CN113561201A

CN113561201A - Patrol and guard robot with obstacle avoiding function

Info

Publication number: CN113561201A
Application number: CN202110929418.0A
Authority: CN
Inventors: 邓力铭
Original assignee: Nantong Cotek Robotics Co ltd
Current assignee: Jiangsu Keti Robot Co ltd
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2021-10-29
Anticipated expiration: 2041-08-13
Also published as: CN113561201B

Abstract

The invention discloses a patrol robot with an obstacle avoiding function, which comprises a bottom plate, a battery box, an information processing box and an observation box, wherein the battery box is installed at the bottom of the bottom plate, a protective cover is installed at the top of the bottom plate, the information processing box is installed at the top of the bottom plate, protective grooves are formed in the outer walls of the two sides of the information processing box, a protective cylinder is installed at the top of the information processing box, the observation box is installed at the top of the protective cylinder, and a level detection box is installed at the top of the information processing box. According to the invention, the automatic obstacle avoidance function can be realized by installing the battery box and the electric telescopic rod, the driving rod rotates to drive the universal joint to rotate, the universal joint drives the wheels to rotate, the robot moves, then the controller controls the electric telescopic rod to extend or shorten, the adjusting ring drives the universal joint to rotate, then the angle of the wheels is changed, and the advancing direction of the robot is changed, so that the obstacle avoidance function is realized.

Description

Patrol and guard robot with obstacle avoiding function

Technical Field

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

Background

The patrol robot is used for autonomous patrol of the perimeter at night, has basic capabilities of automatic patrol, automatic charging and automatic obstacle avoidance, can realize environment detection, abnormal sound detection and moving object tracking, can report an alarm in time when abnormal conditions occur, and transmits video and sound data back to a monitoring center in real time, finds that the moving object can automatically carry out sound-light alarm in the monitoring center in the patrol process, and simultaneously supports a mobile terminal to present, personnel in the monitoring center can also remotely control the robot to confirm the field conditions, and can start a remote talkback if necessary, can automatically generate a patrol report after the patrol is finished every time, and the generated alarm needs to be confirmed to ensure the safety of a supervision large hospital.

The existing patrol robot has the defects that:

1. reference CN208215345U discloses an intelligence airport inspection robot management system, right item "of protection includes the frame, fixedly connected with bottom plate between the both sides of frame inner wall, the equal fixedly connected with spring beam in both sides of bottom plate bottom, the outside that the frame just extended to the frame is run through to the bottom of spring beam, the spring beam is located the outside one end fixedly connected with motor of frame, and motor output shaft's one end fixedly connected with wheel just is located the top of bottom plate between the both sides of frame inner wall, and this utility model relates to an inspection robot technical field. The intelligent airport patrol robot management system improves the stability of the robot in the motion process, reduces the shaking and impact on the robot, protects the robot, prolongs the service life of the robot, enriches the functions of the patrol robot, can cut off a power supply in time when short circuit occurs inside the robot, dissipates heat inside the robot, protects the internal parts of the robot and prevents the parts from being damaged, but the device is not provided with an automatic obstacle avoidance structure, and when the patrol robot moves along a set route, the patrol robot possibly needs to avoid due to uncertain road conditions, so that the obstacle avoidance function is indispensable;

2. the comparison document CN103963933A discloses an intelligent water reconnaissance robot, and the protection right' comprises an OCU control system and a robot body control system; the robot body control system comprises a sealed cabin body, a body control unit, a driving module, a GPS communication module, an image acquisition module, a sonar information acquisition module, a power supply module and a wireless AP module, wherein the driving module, the GPS communication module, the image acquisition module, the sonar information acquisition module, the power supply module and the wireless AP module are respectively connected with the body control unit; the body control unit is in wireless communication with the OCU control system through the wireless AP module. The invention has the characteristics of small volume, more collected information, convenient operation and the like, can be widely applied to environment monitoring, public security reconnaissance, unmanned patrol and the like of rivers and lakes, but has less anti-toppling structures, can not well ensure the stability of the patrol robot when the patrol robot is patrolled, and needs a corresponding anti-toppling structure in order to protect the safety of the robot;

