CN110125951A - A kind of outdoor robot aircraft carrier - Google Patents
A kind of outdoor robot aircraft carrier Download PDFInfo
- Publication number
- CN110125951A CN110125951A CN201910485166.XA CN201910485166A CN110125951A CN 110125951 A CN110125951 A CN 110125951A CN 201910485166 A CN201910485166 A CN 201910485166A CN 110125951 A CN110125951 A CN 110125951A
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- CN
- China
- Prior art keywords
- aircraft carrier
- headstock
- fuselage
- outdoor robot
- molding box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000000465 moulding Methods 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 241001062009 Indigofera Species 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of outdoor robot aircraft carrier, the fuselage being set on the base including a pedestal, one；The bottom of the pedestal is equipped with a mobile mechanism；The fuselage is equipped with a laser radar, an aircraft carrier platform, a monitoring head, a thermal infrared imager, a vertical bar；The aircraft carrier platform is arranged in fuselage roof；The support rod setting is in fuselage roof and runs through aircraft carrier platform；The monitoring head and thermal infrared imager are successively set on support rod；Several groups ultrasonic sensor is additionally provided in the fuselage, each group of ultrasonic sensor is correspondingly arranged in fuselage in one side wall.The present invention is able to achieve evacuation and positioning by laser radar and ultrasonic sensor, realizes real-time pictures monitoring by monitoring head, the scene of temperature anomaly can be monitored by thermal infrared imager, identifies fire hazard.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of outdoor robot aircraft carrier.
Background technique
In contemporary industry, robot refers to the man-made machine device that can execute task automatically, to replace or assist the mankind
Work.Current some unmanned plane cruising abilities are poor, and the hang time is short, cannot work long hours.Patrol robot can only provide ground
The patrol and abnormal monitoring in face, cannot provide aerial global visual angle.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of outdoor robot aircraft carrier.
To achieve the goals above, technical solution of the present invention is as follows:
A kind of outdoor robot aircraft carrier, the fuselage being set on the base including a pedestal, one；The bottom of the pedestal is equipped with
One mobile mechanism；The fuselage is equipped with a laser radar, an aircraft carrier platform, a monitoring head, a thermal infrared imager, one vertically
Bar；The aircraft carrier platform is arranged in fuselage roof；The support rod setting is in fuselage roof and runs through aircraft carrier platform；The monitoring
Holder and thermal infrared imager are successively set on support rod；It is additionally provided with several groups ultrasonic sensor in the fuselage, each group
Ultrasonic sensor is correspondingly arranged in fuselage in one side wall.
Preferably, it is in headstock molding box body that the fuselage, which includes one, corresponding laser radar is arranged in headstock molding box body side
On wall.
Preferably, outdoor robot aircraft carrier further includes two antennas, two antennas orthogonals are arranged in headstock type top of the box
Parallel with support rod, which is placed between two antennas.
Preferably, ultrasonic sensor quantity described in several groups is three groups, including first group of ultrasonic sensor, two second
Group ultrasonic sensor, first group of ultrasonic sensor are arranged on the intracorporal front side wall of headstock molding box, two second groups of ultrasounds
Wave sensor is corresponding to be arranged in the intracorporal left and right sidewall of headstock molding box.
Preferably, outdoor robot aircraft carrier further includes two headlamps, an infrared sensor, which sets side by side
It sets in headstock molding box body front end two sides；The infrared sensor be arranged in the middle part of headstock molding box body front side wall and be placed in two headlamps it
Between, corresponding first group of ultrasonic sensor is placed in immediately below infrared sensor.
Preferably, outdoor robot aircraft carrier further includes a binocular vision camera, binocular vision camera setting
In headstock molding box body front top, and it is placed in the surface of infrared sensor.
Preferably, outdoor robot aircraft carrier further includes two loudspeaker, which is correspondingly arranged in headstock molding box body left
On right side wall and it is placed in immediately below second group of ultrasonic sensor.
Preferably, outdoor robot aircraft carrier further includes several red warning lamps of indigo plant, wherein two first blue red warning lamps are simultaneously
Row's is arranged in the edge of headstock molding box body front side wall upper end and is placed in the surface of headlamp, the another second blue red warning
The middle part of the corresponding rear wall of headstock molding box body is arranged in lamp.
