and controlled；
The aerial exploration investigation schema control system by flight module flight drive module, in the air take photo by plane investigate module,
Environment monitoring module, electric power detection, alarm modules, WIFI information feedback module and path planning module collectively constitute and pass through
STM32 main control chip is controlled；
The central control system includes mode switch module, investigation environmental index receiving module, path planning, mobile phone/plate
Computer screen shows image, environment data module, investigation picture screen feedback and takes photo by plane in the air and investigate module and collectively constitute and lead to
The control of long-range remote controlled central control module is crossed, land is explored investigation scheme control system by central control system respective modules
System and the aerial exploration resulting information feedback processing of investigation schema control system carry out control and pattern switching to robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200575.2A CN109108935A (en) | 2018-10-16 | 2018-10-16 | A kind of empty comprehensive Detecting Robot in land and investigation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200575.2A CN109108935A (en) | 2018-10-16 | 2018-10-16 | A kind of empty comprehensive Detecting Robot in land and investigation control system |
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| CN109108935A true CN109108935A (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811200575.2A Pending CN109108935A (en) | 2018-10-16 | 2018-10-16 | A kind of empty comprehensive Detecting Robot in land and investigation control system |
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| CN110435369A (en) * | 2019-07-18 | 2019-11-12 | 天津理工大学 | One kind novel three is dwelt robot system and its working method |
| WO2021022727A1 (en) * | 2019-08-07 | 2021-02-11 | 清华大学 | Air-ground amphibious unmanned driving platform |
| CN112706609A (en) * | 2021-01-22 | 2021-04-27 | 国网安徽省电力有限公司淮北供电公司 | Emergent maintenance device of electric power calamity trouble |
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Application publication date: 20190101 |