CN109822589A - A kind of Fang Xie robot of all-terrain adaptable movement inspection security protection - Google Patents

Abstract

A kind of Fang Xie robot of all-terrain adaptable movement inspection security protection, including middle control main body and the autonomous dynamic intelligence machine leg being fixed in the middle control main body, autonomous dynamic attacking and defending intelligence machine saw pincers, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of autonomous dynamic, middle control main body includes intelligent power supply system, central intelligent control system, main frame and the intelligence machine leg fixed interface for being symmetrically distributed in main frame two sides or down either side, it is distributed in the intelligence machine saw pincers fixed interface of top in main frame front and the intelligence engagement machine mouth fixed interface of lower front, the intelligence machine whip tail fixed interface at main frame rear portion.Structure of the invention stability and impact resistance are strong；It is able to achieve and the security protections patrol disposal options such as independently deters or expel or capture or attack according to danger classes with a variety of weapons；Personnel can be effectively substituted under complicated severe environments goes on patrol defence work.

Description

A kind of Fang Xie robot of all-terrain adaptable movement inspection security protection

Technical field

The present invention relates to bio-robot technical fields, and in particular to a kind of imitative scorpion of all-terrain adaptable movement inspection security protection Robot.

Background technique

The very long boundary line topography and geomorphology complexity in China, ravines and guillies criss-cross, many place manpower Long term patrol monitoring effect power Institute it is difficult and.In recent years, in order to reinforce border management, video monitoring, fence, feel, satellite remote sensing etc. has detection, sense Know, the technology of warning function, gradually for being used as security protection means in reality；But there are still more problem, first, it is existing Technical equipment still effectively can not implement round-the-clock reliable monitoring to the border under very long complicated landform landforms；Second, people Though anti-mobility is high, the boundary line span in actually China is big, battle line is long, can not accomplish under harsh environment to each point Correlate in time；Third can also bring great actual bodily harm due to regional climate to human body, can not in round-the-clock situation It timely responds to；4th, when complicated landform landforms execute inspection security task, easily ambushed, inevitable accident.Therefore, How using modern security and guard technology, combined with actual conditions, it has also become go on patrol, garrison under complicated landform landforms and harsh environment Problem in the urgent need to address.

On the other hand, with the rapid development of information technology, security robot is as technologies such as artificial intelligence, automatic controls Synthesis also quietly emerge, polypody bio-robot becomes domestic and international scientific worker's due to its well adapting to property Research emphasis, research achievement is numerous, such as in the gait research of bio-robot, Machine Design, control method mode, polypody machine There are a large amount of designs in terms of people's components.Multi-foot robot obstacle detouring, rugged ground, ditch, bank, in terms of it is very big excellent Gesture has caused the interest of numerous scientific workers.

CN 201710319397 discloses a kind of bionical scorpion Detecting Robot, including head, trunk, tail portion, walking Leg and preceding huge legendary turtle, trunk are shell structure, and head is connected with trunk front end, the rear end of tail portion connection and trunk, trunk The middle and back of upper surface is provided with solar panel, and solar panel is connected to the battery, and battery connects in trunk Master controller, walking leg has eight, wherein four are successively set on left side of trunk, four additional is sequentially arranged in the trunk right side Side, preceding huge legendary turtle pass through the left and right sides of preceding hinged seat connection and trunk front end respectively, one of them is provided with electric drill, another sets It is equipped with sabre, tail portion has multiple caudal knots to be sequentially connected end to end in turn, and head section is connect with trunk, and the end of periproct is connected with camera, Emitter and caisson can be forwarded by being additionally provided at the top of trunk；Although this patent provides a kind of bionical scorpion robot, but its Defect in mechanism and Functional Design is not suitable with the inspection security of ravines and guillies criss-cross complicated landform landforms, and first, without enough obstacle detourings Ability is gone on patrol range and is limited more without climbing ability, and design is promoted more in such a way that walking leg and traveling wheel combine Hinder performance, but actually increase only a kind of simple wheel type movement mode, does not simply fail to promote obstacle performance, be easy to cause resistance instead Hinder；Second, single motor pattern is designed, complicated landform or even full landform can not be adapted to, or even causes itself serious event Hinder and loses investigation or security effect；Third, the knife and brill being arranged on chela, practicability is low in actual use； 4th, the setting of control system is easy to cause because in investigation, part (such as single leg) damages and cause system out of control or tumble Investigation tasks failure；5th, leg and huge legendary turtle are very easy to damage in investigation use process, and the replacement performance of component is deposited In very big short slab；6th, it is investigated only with imaging sensor, is easy to occur judging by accident because of optical problem or personnel's specific aim goes out Existing image investigates illusion, brings problem for itself or security protection.