Preferably, outdoor robot aircraft carrier further includes a charging interface, which is arranged in headstock molding box body
It the upside of rear wall and is placed in below the second blue red warning lamp.
Preferably, being additionally provided with four wireless charging bases on the aircraft carrier platform, each wireless charging base is correspondingly arranged at boat
Female one edge of platform, the wireless charging base are used to fill to the unmanned plane with camera video real-time Transmission
Preferably, the mobile mechanism is crawler-type mobile mechanism or wheeled locomotion mechanism, wherein wheeled locomotion mechanism packet
Six universal driving wheels are included, the side of base bottom is arranged in every three universal driving wheels.
Preferably, the monitoring head includes a light compensating lamp and the camera that light compensating lamp opposite side is arranged in.
Using technical solution of the present invention, the outdoor robot aircraft carrier is had the advantages that, can give in the air nobody
Machine provides lasting nearest charging and supports, allowing unmanned plane, the activity duration is longer in the sky.Four frame unmanned planes circulation, which is taken off, to carry out
Task is monitored to the air patrol solid of target area.Robot aircraft carrier can be allowed to be carried to distance areas farther out, when carrying out long
Between vacant lot double-visual angle long-range monitor task.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structure of the invention right side view.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
Referring to figs. 1 to Fig. 2, the present invention provides a kind of outdoor robot aircraft carrier, including a pedestal 1, one is arranged on pedestal 1
Fuselage；The bottom of the pedestal 1 is equipped with a mobile mechanism；The fuselage is equipped with a laser radar 4, aircraft carrier platform 20, one
Monitoring head 6, a thermal infrared imager 5, a support rod 21；
The aircraft carrier platform 20 is arranged in fuselage roof；The setting of support rod 21 is in fuselage roof and runs through aircraft carrier platform
20；The monitoring head 6 is successively set on support rod 21 with thermal infrared imager 5；Several groups ultrasound is additionally provided in the fuselage
Wave sensor, each group of ultrasonic sensor are correspondingly arranged in fuselage in one side wall.
The fuselage include one in headstock molding box body 2, one be arranged in the top of headstock molding box body 2 aircraft carrier platform 20 and
It is vertically set on the support rod 21 for running through aircraft carrier platform 20 at the top of headstock molding box body 2.
The outdoor robot aircraft carrier further includes two antennas 12, two antennas 12 be vertically set on 2 top of headstock molding box body with
Support rod 21 is parallel, which is placed between two antennas.
Outdoor robot aircraft carrier further includes two headlamps 7, before which is disposed side by side on headstock molding box body 2
Hold two sides.
Ultrasonic sensor quantity described in several groups is three groups, including first group 10, two second groups of ultrasonic sensor surpass
Sonic sensor 17, first group of ultrasonic sensor 10 are arranged on the front side wall in headstock molding box body 2, two second groups of ultrasounds
In the corresponding left and right sidewall being arranged in headstock molding box body 2 of wave sensor 17.
Outdoor robot aircraft carrier further includes an infrared sensor 18, which is arranged in headstock molding box body
It in the middle part of 2 front side walls and is placed between two headlamps 12, corresponding first group of ultrasonic sensor 10 is being placed in infrared sensor 18 just
Lower section.
Outdoor robot aircraft carrier further includes a binocular vision camera 9, which is arranged in headstock
2 front top of molding box body, and it is placed in the surface of infrared sensor 18, the binocular vision camera 9 is for scanning building patrol
The environmental map of route can reach the designated place of institute's swept molding method with navigating robot aircraft carrier.
Outdoor robot aircraft carrier further includes two loudspeaker 14, which is correspondingly arranged at left and right in headstock molding box body 2
On side wall and it is placed in immediately below second group of ultrasonic sensor 17.
The outdoor robot aircraft carrier further includes the red warning lamp 8 of several indigo plant, wherein the two first red warning lamps 8 of indigo plant setting side by side
It sets the edge in 2 front side wall upper end of headstock molding box body and is placed in the surface of headlamp 12, which is placed in two
Between one blue red warning lamp 8；The middle part of the corresponding rear wall of headstock molding box body 2 is arranged in another second blue red warning lamp 8.
Outdoor robot aircraft carrier further includes a charging interface 16, which is arranged in cabinet headstock molding box body
The upside of 2 rear walls and it is placed in the second blue red 8 lower section of warning lamp.