3. reference CN112454361A discloses a security robot with an intelligent capturing rope, wherein the protection right "includes: the robot comprises a robot body, wherein a high-definition camera and a transparent protective cover are arranged at the top of the robot body; the robot comprises a robot body, a catching rope mounting disc, a plurality of catching rope mounting grooves and a plurality of supporting columns, wherein the catching rope mounting disc is internally provided with a plurality of catching rope mounting grooves for mounting catching rope components and is rotatably mounted on the supporting columns through bearings; the air pump is installed at the bottom in the robot body, and the output end of the air pump is sequentially connected with the second air storage tank, the first air storage tank and the catching rope ejection cylinder body through air pipes. According to the invention, the catching rope mounting disc is rotated, and the catching rope assembly is automatically filled, so that a plurality of targets can be quickly and continuously caught in an emergency state, and the catching and patrolling efficiency of the security robot is improved;

4. the comparison document CN209486515U discloses an indoor patrol robot based on electromagnetic navigation, the right item of protection comprises a robot body, a walking part, a motor driving chip, a micro control chip, an electromagnetic sensing chip, a speed acquisition sensor, a human body infrared sensor and an alarm part, an accurate indoor electromagnetic navigation scheme is provided, the electromagnetic sensing chip is used for detecting a metal wire, the aim of moving the robot according to path navigation is achieved through speed control and differential steering of a rear wheel, the electromagnetic navigation has simple structure, high precision and low cost, the unmanned patrol is achieved by combining a low-cost high-precision environment parameter detection sensor, various parameters detected by the robot are visualized through a display screen, the robot is more intuitive, and the system is safe and reliable through timely alarming and remote information interaction High-usage practices thrift a large amount of costs, brings very big facility for people's life ", but the ware lacks heat radiation structure, and there are a large amount of circuit boards and power device in the robot inside, can produce more heat, needs in time to discharge.

Disclosure of Invention

The invention aims to provide a patrol robot with an obstacle avoiding function, and aims to solve the problems of lack of an automatic obstacle avoiding function, lack of an anti-toppling function, lack of a cleaning structure and lack of a heat dissipation structure in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a patrol robot with an obstacle avoiding function comprises a bottom plate, a battery box, an information processing box and an observation box, wherein the battery box is arranged at the bottom of the bottom plate;

the inner wall of the battery box is provided with a storage battery, the outer wall of the storage battery is provided with a first motor, the output end of the first motor is provided with a first bevel gear, the outer wall of the battery box is provided with a plurality of driving rods in a penetrating manner, the other end of each driving rod is provided with a second bevel gear, and the second bevel gear is meshed with the first bevel gear;

the safety cover is installed at the top of bottom plate, the information processing case is installed at the top of bottom plate, and the information processing case is located the back of safety cover, the both sides outer wall of information processing case is equipped with the protecting groove, the top installation protection section of thick bamboo of information processing case, the observation box is installed at the top of protection section of thick bamboo, the level detection box is installed at the top of information processing case, and the level detection box is located the front of protection section of thick bamboo.

Preferably, the universal joint is installed to the one end of actuating lever, the adjustable ring is installed to the one end of universal joint, the wheel is installed to the one end of universal joint, the connecting rod of L type is installed to the outer wall of adjustable ring, and the one end of connecting rod extends into the inside of battery box, electric telescopic handle is installed to the inside diapire of battery box, and electric telescopic handle's one end is connected with the one end of connecting rod.

Preferably, the inner wall of level detection box is equipped with the slip track, and the detection ball is installed to the orbital inner wall of slip, and the switch that triggers the formula is all installed to orbital both sides inner wall of slip, and the fixed plate is installed to the orbital inner wall of slip, and the outer wall of fixed plate runs through to install the inserted bar, and the outer wall of inserted bar encircles and installs reset spring.