Therefore, the inspection under the all-terrain adaptable complexity harsh environment of one kind is studied, can be hidden according to instruction, patrol, with certainly Fright ability is defended and attacked, the guard the frontier round-the-clock patrol security robot of problem of security protection is greatly improved and has become and need the state that solves Anti- safe urgent need.

Summary of the invention

The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and background technique, providing one kind can appoint Meaning direction walks, runs, bounces, climbs rocks and rolls and/or movement of swimming, under being suitable under complicated landform landforms and harsh environment It is patrol, latent, have and defend oneself and attacking ability, security protection problem can be disposed according to the autonomous patrol of instruction or latent security protection, from main process task Round-the-clock inspection security protection Fang Xie robot.

The technical solution used to solve the technical problems of the present invention is that a kind of imitative scorpion of all-terrain adaptable movement inspection security protection Robot, including middle control main body and the autonomous dynamic intelligence machine leg being fixed in the middle control main body, autonomous dynamic attacking and defending Intelligence machine saw pincers, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine of autonomous dynamic Mouth, the middle control main body include intelligent power supply system, central intelligent control system, main frame and are symmetrically distributed in main frame two sides Or down either side intelligence machine leg fixed interface, be distributed in main frame front top intelligence machine saw pincers fixed interface and The intelligence of lower front engages the intelligence machine whip tail fixed interface of machine mouth fixed interface, main frame rear portion, and the intelligence supplies Electric system and central intelligent control system are electrically connected and secured in main frame；The autonomous dynamic intelligence machine leg and intelligent machine The connection of device leg fixed interface, the autonomous dynamic attacking and defending intelligence machine saw pincers are sawed pincers fixed interface with intelligence machine and are connect, institute It states the tooth-like intelligence engagement machine mouth of autonomous dynamic to connect with intelligence engagement machine mouth fixed interface, the autonomous dynamic ultrasonic wave swashs Light aggressiveness intelligence machine whip tail is connect with intelligence machine whip tail fixed interface；Institute's intelligent power supply system respectively with autonomous dynamic intelligence It can machine leg, autonomous dynamic intelligence machine saw pincers, autonomous dynamic intelligence engagement machine mouth and autonomous dynamic intelligence machine whip tail electricity Power device or component power electrical connection；The central intelligent control system respectively with autonomous dynamic intelligence machine leg, autonomous Intelligently the intelligent controlling device of engagement machine mouth and autonomous dynamic intelligence machine whip tail is electric for power intelligence machine saw pincers, autonomous dynamic Connection and/or wireless connection.

Further, the autonomous dynamic intelligence machine leg and the intelligence machine leg fixed interface be equipped with eight, it is described Autonomous dynamic attacking and defending intelligence machine saw pincers and intelligence machine saw pincers fixed interface are equipped with two.

Further, the autonomous dynamic intelligence machine leg is included component power, power device and intelligent controlling device Three to six axis legged mobile robots, can or self contained function mobile according to control independence in instruction disengaging.

Further, the autonomous dynamic attacking and defending intelligence machine saw pincers are included component power, power device and intelligence control Two axis of device processed are to five axis and have saw and/or clamp and defend to block the saw jaw type robot of function, can be detached from according to instruction Middle control independence movement or self contained function.

Further, the tooth-like intelligence engagement machine mouth of the autonomous dynamic is included component power, power device and intelligence control Robot is nibbled by the engagement robot or extension type of device processed, can be mobile or independent dynamic according to control independence in instruction disengaging Make.