The mobile mechanism includes six universal driving wheels 13, and 1 bottom of pedestal is arranged in every three universal driving wheels 13
Side, the mobile mechanism are not limited to wheeled locomotion mechanism, are also possible to crawler-type mobile mechanism.
Four wireless charging bases 19 are additionally provided on the aircraft carrier platform 20, each wireless charging base 19 is correspondingly arranged at aircraft carrier
20 1 edge of platform, the wireless charging base 19 are used to charge to the unmanned plane 3 with camera video real-time Transmission.
The antenna 12, for guiding unmanned plane 3 to carry out positioning return to the position of robot aircraft carrier, in aircraft carrier platform
Fine positioning guidance communication device is additionally provided with beside 3 cradle of unmanned plane, for guiding unmanned plane accurate positioning to drop to wireless charging
On electric seat 19.
Two headlamp 7 can illuminate the road of front under dark situation, identify that road surface provides for binocular vision camera 9
It helps.
The thermal infrared imager 5 can monitor the scene of temperature anomaly, identify fire hazard.
The monitoring head 6 includes a light compensating lamp 601 and the camera 602 that 601 opposite side of light compensating lamp is arranged in, and is somebody's turn to do
The real-time video on the route periphery that monitoring head 6 can be run with remote supervisory and controlling equipment device people's aircraft carrier, goes forward side by side to rack and holds recognition of face, sentence
The identity information of disconnected personnel.
There is communication device inside the robot aircraft carrier, information and cloud can be interacted.
There is power supply device inside the robot aircraft carrier, powers to robot aircraft carrier and equipment above.
There is positioning device on the robot aircraft carrier, the real time position that robot aircraft carrier can be moved to is transmitted to cloud
Hold backstage command centre.
Working principle of the present invention:
The cloud that server provides face big data compares in real time, on the command system large screen of backstage, can check each
The real time position and working condition of robot aircraft carrier and its unmanned plane of carrying 3 on the electronic map of area under one's jurisdiction；
In the beat that robot aircraft carrier is responsible for, the programme of taking off of patrol route and unmanned plane 3, machine are set
The environmental map of device people's aircraft carrier scanning building patrol route, and the position that unmanned plane 3 takes off has been demarcated, it is reached in robot aircraft carrier
When each position, the airspace range that the autonomous unmanned plane for starting correlation number flies to setting is cruised, and is passed back in real-time empty
The video data at visual angle, and when 3 electricity of unmanned plane is lower than certain proportion, autonomous return is filled on robot aircraft carrier platform 20
Electricity, and another unmanned plane 3 goes to take over the cruise in related airspace before taking off simultaneously；
Video image acquired in the cradle head camera 602 of robot aircraft carrier and the aerial airborne camera of unmanned plane 3, can
It is transferred to cloud server with real-time radio, is seen in real time from backstage command centre large screen, is patrolled on robot aircraft carrier ground
During patrolling, backstage command centre can remotely send and be broadcast on audio-frequency information to robot aircraft carrier by loudspeaker 14, such as
The broadcast of the publicity such as anti-drug anti-heresy, by multi-sensor detections barriers such as ultrasonic sensor 10, infrared sensors 18,
Avoidance is carried out in time.
Mobile mechanism of the present invention is not limited to wheeled locomotion mechanism, crawler-type mobile mechanism or biped mobile mechanism,
The product of similar functions based on the production of any mobile mechanism, within that scope of the present invention.
Navigation scheme of the present invention is not limited to laser radar, and the navigation schemes such as vision are made based on any navigation scheme
Similar functions product, within that scope of the present invention.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of outdoor robot aircraft carrier, which is characterized in that the fuselage being set on the base including a pedestal, one；The pedestal
Bottom be equipped with a mobile mechanism；The fuselage is equipped with a laser radar, an aircraft carrier platform, a monitoring head, an infrared heat
As instrument, a vertical bar；The aircraft carrier platform is arranged in fuselage roof；The support rod setting is put down in fuselage roof and through aircraft carrier
Platform；The monitoring head and thermal infrared imager are successively set on support rod；Several groups ultrasonic wave biography is additionally provided in the fuselage
Sensor, each group of ultrasonic sensor are correspondingly arranged in fuselage in one side wall.