Preferably, the guard plate is installed through the bearing to the inside back wall of guard groove, the fixed axle is installed to the inside back wall of guard groove, flexible pipe is installed to the bottom of fixed axle, expanding spring is installed to the inner wall of flexible pipe, the bracing piece is installed to expanding spring's bottom, and the bottom of bracing piece extends the bottom of flexible pipe, a spring is installed to the inner wall of guard groove, and the one end of a spring and the outer wall connection of bracing piece, the motor is installed to the inside diapire of guard groove, the movable rod is installed to the inside diapire of guard groove, and the movable rod is located one side of motor, the gag lever post of L type is installed to the inside diapire of guard groove, and the gag lever post is located one side of movable rod, the motor passes through wire electric connection with the switch.

Preferably, the outer wall of observation box is equipped with and rotates the groove, fixed pivot is installed to the inner wall of observation box, the camera is installed to the outer wall of fixed pivot, and the one end of camera extends the front that rotates the groove, spacing spring is installed to the inside diapire of observation box, and the top of spacing spring is connected through the pivot with the bottom of camera, the fixed pulley is installed to the inner wall of observation box, driving motor is installed to the inside diapire of observation box, driving motor's output is encircleed and is installed the coil, and the coil, connect through the cable between fixed pulley and the camera, the headstock is installed at the top of observation box, the inside diapire of headstock is installed and is cleaned the motor, and the output that cleans the motor extends into the observation box, clean the output of motor and install the cleaning board, clean the bottom of cleaning board and install the brush.

Preferably, the protective housing is installed to the inner wall of information processing case, a plurality of fixed slots are installed to the inner wall of protective housing, the information processing chip is installed to the inner wall of fixed slot, the coil pipe is installed to the outer wall of protective housing, the fan is installed to the inside back wall of information processing case, the cooler bin is installed in the front of information processing case, the bin is installed to the inner wall of cooler bin, the inside packing of bin has the coolant liquid, circulating water pump is installed at the top of bin, the inlet tube is installed to circulating water pump's input, and the one end of inlet tube extends into the inside of bin, the inside of bin is extended into to the one end of coil pipe, the outlet pipe is installed to circulating water pump's output, and the one end of outlet pipe is connected with the other end of coil pipe.

Preferably, the buzzer is installed to the inside diapire of safety cover, and the backup pad is installed to the inner wall of safety cover, and the warning light is installed at the top of backup pad.

Preferably, the inside diapire of a protection section of thick bamboo is installed and is rotated the motor, and the output of rotating the motor is connected with the bottom of observation box.

Preferably, infrared detector is installed at the top of bottom plate, and the controller is installed at the top of bottom plate, and controller and first motor and electric telescopic handle pass through wire electric connection.

Preferably, the working steps of the device are as follows:

s1, when a robot patrols and guards, an infrared detector detects whether a person exists in front, when the person lives and is blocked by an object, a controller controls a first motor to rotate, the first motor rotates a first bevel gear to rotate, the first bevel gear rotates to drive a second bevel gear to rotate, the second bevel gear rotates to drive a driving rod to rotate, the driving rod rotates to drive a universal joint to rotate, the universal joint drives wheels to rotate, the robot moves, then the controller controls an electric telescopic rod to extend or shorten, the electric telescopic rod drives an adjusting ring to rotate, the adjusting ring drives the universal joint to rotate, then the angle of the wheels is changed, and the advancing direction of the robot is changed, so that an obstacle avoiding function is realized;