Further, the autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail is included component power, power dress Set with three axis of intelligent controlling device and ultrasonic laser emitter to eight Zhou Bianwei formula robots, can according to instruction be detached from Control independence movement and/or self contained function.

Further, the middle control main body further includes air cannon device, and/or throwing net capture device, and/or extra-high voltage Hit/electric discharge device, and/or infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave orientation hair Injection device, and/or firearm device, the air cannon device throw net capture device, super-pressure electric shock/electric discharge device, infrasound Aimed launcher, electromagnetic pulse aimed launcher, microwave aimed launcher, firearm device are fixed on the middle control main body Main frame in or main frame outside.

Further, also settable driving cabin, clothing issue room in the main frame of the middle control main body.

Further, the middle control main body further includes wired charging device and wireless charging device, and/or solar power generation Device, and/or strong electromagnetic pulse are converted into electrical energy devices, and/or strong microwave is converted into electrical energy devices, and/or high voltage induction turns Turn to electrical energy devices.

Further, the middle control main body further includes filling at device, and/or laser radar and fortune at image recognition and fortune Set, and/or millimetre-wave radar and fortune at device, and/or infrared distance measurement sensing and fortune at device, and/or instant positioning map structure Build and fortune at device, device, and/or life detectors (instrument) at device, and/or gyroscope and fortune at Beidou navigation positioning and fortune And device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at device, and/or spectrum analyzer and fortune at fortune Locate device at device and/or sound wave detecting/poly- sound monitoring and fortune；Device, and/or laser radar at described image identification and fortune And device, instant positioning map at device, and/or infrared distance measurement sensing and fortune at device, and/or millimetre-wave radar and fortune at fortune At building and fortune at device, Beidou navigation positioning and fortune at device, and/or gyroscope and fortune device, and/or life-detection instrument and Device, and/or thermal imaging and Yun Chu at device, and/or infrared perspective and fortune at device, and/or spectrum analyzer and fortune at fortune Device, and/or sound wave detecting/poly- sound monitor and fortune at device can optionally be fixed in the main frame of middle control main body or main frame It is external.

Further, the intelligent power supply system includes that main body battery pack and energy monitoring managing device and/or standby electricity supply Electric installation；The energy monitoring managing device can monitor eight autonomous dynamic intelligence machine legs, two autonomous dynamic attacking and defending intelligence It can machine saw pincers, an autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement of an autonomous dynamic The charging and discharging state and temperature of the battery pack of machine mouth, and suspend or enable standby electric power supply unit when abnormal.

Further, the central intelligent control system can be close/remote speech intersection control routine and/or hand/automatic Semi-autonomous control system and/or remote computer or remote control device control device.

Further, the intelligence machine leg fixed interface and/or intelligence machine saw pincers fixed interface and/or intelligence machine Whip tail fixed interface and/or intelligence engagement machine mouth fixed interface are hinge hole or bolt hole or the clamping for being easily installed disassembly Slot, can Fast Installation and disassembly, in mechanical Leg-wheeled robot be convenient for quick-replaceable and reparation.

Further, the central intelligent control system and intelligent power supply system can be equipped with redundancy backup system, realize The multi-ensuring of a preparation and a use.

Further, the autonomous dynamic bionic machine leg is additionally provided with failure and checks oneself device, is sentenced according to failure damaged condition Disconnected impaired grade, and give up from the motor pattern of main modulation autonomous dynamic bionic machine leg and the automatic parallel off of failure leg.

Further, the middle control main body is additionally provided with distribution inflatable bladders device, passes through when swimming or hiding in water Air bag adjusts overall buoyancy.

The course of work:

The present invention by middle control main body coordinated control have 8 autonomous dynamic intelligent robot legs of self-movement function, 2 it is autonomous The movement of power intelligent robot saw pincers, 1 autonomous dynamic tooth-like intelligence machine mouth and 1 autonomous dynamic intelligent robot tail Matching model can also be separated or be totally separated as 13 independent intelligent robots, the machine separated according to operation part Leg/pincers hand/tail can independently move or self contained function.Concrete function execution can divide the setting of priority automatic by nearly remote control terminal With manual operation and operational mode；The image of Fang Xie robot, laser radar, millimetre-wave radar, infrared distance measurement sensing, navigation are fixed Position device, life-detection instrument, spectrum analyzer, infrared perspective device, thermal imaging device, sound wave detecting/poly- sound monitoring device one Kind is several, and acquired environment and person poultry activity's information are transmitted to transmission in respective arithmetic processor after operation discrimination processing To central intelligent control system, multi-environment information row information of going forward side by side is provided for the automatic or manual intervention operation of Fang Xie robot and is melted It closes.

