CN109176528B

CN109176528B - Patrol robot with obstacle crossing function

Info

Publication number: CN109176528B
Application number: CN201811201125.5A
Authority: CN
Inventors: 彭晓珊; 陈雨青; 孙健; 田洪兴; 沈承舒; 古训; 任泽毅
Original assignee: Guiyang University
Current assignee: Guiyang University
Priority date: 2018-10-16
Filing date: 2018-10-16
Publication date: 2022-05-10
Anticipated expiration: 2038-10-16
Also published as: CN109176528A

Abstract

The invention discloses a patrol robot with an obstacle crossing function, which comprises an installation box, wherein two sides of the installation box are connected with walking structures, the top end of the installation box is connected with a first connecting plate through a first electric telescopic rod, the top end of the installation box at the side of the first connecting plate is provided with a support frame, rotating shafts are arranged in the support frame and the first connecting plate, the rotating shafts are connected with a first installation plate, the surface of the first installation plate is provided with a camera, the patrol robot with the obstacle crossing function detects the surrounding environment through a laser radar, then a PLC controller controls a bidirectional motor in the walking structures, so that a crawler is driven to return to the robot, the integral frame shaping is realized, the frame shaping in different terrains is facilitated due to the crawler type walking structure, and meanwhile, the work of a servo motor and a second electric telescopic rod is controlled, thereby facilitating steering operation of the whole.

Description

Patrol robot with obstacle crossing function

Technical Field

The invention relates to the technical field of patrol robots, in particular to a patrol robot with an obstacle crossing function.

Background

The robot is undoubtedly the leading force of all walks of life in the future, many trade companies have adopted the robot to serve at present, and the application of the service robot has expanded to many fields, wherein scale and quantity of patrol robots are continuously expanding, patrol robots are in large-scale places such as shopping malls, warehouses, airports, and the like, when patrol robots are patrolling, manual remote operation is needed, and the data returned by patrol robots is used for knowing the surrounding situation.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a patrol robot with an obstacle crossing function, which can patrol in a complex terrain, so that the application range of products is expanded, the products are convenient to popularize, and the problems in the background art can be effectively solved.

In order to achieve the purpose, the invention provides the following technical scheme: a patrol robot with obstacle crossing function comprises a mounting box, wherein two sides of the mounting box are connected with walking structures, the top end of the mounting box is connected with a first connecting plate through a first electric telescopic rod, the top end of the mounting box at the side of the first connecting plate is provided with a supporting frame, rotating shafts are arranged in the supporting frame and the first connecting plate, a first mounting plate is connected onto the rotating shafts, cameras are arranged on the surface of the first mounting plate, the number of the cameras is not less than four, a servo motor is arranged at the bottom end inside the mounting box, a mounting groove is formed in the wall of the mounting box below the servo motor, a second connecting plate is rotatably connected in the mounting groove, the top end of the second connecting plate is connected with an output shaft of the servo motor, the bottom end of the second connecting plate is connected with a connecting plate through a second electric telescopic rod, and the connecting plate is arranged below the bottom end of the mounting box, the bottom of connection pad is equipped with the toper post, the inside of install bin still is equipped with PLC controller and wireless connection ware, install bin bottom between PLC controller and the wireless connection ware is connected with the second mounting panel through third electric telescopic handle, the surface of second mounting panel is equipped with operating panel, be connected with the apron through the spliced pole on the outside second mounting panel of operating panel, the install bin surface in the apron outside is equipped with the ware of punching the card, the one end of install bin is equipped with laser radar, PLC controller and wireless connection ware both-way electricity are connected, the input of PLC controller is connected to camera, operating panel, laser radar and the output electricity of the ware of punching the card, first electric telescopic handle, servo motor, second electric telescopic handle and third electric telescopic handle's input is connected to the output electricity of PLC controller.

As a preferred technical scheme of the invention, the walking structure comprises a bidirectional motor arranged in the installation box, two ends of the bidirectional motor penetrate through the installation box, extend to the outside of the installation box and are connected with connecting wheels, and an output end of the PLC controller is electrically connected with an input end of the bidirectional motor.