s2, when the robot inclines, the detection ball moves towards the insertion rods on two sides, the detection ball impacts the insertion rods, the insertion rods drive the reset springs to extend, then the insertion rods impact the switch, the switch controls the motor to rotate, the motor drives the rotary European gear to drive the cables to contract, the cables drive the movable rods to rotate, the movable rods do not limit the supporting rods any more, the first spring extends to drive the supporting rods to impact the protection plate, the convenient supporting rods extend out of the outer wall of the protection groove, the telescopic springs drive the supporting rods to extend out of the telescopic pipes, the supporting rods extend to be in contact with the ground, the robot is prevented from continuously inclining, and the function of preventing the robot from inclining is achieved;

s3, when the camera is cleaned, starting a driving motor, driving the coil to rotate by the driving motor, enabling the coil to drive the cable to contract, enabling the cable to drive the camera to rotate, extending a limiting spring, then enabling the camera to rotate to a vertical position, starting a cleaning motor, driving a cleaning plate to rotate by the cleaning motor, enabling the cleaning plate to drive a brush to rotate, cleaning the camera by the brush, and achieving a cleaning function;

s4, during heat dissipation, start circulating water pump, circulating water pump drives the coolant liquid and flows to the coil pipe, and the inside heat that produces of protective housing is absorbed to the coolant liquid in the coil pipe, and circulation flow gets back to in the storage box afterwards, realizes keeping the efficient cooling inside the protective housing, and the fan drives the air flow, further reinforcing radiating effect.

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

1. the automatic obstacle avoidance function can be realized by installing the battery box and the electric telescopic rod, when the robot patrols and guards, the infrared detector detects whether a person exists in front, when the person lives and is blocked by an object, the controller controls the first motor to rotate, the first motor rotates the first bevel gear, the first bevel gear rotates to drive the second bevel gear to rotate, the second bevel gear rotates to drive the driving rod to rotate, the driving rod rotates to drive the universal joint to rotate, the universal joint drives the wheels to rotate, the robot moves, then the controller controls the electric telescopic rod to extend or shorten, the electric telescopic rod drives the adjusting ring to rotate, the adjusting ring drives the universal joint to rotate, then the angle of the wheels is changed, the advancing direction of the robot is changed, and therefore the obstacle avoidance function is realized;

2. the robot can be prevented from toppling over by installing the horizontal detection box and the supporting rod, when the robot inclines, the detection ball moves towards the insertion rods on two sides, the detection ball impacts the insertion rods, the insertion rods drive the reset springs to extend, then the insertion rods impact the switch, the switch controls the motor to rotate, the motor drives the rotary Odong to drive the cables to contract, the cables drive the movable rods to rotate, the movable rods do not limit the supporting rods any more, the first spring extends to drive the supporting rods to impact the protection plate, the convenient supporting rods extend out of the outer wall of the protection groove, the telescopic springs drive the supporting rods to extend out of the telescopic pipes, the supporting rods extend to be in contact with the ground, the robot is prevented from continuously inclining, and the function of preventing the inclination is realized;

3. the cleaning device can clean the camera by installing the cleaning motor and the brush, when the camera is cleaned, the driving motor is started, the driving motor drives the coil to rotate, the coil drives the cable to contract, the cable drives the camera to rotate, the limiting spring extends, then the camera rotates to a vertical position, the cleaning motor is started, the cleaning motor drives the cleaning plate to rotate, the cleaning plate drives the brush to rotate, and the brush cleans the camera, so that the cleaning function is realized;

4. the cooling box and the fan are arranged to dissipate heat inside the robot, the circulating water pump is started during heat dissipation, the circulating water pump drives the cooling liquid to flow to the coil pipe, the cooling liquid in the coil pipe absorbs heat generated inside the protective shell and then circularly flows back to the storage box, continuous and efficient cooling of the inside of the protective shell is achieved, the fan drives air to flow, and the heat dissipation effect is further enhanced.