When Fang Xie robot overall operation, according to task or independently according to the locking of environmental information danger position and contexture by self Route is simultaneously adjusted with multisensor in real time, by central intelligent control system carry out information fusion and export to leg, tail, mouth and The control task for clamping the intelligent controlling device of saw, by each distributed power leg intelligent controlling device, pincers saw intelligent controlling device, tail intelligence It can control device and mouth intelligent controlling device carry out control driving, the sensor feedback real-time status through being arranged on each component is simultaneously real When make closed loop adjustment, realize that the intelligence of imitative scorpion robot motion is precisely controlled, precisely realize any direction advance, after The acrobatics and tumblings such as move back, turn round, seething, climbing, the movement patrol that is suitable under complicated landform landforms and latent.

Main body is controlled in part or all of robot leg and/or pincers hand and/or tail are detached from by Fang Xie robot according to instruction Independent movement independently executes hot mission；It can be by wireless transmission task and with the intelligence of leg and/or pincers hand and/or tail or mouth Control device controls power supply and drive part and agnail etc. realize leg formula, tail formula, the snakelike fortune of saw jaw type or Zui Shi robot The wheel type movement that ontology is controlled in Dong Huofangxie robot, can independently execute task.

Analysis further accordance with central intelligent control system to environmental hazard information judges simultaneously hazard recognition source position and danger Grade is deterred, is defendd, is captured, attacked or is dispersed independently to hold according to the sub-category weaponry with outfit of danger classes Row task passes through simultaneously wirelessly reports dangerous disposition situation.

The invention has the following beneficial effects:

1, eight autonomous dynamic intelligence legged mobile robots, the two autonomous dynamic attacking and defendings that Principal machine people is anchored with it are controlled by middle The robot and an autonomous dynamic of the aggressive intelligent whip tail formula of intelligence saw jaw type robot, an autonomous dynamic ultrasonic laser Intelligently engagement Zui Shi robot, the patrol security protection Fang Xie robot that 13 intelligent robots are constituted altogether, installation are simple for tooth-like formula Single, convenient for manufacture, and its structural stability and impact resistance are extremely strong, can any direction with high, medium and low position stepping, run or It prances or climbing sports or latent, is adapted to complicated landform landforms and harsh field environment.

2, with it is middle control Principal machine people central control system coordinated control have can independent operation function autonomous dynamic Intelligent robot leg/pincers/tail, implements the movement matching model of each robot, in addition can be with multi-sensor fusion technological means to big The region of range is detected, and is integrated with a variety of mature technologies, is not only convenient for realizing grading control sequencing campaign mould Formula precisely realizes the advance of any direction, retreats, turns round, turning over convenient for guaranteeing that the intelligence of imitative scorpion robot motion is precisely controlled The acrobatics and tumblings such as rise, climb, the movement patrol that is suitable under complicated landform landforms and latent；Settable distribution can fill in addition Gas air bag can swim or hide in water, can be used as a kind of amphibious patrol security Fang Xie robot.

3, convenient for the movement being arranged under varying environment and operating mode, independently located according to instruction with intelligence control system It sets and is faced a danger, realize and independently deter with a variety of weapons according to danger classes or expel or capture or attack etc. at security protections patrol Mode is set, or according to instruction by control independence movement in part or all of robot leg and/or pincers hand and/or tail disengaging or solely It is vertical to execute hot mission；Personnel can be effectively substituted under complicated severe environments and go on patrol defence work, and security protection is greatly reduced and guards the frontier people Member's risk, the intensity of upgrading patrol security protection.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of the embodiment of the present invention 1；

Fig. 2 is the two-dimensional structure schematic diagram of the embodiment of the present invention 1；

Fig. 3 is the side view of Fig. 2.