As a preferable technical scheme of the invention, the bottom end of the connecting wheel is connected with a bottom wheel through a connecting frame, and the bottom wheel of the connecting frame is connected with the outside of the connecting wheel through a crawler.

As a preferred technical solution of the present invention, a mounting plate is disposed at a top end of the first connecting plate, a warning light is disposed at a top end of the mounting plate, a microphone is disposed at a bottom end of the mounting plate, an output end of the microphone is electrically connected to an input end of a PLC controller, and an output end of the PLC controller is electrically connected to an input end of the warning light.

According to a preferable technical scheme of the invention, the two sides of the installation box are respectively provided with a loudspeaker, and the output end of the PLC is electrically connected with the input end of the loudspeaker.

As a preferable technical scheme of the invention, a storage, a timer, a positioner and a battery pack are further arranged in the installation box, an output end of the battery pack is electrically connected with an input end of a PLC controller, and the PLC controller is electrically connected with the storage, the timer and the positioner in a bidirectional mode.

As a preferable technical scheme of the invention, a third connecting plate is arranged at the bottom end of the second electric telescopic rod, connecting holes are formed in the third connecting plate and the connecting disc, and a connecting column is rotatably connected in the connecting holes.

As a preferred technical scheme of the invention, the bottom end of the installation box is connected with a sucker through a fourth electric telescopic rod, and the output end of the PLC controller is electrically connected with the input end of the fourth electric telescopic rod.

As a preferred technical scheme of the invention, the bottom end of the inner cavity of the installation box is further provided with an installation hole, a fixed frame is arranged in the installation hole, a heat dissipation fan is arranged on the fixed frame, an exhaust port is arranged on the installation box below the heat dissipation fan, and the output end of the PLC is electrically connected with the input end of the heat dissipation fan.

As a preferred technical scheme of the invention, the other end of the installation box is provided with an air inlet, and the installation box outside the air inlet is provided with a filter plate.

Compared with the prior art, the invention has the beneficial effects that:

this patrol robot with hinder function more surveys the environment on every side through laser radar, then controls the inside two-way motor of walking structure through the PLC controller, thereby it is still at your to drive the track, realize holistic type frame from this, because the walking structure of crawler-type, thereby be convenient for wholly carry out the type frame in the topography of difference, control through the work to servo motor and second electric telescopic handle simultaneously, thereby be convenient for turn to the operation to whole.

This patrol robot with hinder function more is connected with external network through the wireless connector to make the operation to the PLC controller that the user can be long-range control, also be convenient for take place the information that camera and microphone were gathered simultaneously, control through the work to first electric telescopic handle simultaneously, thereby be convenient for adjust the shooting angle of camera, thereby convenient to use person carries out the collection of data.

This patrol robot with hinder function more, the setting of accumulator is convenient for store the data of gathering and the signal of receiving through the wireless connector, and the setting of locator, the person of being convenient for carries out quick location to holistic position, and some sound information of broadcast are convenient for in the setting of speaker, and the setting of warning light can prevent that passerby from touchhing holistically.

This patrol robot with hinder function more controls through the work to the heat dissipation fan to make external air current get into from the inlet port, discharge through the gas vent, thereby be convenient for dispel the heat the operation to the inside of install bin, control through the work to fourth electric telescopic handle, thereby make sucking disc and ground contact, thereby support the install bin, thereby be convenient for fix whole in certain position.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic cross-sectional view of the present invention.