Drawings

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

FIG. 2 is a schematic top view of the battery box of the present invention;

FIG. 3 is a schematic diagram of a partial hoop configuration of the information processing case of the present invention;

FIG. 4 is a schematic view of a portion of the viewing box of the present invention;

FIG. 5 is a schematic view of a portion of the protective cover of the present invention;

FIG. 6 is a schematic view showing a partial structure of a horizontal measuring cassette according to the present invention;

FIG. 7 is a schematic view of the structure of the protective slot portion of the present invention;

fig. 8 is a schematic structural diagram of a part of the protective cylinder of the present invention.

In the figure: 1. a base plate; 101. an infrared detector; 102. a controller; 2. a protective cover; 201. a buzzer; 202. a warning light; 3. a battery box; 301. a storage battery; 302. a first motor; 303. a drive rod; 304. a second bevel gear; 305. a wheel; 306. a universal joint; 307. an adjusting ring; 308. an electric telescopic rod; 4. an information processing box; 401. a protective shell; 402. fixing grooves; 403. an information processing chip; 404. A fan; 405. a coil pipe; 406. a cooling tank; 407. a storage tank; 408. a water circulating pump; 5. a horizontal detection box; 501. a sliding track; 502. detecting the ball; 503. a switch; 504. a fixing plate; 505. inserting a rod; 6. a protective bath; 601. a protection plate; 602. a fixed shaft; 603. a telescopic pipe; 604. a tension spring; 605. a support bar; 606. a first spring; 607. a motor; 608. a movable rod; 609. a limiting rod; 7. A protective cylinder; 701. rotating the motor; 8. an observation box; 801. fixing the rotating shaft; 802. a camera; 803. a limiting spring; 804. a fixed pulley; 805. a drive motor; 806. a power box; 807. cleaning a motor; 808. Cleaning the board; 809. a brush; 810. the groove is rotated.

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.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1: referring to fig. 1, 5 and 8, an embodiment of the present invention is shown: a patrol robot with an obstacle avoiding function comprises a bottom plate 1, a battery box 3, an information processing box 4 and an observation box 8, wherein the battery box 3 is installed at the bottom of the bottom plate 1, an infrared detector 101 is installed at the top of the bottom plate 1, a controller 102 is installed at the top of the bottom plate 1, the controller 102 is electrically connected with a first motor 302 and an electric telescopic rod 308 through conducting wires, a protective cover 2 is installed at the top of the bottom plate 1, the information processing box 4 is positioned at the back of the protective cover 2, protective grooves 6 are formed in the outer walls of two sides of the information processing box 4, a protective cylinder 7 is installed at the top of the information processing box 4, the observation box 8 is installed at the top of the protective cylinder 7, a horizontal detection box 5 is installed at the top of the information processing box 4, the horizontal detection box 5 is positioned at the front of the protective cylinder 7, a rotating motor 701 is installed on the inner bottom wall of the protective cylinder 7, the output end of the rotating motor 701 is connected with the bottom of the observation box 8, the buzzer 201 is installed on the inner bottom wall of the protective cover 2, the supporting plate is installed on the inner wall of the protective cover 2, the warning lamp 202 is installed on the top of the supporting plate, the bottom plate 1 can support the top device, the infrared detector 101 can emit infrared signals to detect whether an obstacle exists in front of the robot, the controller 102 can control the first motor 302 and the electric telescopic rod 308, the protective cover 2 can warn the warning lamp 202 inside, the warning lamp 202 can give out light to warn when the robot topples over, the buzzer 201 gives out sound to warn at the same time, the battery box 3 can be provided with a battery of the robot to provide electric support for the robot, the information processing box 4 can be conveniently provided with various chips to control the robot to perform related operations, and the horizontal detection box 5 can detect whether the robot is in a normal state, the protection section of thick bamboo 7 can protect inside rotation motor 701, and rotation motor 701 can drive observation box 8 and rotate, and observation box 8 can be camera 802 of easy to assemble.