In figure: controlling main body, 11- intelligent power supply system, 12- central intelligent control system, 13- main frame in 1-, 131- drives Multiply cabin, 132- clothing issue room, 14- fixed interface, 141- leg fixed interface, 142- saw pincers fixed interface, 143- whip tail fixed interface, 144- mouth fixed interface, 2- autonomous dynamic intelligence machine leg, 3- autonomous dynamic attacking and defending intelligence machine saw pincers, 4- autonomous dynamic are super The tooth-like intelligence engagement machine mouth of sound wave laser strikes intelligence machine whip tail, 5- autonomous dynamic.

Specific embodiment

Present invention is further described in detail for 1~Fig. 3 and specific embodiment with reference to the accompanying drawing.

Embodiment 1

The present embodiment includes the autonomous dynamic attacking and defending intelligence machine of autonomous dynamic intelligence machine leg 2, two of middle control main body 1, eight Saw 3, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tails 4 of pincers and the tooth-like intelligence engagement machine of an autonomous dynamic Mouth 5, the middle control main body 1 mainly include intelligent power supply system 11, central intelligent control system 12, main frame 13 and symmetrically divide Cloth 13 two sides of main frame eight intelligence machine leg fixed interfaces 141, be distributed in main frame front two intelligence of top The intelligence of machine saw pincers fixed interface 142 and a lower front engages machine mouth fixed interface 144 and a main frame rear portion 4 fixed interface 143 of intelligence machine whip tail, intelligent power supply system 11 and central intelligent control system 12 be fixed in main frame, Intelligent power supply system 11 and central intelligent control system 12 are electrically connected；Eight autonomous dynamic intelligence machine legs 2 respectively with Eight intelligence machine leg fixed interfaces 141 connect, two autonomous dynamic attacking and defending intelligence machines saw pincers 3 respectively with two intelligent machines Device saw pincers fixed interface 142, the tooth-like intelligence engagement machine mouth 5 of an autonomous dynamic engage machine mouth fixed interface 144 with intelligence Connection, an autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail 4 are connect with intelligence machine whip tail fixed interface 143； The intelligent power supply system 11 of middle control main body 1 is sawed with eight autonomous dynamic intelligence machine legs, 2, two autonomous dynamic intelligence machines respectively The intelligently component power of engagement machine mouth 5 and an autonomous dynamic intelligence machine whip tail 4 electrical connection of 3, autonomous dynamics of pincers；In Control main body 1 central intelligent control system 12 respectively with eight autonomous dynamic intelligence machine legs, 2, two autonomous dynamic intelligence machines Saw clamp 3, autonomous dynamics intelligently the intelligent controlling device of engagement machine mouths 5 and an autonomous dynamic intelligence machine whip tail 4 without Line connection.The autonomous dynamic intelligence machine leg 2 is five axis leg formulas of included component power, power device and intelligent controlling device Robot, can be mobile according to control independence in instruction disengaging；The autonomous dynamic attacking and defending intelligence machine saw pincers 3 are from band portion It part power supply, four axis of power device and intelligent controlling device and with disk saw, pincers and defence is made with sturdy arm blocks the saw of function Jaw type robot, can be mobile according to control independence in instruction disengaging；The tooth-like intelligence engagement machine mouth 5 of autonomous dynamic is certainly The extension type of tape member power supply, power device and intelligent controlling device nibbles robot, can control main body according in instruction disengaging It is independent mobile；The autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail 4 is included component power, power device and intelligence It can control six Zhou Bianwei formula robots of device and ultrasonic laser emitter, can be moved according to control independence in instruction disengaging It is dynamic；

Middle control main body further includes air cannon device, throws net capture device, super-pressure electric shock/electric discharge device, infrasound directional transmissions Device, electromagnetic pulse aimed launcher, microwave aimed launcher, firearm device, the air cannon device throw net capture Device, super-pressure electric shock/electric discharge device, infrasound aimed launcher, electromagnetic pulse aimed launcher, microwave directional transmissions Device, firearm device are fixed in the main frame of the middle control main body and outside main frame.