In the figure: 1 mounting box, 2 walking structure, 3 first electric telescopic rod, 4 first connecting plate, 5 supporting frame, 6 first mounting plate, 7 camera, 8 servo motor, 9 mounting groove, 10 second connecting plate, 11 second electric telescopic rod, 12 connecting plate, 13 conical column, 14 PLC controller, 15 third electric telescopic rod, 16 second mounting plate, 17 operation panel, 18 connecting column, 19 cover plate, 20 laser radar, 21 two-way motor, 22 connecting wheel, 23 connecting frame, 24 bottom wheels, 25 tracks, 26 mounting plates, 27 warning lamps, 28 microphones, 29 loudspeakers, 30 wireless connectors, 31 storages, 32 timers, 33 locators, 34 battery packs, 35 third connecting plates, 36 connecting holes, 37 connecting columns, 38 fourth electric telescopic rods, 39 suckers, 40 mounting holes, 41 fixing frames, 42 heat dissipation fans, 43 air outlets, 44 air inlets, 45 filter plates and 46 card swipes.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a patrol robot with obstacle crossing function comprises an installation box 1, two sides of the installation box 1 are connected with walking structures 2, each walking structure 2 comprises a two-way motor 21 arranged inside the installation box 1, two ends of each two-way motor 21 penetrate through and extend to the outside of the installation box 1 and are connected with a connecting wheel 22, the bottom end of each connecting wheel 22 is connected with a bottom wheel 24 through a connecting frame 23, the bottom wheels 24 and the outside of each connecting wheel 22 are connected through a crawler 25, the work of the two-way motors 21 is controlled, so that the connecting wheels 22 rotate, the bottom wheels 24 are driven to rotate under the action of the crawler 25, the whole body can move, the top end of the installation box 1 is connected with a first connecting plate 4 through a first electric telescopic rod 3, the top end of the first connecting plate 4 is provided with an installation disc 26, the top end of the installation disc 26 is provided with a warning lamp 27, the warning lamp 27 is arranged, and the whole body can be effectively prevented from being touched by passersby a passerby, the bottom end of the mounting disc 26 is provided with a microphone 28, the microphone 28 is arranged to facilitate the collection of surrounding sound information, two sides of the mounting box 1 are provided with speakers 29, the speakers 29 are arranged to facilitate the playing of some sound information, the top end of the mounting box 1 on the side of the first connecting plate 4 is provided with a support frame 5, rotating shafts are arranged in the support frame 5 and the first connecting plate 4, the rotating shafts are connected with a first mounting plate 6, the surface of the first mounting plate 6 is provided with cameras 7, the number of the cameras 7 is not less than four, the bottom end inside the mounting box 1 is provided with a servo motor 8, a mounting groove 9 is arranged in the box wall of the mounting box 1 below the servo motor 8, a second connecting plate 10 is rotatably connected in the mounting groove 9, the top end of the second connecting plate 10 is connected with an output shaft of the servo motor 8, the bottom end of the second connecting plate 10 is connected with a connecting plate 12 through a second electric telescopic rod 11, the connecting disc 12 is arranged below the bottom end of the mounting box 1, the bottom end of the connecting disc 12 is provided with a conical column 13, the bottom end of the second electric telescopic rod 11 is provided with a third connecting plate 35, the third connecting plate 35 and the connecting disc 12 are both provided with connecting holes 36, the connecting holes 36 are rotatably connected with connecting columns 37, the detachable structure is arranged, a user can conveniently replace the connecting disc 12 according to the requirement, the bottom end of the mounting box 1 is connected with a sucking disc 39 through a fourth electric telescopic rod 38, the operation of the fourth electric telescopic rod 38 is controlled, the user can conveniently carry out fixed-point monitoring operation, the bottom end of the inner cavity of the mounting box 1 is also provided with a mounting hole 40, a fixing frame 41 is arranged in the mounting hole 40, a heat dissipation fan 42 is arranged on the fixing frame 41, an exhaust port 43 is arranged on the mounting box 1 below the heat dissipation fan 42, the other end of the mounting box 1 is provided with an air inlet 44, a filter plate 45 is arranged on the mounting box 1 outside the air inlet 44, through controlling the work of the heat dissipation fan 42, thereby being convenient for carrying out heat dissipation operation on the interior of the installation box 1, the interior of the installation box 1 is also provided with the PLC controller 14 and the wireless connector 30, the interior of the installation box 1 is also provided with the storage 31, the timer 32, the positioner 33 and the battery pack 34, the storage 31 is arranged, being convenient for storing collected and received information, the setting of the timer 32 is convenient for a user to record time information and carry out timing operation simultaneously, the setting of the positioner 33 is convenient for the user to quickly determine the integral position, the battery pack 34 is arranged as an integral operation to provide required power, the bottom end of the installation box 1 between the PLC controller 14 and the wireless connector 30 is connected with the second installation plate 16 through the third electric telescopic rod 15, the surface of the second installation plate 16 is provided with the operation panel 17, a cover plate 19 is connected to a second mounting plate 16 outside the operation panel 17 through a connecting column 18, a card reader 46 is arranged on the surface of the mounting box 1 outside the cover plate 19, a laser radar 20 is arranged at one end of the mounting box 1, the laser radar 20 adopts a Hamamatsu near infrared MPPC S13720-1325 series, a Mitsubishi FX3U series is adopted by the PLC 14, the PLC 14 is respectively and bidirectionally and electrically connected with a storage 31, a timer 32, a positioner 33 and a wireless connector 30, the output ends of the camera 7, the operation panel 17, the laser radar 20, a microphone 28, a battery pack 34 and the card reader 46 are electrically connected with the input end of the PLC 14, the output end of the PLC 14 is electrically connected with the input ends of a first electric telescopic rod 3, a servo motor 8, a second electric telescopic rod 11, a third electric telescopic rod 15, a bidirectional motor 21, a warning lamp 27, a loudspeaker 29, a fourth electric telescopic rod 38 and a heat dissipation fan 42, the PLC 14 controls the first electric telescopic rod 3, the servo motor 8, the second electric telescopic rod 11, the third electric telescopic rod 15, the two-way motor 21, the warning lamp 27, the loudspeaker 29, the fourth electric telescopic rod 38 and the heat dissipation fan 42 to work by adopting a common method in the prior art.