Example 2: referring to fig. 2, an embodiment of the present invention: a patrol robot with an obstacle avoiding function is disclosed, wherein a storage battery 301 is installed on the inner wall of a battery box 3, a first motor 302 is installed on the outer wall of the storage battery 301, a first bevel gear is installed at the output end of the first motor 302, a plurality of driving rods 303 are installed on the outer wall of the battery box 3 in a penetrating manner, a second bevel gear 304 is installed at the other end of each driving rod 303, the second bevel gear 304 is meshed with the first bevel gear, a universal joint 306 is installed at one end of each driving rod 303, an adjusting ring 307 is installed at one end of each universal joint 306, a wheel 305 is installed at one end of each universal joint 306, an L-shaped connecting rod is installed on the outer wall of each adjusting ring 307, one end of each connecting rod extends into the battery box 3, an electric telescopic rod 308 is installed on the bottom wall inside the battery box 3, one end of each electric telescopic rod 308 is connected with one end of each connecting rod, when the robot patrols, an infrared detector 101 detects whether a person is in front or not, when a person lives and has an object to block, the controller 102 controls the first motor 302 to rotate, the first motor 302 rotates the first bevel gear to rotate, the first bevel gear rotates to drive the second bevel gear 304 to rotate, the second bevel gear 304 rotates to drive the driving rod 303 to rotate, the driving rod 303 rotates to drive the universal joint 306 to rotate, the universal joint 306 drives the wheels 305 to rotate, the robot moves, the controller 102 controls the electric telescopic rod 308 to extend or shorten, the electric telescopic rod 308 drives the adjusting ring 307 to rotate, the adjusting ring 307 drives the universal joint 306 to rotate, the angles of the wheels 305 are changed, the advancing direction of the robot is changed, and therefore the obstacle avoidance function is achieved.

Example 3: referring to fig. 6 and 7, an embodiment of the present invention: a patrol robot with obstacle avoiding function, a sliding track 501 is arranged on the inner wall of a horizontal detection box 5, a detection ball 502 is arranged on the inner wall of the sliding track 501, trigger switches 503 are arranged on the inner walls of two sides of the sliding track 501, a fixing plate 504 is arranged on the inner wall of the sliding track 501, an inserting rod 505 is arranged on the outer wall of the fixing plate 504 in a penetrating manner, a reset spring is arranged on the outer wall of the inserting rod 505 in a surrounding manner, a protection plate 601 is arranged on the inner rear wall of a protection groove 6 through a bearing, a fixing shaft 602 is arranged on the inner rear wall of the protection groove 6, an extension tube 603 is arranged at the bottom of the fixing shaft 602, an extension spring 604 is arranged on the inner wall of the extension tube 603, a support rod 605 is arranged at the bottom of the extension spring 604, a first spring 606 is arranged on the inner wall of the protection groove 6, and one end of the first spring 606 is connected with the outer wall of the support rod 605, the motor 607 is installed on the inner bottom wall of the protection groove 6, the movable rod 608 is located on one side of the motor 607, the L-shaped limiting rod 609 is installed on the inner bottom wall of the protection groove 6, the limiting rod 609 is located on one side of the movable rod 608, the motor 607 is electrically connected with the switch 503 through a wire, when the robot inclines, the detection ball 502 moves towards the insertion rods 505 on the two sides, the detection ball 502 strikes the insertion rod 505, the insertion rod 505 drives the return spring to extend, then the insertion rod 505 strikes the switch 503, the switch 503 controls the motor 607 to rotate, the motor 607 drives the Roots to drive the cable to contract, the cable drives the movable rod 608 to rotate, the movable rod 608 does not limit the support rod 605 any more, the first spring 606 extends to drive the support rod 605 to strike the protection plate 601, the hand support rod 605 extends out of the outer wall of the protection groove 6, the telescopic spring 604 drives the support rod 605 to extend out from the telescopic pipe 603, the supporting rod 605 extends to contact with the ground, so that the robot is prevented from continuously inclining, the function of preventing the robot from inclining is realized, and the limiting rod 609 can prevent the movable rod 608 from clockwise rotating.