Cabin 131 and clothing issue room 132 are driven in setting in the main frame 13 of middle control main body 1, drive cabin 131 and are located at middle control main body 1 Front, clothing issue room 132 be located at it is middle control main body 1 middle and back；

Middle control main body 1 further includes filling at device, millimetre-wave radar and fortune at device, laser radar and fortune at image recognition and fortune Set, infrared distance measurement sensing and fortune at device, instant positioning map building and fortune at device, Beidou navigation positioning and fortune at device, Device at gyroscope and fortune；Device is set to the front of Fang Xie robot at image recognition fortune, and device is set at laser radar and fortune Preceding top, millimetre-wave radar and infrared distance sensor are distributed in around middle control main body 1, and device is set to center intelligence control at fortune At system 12 processed, device at device, Beidou navigation positioning and fortune at device at gyroscope and fortune, the building of instant positioning map and fortune In driving cabin 131；

Middle control main body 1 further includes wired charging device and wireless charging device, wired charging device and the equal position of wireless charging device In middle 1 bottom of control main body；

Central intelligent control system 12 is short range interactive voice control system and hand/automatically semi-autonomous control system combination control System processed；

Intelligent power supply system 11 includes main body battery pack and energy monitoring managing device and standby electric power supply unit；Energy monitoring management Device can monitor eight autonomous dynamic intelligence machine legs, two autonomous dynamic attacking and defending intelligence machine saw pincers, an autonomous dynamics The charge and discharge of the battery pack of ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of an autonomous dynamic State and temperature, and suspend or enable standby electric power supply unit when abnormal.

Embodiment 2

The difference of the present embodiment and embodiment 1 essentially consists in, the middle control main body 1 of the present embodiment be additionally provided with life detectors (instrument) and Device, sound wave are detected/are gathered at device, thermal imaging and fortune at device, infrared perspective and fortune at device, spectrum analyzer and fortune at fortune Sound monitor and fortune at device, device, infrared perspective and Yun Chu at device, spectrum analyzer and fortune at life detectors (instrument) and fortune Device is located in driving cabin 131 at device, sound wave detecting/poly- sound monitoring and fortune at device, thermal imaging and fortune；In the present embodiment Main body 1 is additionally provided with device of solar generating, strong electromagnetic pulse is converted into electrical energy devices, Qiang Weibo is converted into electrical energy devices and height for control Pressure sensitivity should be converted into electrical energy devices, and device of solar generating, strong electromagnetic pulse are converted into electrical energy devices, Qiang Weibo is converted into electric energy Device and high voltage induction are converted into electrical energy devices and are distributed in around middle control main body, and connect with energy monitoring managing device；This reality The central intelligent control system 12 and intelligent power supply system 11 applied are equipped with redundancy backup system, realize the multiple guarantor of a preparation and a use Barrier；Autonomous dynamic bionic machine leg is additionally provided with failure and checks oneself device, judges impaired grade according to failure damaged condition, and from homophony The motor pattern of whole autonomous dynamic bionic machine leg and the automatic parallel off of failure leg are given up；Middle control main body 1, which is additionally provided with distribution, to fill Gas airbag apparatus, distributed inflatable bladders device are distributed in middle 1 bottom of control main body, pass through gas when swimming or hiding in water Capsule adjusts overall buoyancy.

Those skilled in the art can carry out various modifications to the embodiment of the present invention and modification, if these modifications and change For type within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also still in the guarantor of the invention patent Within the scope of shield.

The prior art that the content being not described in detail in specification is known to the skilled person.