When in use: the user operates on the operation panel 17, thereby connecting the PLC controller 14 with the external network through the wireless connector 30, then through the data input on the operation panel 17, when the whole operates, the user inputs data through the remote computer, the PLC controller 14 makes the two-way motor 21 work according to the input data, thereby driving the caterpillar 25 to rotate, thereby moving the whole, through the control of the work of the servo motor and the second electric telescopic rod, thereby making the whole rotate, thereby performing steering operation, the data around is collected through the laser radar 20, and then is sent to the PLC controller 14, the PLC controller 14 controls the work of the two-way motor, the servo motor and the second electric telescopic rod according to the collected data, thereby preventing the whole from colliding with the external obstacle, the image information and the sound information of the surrounding when the whole body passes through are collected through the camera 7 and the microphone 28 and then are sent to the PLC controller 14, the PLC controller 14 stores the image information and the sound information in the storage 31, then the data is sent to a remote computer control end through the wireless connector 30, and meanwhile, the warning lamp 27 and the loudspeaker 29 are operated when patrol is carried out, so that the surrounding is warned.

The invention controls the work of the first electric telescopic rod 3, thereby being convenient for adjusting the angle of the camera 7, thereby being convenient for shooting image information in different directions, controlling the work of the second electric telescopic rod 11 to ensure that the conical column 13 is deep under the ground, then, the servo motor 8 is operated, so that the steering operation of the whole body is facilitated, the surrounding road condition is detected by the laser radar 20, thereby preventing the entire body from colliding with surrounding objects, and controlling the operation of the heat radiating fan 42, thereby facilitating the heat dissipation work inside the installation box 1, the PLC controller 14 enables the third electric telescopic rod 15 to work only after the card is swiped through the card swiping device 46, the operation panel 17 is thus raised, whereby the entire operation can be set, and an unauthorized person can be prevented from performing the operation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a patrol robot with hinder function more, includes install bin (1), its characterized in that: the mounting box comprises a mounting box body (1), wherein two sides of the mounting box body (1) are connected with walking structures (2), the top end of the mounting box body (1) is connected with a first connecting plate (4) through a first electric telescopic rod (3), a supporting frame (5) is arranged at the top end of the mounting box body (1) on the side surface of the first connecting plate (4), rotating shafts are arranged in the supporting frame (5) and the first connecting plate (4), a first mounting plate (6) is connected onto each rotating shaft, cameras (7) are arranged on the surface of the first mounting plate (6), the number of the cameras (7) is not less than four, a servo motor (8) is arranged at the inner bottom end of the mounting box body (1), a mounting groove (9) is formed in the wall of the mounting box body (1) below the servo motor (8), a second connecting plate (10) is rotatably connected to the mounting groove (9), and the top end of the second connecting plate (10) is connected with an output shaft of the servo motor (8), the bottom of second connecting plate (10) is connected with connection pad (12) through second electric telescopic handle (11), connection pad (12) set up the bottom below in install bin (1), the bottom of connection pad (12) is equipped with toper post (13), the inside of install bin (1) still is equipped with PLC controller (14) and wireless