Example 4: referring to fig. 4, an embodiment of the present invention: a patrol robot with obstacle avoiding function, the outer wall of an observation box 8 is provided with a rotating groove 810, the inner wall of the observation box 8 is provided with a fixed rotating shaft 801, the outer wall of the fixed rotating shaft 801 is provided with a camera 802, one end of the camera 802 extends out of the front surface of the rotating groove 810, the inner bottom wall of the observation box 8 is provided with a limiting spring 803, the top of the limiting spring 803 is connected with the bottom of the camera 802 through a rotating shaft, the inner wall of the observation box 8 is provided with a fixed pulley 804, the inner bottom wall of the observation box 8 is provided with a driving motor 805, the output end of the driving motor 805 is provided with a coil in a surrounding manner, the coil, the fixed pulley 804 and the camera 802 are connected through cables, the top of the observation box 8 is provided with a power box 806, the inner bottom wall of the power box 806 is provided with a cleaning motor 807, the output end of the cleaning motor 807 extends into the observation box 8, the output end of the cleaning motor 807 is provided with a cleaning plate 808, brush 809 is installed to the bottom of cleaning board 808, when cleaning camera 802, start driving motor 805, driving motor 805 drives the coil and rotates, the coil drives the cable shrink, the cable drives camera 802 and rotates, spacing spring 803 extension, camera 802 rotates to vertical position afterwards, start cleaning motor 807, cleaning motor 807 drives cleaning board 808 and rotates, cleaning board 808 drives brush 809 and rotates, brush 809 cleans camera 802, realize clean function.

Example 5: referring to fig. 3, an embodiment of the present invention: a robot for patrol and prevention with obstacle avoiding function, a protective shell 401 is arranged on the inner wall of an information processing box 4, a plurality of fixing grooves 402 are arranged on the inner wall of the protective shell 401, an information processing chip 403 is arranged on the inner wall of the fixing grooves 402, a coil 405 is arranged on the outer wall of the protective shell 401, a fan 404 is arranged on the inner rear wall of the information processing box 4, a cooling box 406 is arranged on the front surface of the information processing box 4, a storage box 407 is arranged on the inner wall of the cooling box 406, cooling liquid is filled in the storage box 407, a circulating water pump 408 is arranged on the top of the storage box 407, a water inlet pipe is arranged at the input end of the circulating water pump 408, one end of the water inlet pipe extends into the storage box 407, one end of the coil 405 extends into the storage box 407, a water outlet pipe is arranged at the output end of the circulating water pump 408, one end of the water outlet pipe is connected with the other end of the coil 405, and the circulating water pump 408 is started during heat dissipation, circulating water pump 408 drives the coolant flow to coil pipe 405, and the coolant in coil pipe 405 absorbs the inside heat that produces of protective housing 401, and circulation flow gets back to in the bin 407 afterwards, realizes carrying out the cooling of lasting efficient to protective housing 401 inside, and fan 404 drives the air flow, further reinforcing radiating effect.

Further, the working steps of the device are as follows:

s1, when a robot patrols and guards, an infrared detector 101 detects whether a person exists in front, when the person lives and is blocked by an object, a controller 102 controls a first motor 302 to rotate, the first motor 302 rotates a first bevel gear to rotate, the first bevel gear rotates to drive a second bevel gear 304 to rotate, the second bevel gear 304 rotates to drive a driving rod 303 to rotate, the driving rod 303 rotates to drive a universal joint 306 to rotate, the universal joint 306 drives wheels 305 to rotate, the robot moves, then the controller 102 controls an electric telescopic rod 308 to extend or shorten, the electric telescopic rod 308 drives an adjusting ring 307 to rotate, the adjusting ring 307 drives the universal joint 306 to rotate, then the angles of the wheels 305 are changed, and the advancing direction of the robot is changed, so that an obstacle avoidance function is realized;