2. outdoor robot according to claim 1 aircraft carrier, which is characterized in that it is in headstock molding box that the fuselage, which includes one,
Body, corresponding laser radar are arranged in headstock molding box body one side wall.
3. outdoor robot according to claim 2 aircraft carrier, which is characterized in that outdoor robot aircraft carrier further includes two
Antenna, the setting of two antennas orthogonals is parallel with support rod in headstock type top of the box, which is placed between two antennas.
4. outdoor robot according to claim 2 aircraft carrier, which is characterized in that ultrasonic sensor quantity described in several groups
It is three groups, including first group of ultrasonic sensor, two second groups of ultrasonic sensors, which exists
On the intracorporal front side wall of headstock molding box, two second groups of ultrasonic sensors are corresponding to be arranged in the intracorporal left and right sidewall of headstock molding box
On.
5. outdoor robot according to claim 4 aircraft carrier, which is characterized in that outdoor robot aircraft carrier further includes two
Headlamp, an infrared sensor, two headlamp are disposed side by side on headstock molding box body front end two sides；Infrared sensor setting exists
It in the middle part of headstock molding box body front side wall and is placed between two headlamps, corresponding first group of ultrasonic sensor is placed in infrared sensor
Underface.
6. outdoor robot according to claim 5 aircraft carrier, which is characterized in that outdoor robot aircraft carrier further includes one
Binocular vision camera, which is arranged in headstock molding box body front top, and is placed in infrared sensor just
Top.
7. according to claim 4, which is characterized in that outdoor robot aircraft carrier further includes two loudspeaker, the loudspeaker pair
It should be arranged in headstock molding box body in left and right sidewall and be placed in immediately below second group of ultrasonic sensor.
8. outdoor robot according to claim 2 aircraft carrier, which is characterized in that if outdoor robot aircraft carrier further includes
Dry blue red warning lamp, a charging interface, wherein the setting of two first blue red warning lamps side by side is in headstock molding box body front side wall upper end
The edge in portion and the surface for being placed in headlamp, the another second blue red warning lamp are arranged in the corresponding rear wall of headstock molding box body
Middle part；The charging interface is arranged in the upside of headstock molding box body rear wall and is placed in below the second blue red warning lamp.
9. outdoor robot according to claim 1 aircraft carrier, which is characterized in that be additionally provided with four nothings on the aircraft carrier platform
Line cradle, each wireless charging base are correspondingly arranged at one edge of aircraft carrier platform, which is used to give band camera
The unmanned plane of video real-time Transmission charges.
10. outdoor robot aircraft carrier according to claim 1, which is characterized in that the monitoring head include a light compensating lamp,
And a camera of light compensating lamp opposite side is set；The mobile mechanism be crawler-type mobile mechanism or wheeled locomotion mechanism,
Middle wheeled locomotion mechanism includes six universal driving wheels, and the side of base bottom is arranged in every three universal driving wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485166.XA CN110125951A (en) | 2019-06-03 | 2019-06-03 | A kind of outdoor robot aircraft carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485166.XA CN110125951A (en) | 2019-06-03 | 2019-06-03 | A kind of outdoor robot aircraft carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110125951A true CN110125951A (en) | 2019-08-16 |
Family
ID=67580175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910485166.XA Pending CN110125951A (en) | 2019-06-03 | 2019-06-03 | A kind of outdoor robot aircraft carrier |
Country Status (1)
| Country | Link |
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| CN (1) | CN110125951A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421580A (en) * | 2019-09-02 | 2019-11-08 | 安徽农业大学 | A kind of field intelligent robot and its working method |
| CN110509291A (en) * | 2019-08-30 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of automatic patrol roll-call robot |
| CN112068597A (en) * | 2020-09-25 | 2020-12-11 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
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-
2019
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509291A (en) * | 2019-08-30 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of automatic patrol roll-call robot |
| CN110421580A (en) * | 2019-09-02 | 2019-11-08 | 安徽农业大学 | A kind of field intelligent robot and its working method |
| CN110421580B (en) * | 2019-09-02 | 2023-08-18 | 安徽农业大学 | Intelligent field robot and working method thereof |
| CN112068597A (en) * | 2020-09-25 | 2020-12-11 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
| CN112068597B (en) * | 2020-09-25 | 2022-09-13 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
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