Claims (10)

1. a kind of Fang Xie robot of all-terrain adaptable movement inspection security protection, which is characterized in that including middle control main body and be fixed on Autonomous dynamic intelligence machine leg, autonomous dynamic attacking and defending intelligence machine saw pincers, autonomous dynamic ultrasonic wave in the middle control main body Laser strikes intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of autonomous dynamic；

The middle control main body includes intelligent power supply system, central intelligent control system, main frame and is symmetrically distributed in main frame two The intelligence machine leg fixed interface of side or down either side, the intelligence machine saw pincers fixed interface for being distributed in top in main frame front The intelligence machine whip tail fixed interface of machine mouth fixed interface, main frame rear portion, the intelligence are engaged with the intelligence of lower front Power supply system and central intelligent control system are electrically connected and secured in main frame；

The autonomous dynamic intelligence machine leg is connect with intelligence machine leg fixed interface, the autonomous dynamic attacking and defending intelligence machine Saw pincers are sawed pincers fixed interface with intelligence machine and are connect, and the tooth-like intelligence engagement machine mouth of autonomous dynamic engages machine mouth with intelligence Fixed interface connection, the autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and intelligence machine whip tail fixed interface connect It connects；

Institute's intelligent power supply system is intelligent with autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine saw pincers, autonomous dynamic respectively Engage power device or the component power electrical connection of machine mouth and autonomous dynamic intelligence machine whip tail electricity；The central intelligence control System is clamped with autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine saw respectively, autonomous dynamic is intelligent engages machine mouth and oneself The intelligent controlling device of active force intelligence machine whip tail is electrically connected and/or is wirelessly connected.

2. it is according to claim 1 it is all-terrain adaptable movement inspection security protection Fang Xie robot, which is characterized in that it is described from Active force intelligence machine leg and the intelligence machine leg fixed interface are equipped with eight, the autonomous dynamic attacking and defending intelligence machine Saw pincers and intelligence machine saw pincers fixed interface are equipped with two.

3. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State three to the six axis leg formula machines that autonomous dynamic intelligence machine leg is included component power, power device and intelligent controlling device People, can or self contained function mobile according to control independence in instruction disengaging.

4. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute Autonomous dynamic attacking and defending intelligence machine saw pincers are stated as two axis to five axis of included component power, power device and intelligent controlling device And there are saw and/or pincers and defence to block the saw jaw type robot of function, can be detached from according to instruction in control independence it is mobile or Self contained function.

5. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State the engagement robot that the tooth-like intelligence engagement machine mouth of autonomous dynamic is included component power, power device and intelligent controlling device Or extension type nibbles robot, it can or self contained function mobile according to control independence in instruction disengaging.

6. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail be included component power, power device and intelligent controlling device and Three axis of ultrasonic laser emitter to eight Zhou Bianwei formula robots, can be detached from according to instruction in control independence it is mobile and/ Or self contained function.

7. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further include air cannon device, and/or throw net capture device, and/or super-pressure electric shock/electric discharge device, and/or Infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave aimed launcher, and/or firearm Device, the air cannon device throw net capture device, super-pressure electric shock/electric discharge device, infrasound aimed launcher, electricity Magnetic field impulse aimed launcher, microwave aimed launcher, firearm device are fixed in the main frame of the middle control main body or main Outside body frame.

8. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute It is additionally provided in the main frame for the middle control main body stated and drives cabin, clothing issue room.

9. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further includes wired charging device and wireless charging device, and/or device of solar generating, and/or strong electromagnetic Pulse is converted into electrical energy devices, and/or strong microwave is converted into electrical energy devices, and/or high voltage induction is converted into electrical energy devices.

10. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further includes device, and/or millimetre-wave radar at device, and/or laser radar and fortune at image recognition and fortune And device, Beidou are led at device, and/or the building of instant positioning map and fortune at device, and/or infrared distance measurement sensing and fortune at fortune Device, and/or frequency at device, and/or life detectors (instrument) and fortune at device, and/or gyroscope and fortune at boat positioning and fortune Device and/or sound wave are detectd at device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at spectrum analysis instrument and fortune Device at survey/poly- sound monitoring and fortune；Device, and/or milli at device, and/or laser radar and fortune at described image identification and fortune At metre wave radar and fortune device, and/or infrared distance measurement sensing and fortune at device, and/or instant positioning map building and fortune at fill It sets, device, frequency at device, and/or life-detection instrument and fortune at device, and/or gyroscope and fortune at Beidou navigation positioning and fortune Device, and/or sound wave are detectd at device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at spectrum analysis instrument and fortune Device can be optionally fixed in the main frame of middle control main body or outside main frame at survey/poly- sound monitoring and fortune.