connector (30), install bin (1) bottom between PLC controller (14) and wireless connector (30) is connected with second mounting panel (16) through third electric telescopic handle (15), the surface of second mounting panel (16) is equipped with operating panel (17), be connected with apron (19) through spliced pole (18) on outside second mounting panel (16) of operating panel (17), install bin (1) surface in the apron (19) outside is equipped with the ware of punching the card (46), the one end of install bin (1) is equipped with laser radar (20), the PLC controller (14) is electrically connected with the wireless connector (30) in a two-way mode, the output ends of the camera (7), the operation panel (17), the laser radar (20) and the card reader (46) are electrically connected with the input end of the PLC controller (14), and the output end of the PLC controller (14) is electrically connected with the input ends of the first electric telescopic rod (3), the servo motor (8), the second electric telescopic rod (11) and the third electric telescopic rod (15);

a storage device (31), a timer (32), a positioner (33) and a battery pack (34) are further arranged in the installation box (1), the output end of the battery pack (34) is electrically connected with the input end of the PLC (14), and the PLC (14) is bidirectionally and electrically connected with the storage device (31), the timer (32) and the positioner (33); a third connecting plate (35) is arranged at the bottom end of the second electric telescopic rod (11), connecting holes (36) are formed in the third connecting plate (35) and the connecting disc (12), and a connecting column (37) is rotatably connected to the connecting holes (36); the bottom end of the installation box (1) is connected with a sucker (39) through a fourth electric telescopic rod (38), and the output end of the PLC (14) is electrically connected with the input end of the fourth electric telescopic rod (38);

the walking structure (2) comprises a bidirectional motor (21) arranged inside the installation box (1), two ends of the bidirectional motor (21) penetrate through the installation box (1), extend to the outside of the installation box (1) and are connected with connecting wheels (22), and the output end of the PLC (14) is electrically connected with the input end of the bidirectional motor (21); a mounting disc (26) is arranged at the top end of the first connecting plate (4), a warning lamp (27) is arranged at the top end of the mounting disc (26), a microphone (28) is arranged at the bottom end of the mounting disc (26), the output end of the microphone (28) is electrically connected with the input end of the PLC (14), and the output end of the PLC (14) is electrically connected with the input end of the warning lamp (27); the inner chamber bottom of install bin (1) still is equipped with mounting hole (40), be equipped with mount (41) in mounting hole (40), be equipped with heat dissipation fan (42) on mount (41), be equipped with gas vent (43) on install bin (1) of heat dissipation fan (42) below, the input of heat dissipation fan (42) is connected to the output electricity of PLC controller (14).

2. A patrol robot having an obstacle detouring function according to claim 1, wherein: the bottom end of the connecting wheel (22) is connected with a bottom wheel (24) through a connecting frame (23), and the bottom wheel (24) of the connecting frame (23) is connected with the outer part of the connecting wheel (22) through a crawler belt (25).

3. A patrol robot having an obstacle detouring function according to claim 1, wherein: the both sides of install bin (1) all are equipped with speaker (29), the input of speaker (29) is connected to the output electricity of PLC controller (14).

4. A patrol robot having an obstacle detouring function according to claim 1, wherein: the other end of the installation box (1) is provided with an air inlet (44), and a filter plate (45) is arranged on the installation box (1) outside the air inlet (44).