s2, when the robot inclines, the detection ball 502 moves towards the insertion rods 505 on the two sides, the detection ball 502 impacts the insertion rods 505, the insertion rods 505 drive the reset springs to extend, then the insertion rods 505 impact the switch 503, the switch 503 controls the motor 607 to rotate, the motor 607 drives the Odong to rotate to drive the cables to contract, the cables drive the movable rods 608 to rotate, the movable rods 608 do not limit the supporting rods 605 any more, the first spring 606 extends to drive the supporting rods 605 to impact the protection plate 601, the supporting rods 605 extend out of the outer wall of the protection groove 6 conveniently, the telescopic springs 604 drive the supporting rods 605 to extend out of the telescopic pipes 603, the supporting rods 605 extend to contact the ground, the robot is prevented from continuously inclining, and the function of preventing inclining is achieved;

s3, when the camera 802 is cleaned, the driving motor 805 is started, the driving motor 805 drives the coil to rotate, the coil drives the cable to contract, the cable drives the camera 802 to rotate, the limiting spring 803 extends, then the camera 802 rotates to a vertical position, the sweeping motor 807 is started, the sweeping motor 807 drives the sweeping board 808 to rotate, the sweeping board 808 drives the brush 809 to rotate, and the brush 809 cleans the camera 802 to realize a cleaning function;

s4, during the heat dissipation, start circulating water pump 408, circulating water pump 408 drives the coolant liquid and flows to coil pipe 405, and the coolant liquid in coil pipe 405 absorbs the inside heat that produces of protective housing 401, and in circulation flow got back to storage tank 407 afterwards, the realization lasts the efficient cooling to protective housing 401 inside, and fan 404 drives the air flow, further strengthens the radiating effect.

Firstly, when the robot patrols and guards, the infrared detector 101 detects whether a person is in front, when a person is alive and is blocked by an object, the controller 102 controls the first motor 302 to rotate, the first motor 302 rotates the first bevel gear to rotate, the first bevel gear rotates to drive the second bevel gear 304 to rotate, the second bevel gear 304 rotates to drive the driving rod 303 to rotate, the driving rod 303 rotates to drive the universal joint 306 to rotate, the universal joint 306 drives the wheels 305 to rotate, the robot moves, then the controller 102 controls the electric telescopic rod 308 to extend or shorten, the electric telescopic rod 308 drives the adjusting ring 307 to rotate, the adjusting ring 307 drives the universal joint 306 to rotate, then the angle of the wheels 305 changes, the advancing direction of the robot changes, so that the obstacle avoidance function is realized, S2, when the robot inclines, the detection ball 502 moves towards the inserted bars 505 at two sides, the detection ball 502 impacts the inserted bar 505, the inserted bar 505 drives the reset spring to extend, then the inserting rod 505 impacts the switch 503, the switch 503 controls the motor 607 to rotate, the motor 607 drives the Odong to drive the cable to contract, the cable drives the movable rod 608 to rotate, the movable rod 608 does not limit the supporting rod 605 any more, the first spring 606 extends to drive the supporting rod 605 to impact the protection plate 601, the supporting rod 605 extends out of the outer wall of the protection groove 6 along with the hand, the extension spring 604 drives the supporting rod 605 to extend out from the inside of the extension tube 603, the supporting rod 605 extends to contact with the ground, the robot is prevented from continuously inclining, the function of preventing inclining is realized, S3, when cleaning the camera 802, the driving motor 805 is started, the driving motor 805 drives the coil to rotate, the coil drives the cable to contract, the cable drives the camera 802 to rotate, the limiting spring 803 extends, then the camera 802 rotates to the vertical position, the cleaning motor 807 is started, the cleaning motor 807 drives the cleaning plate 808 to rotate, the cleaning plate 808 drives the brush 809 to rotate, brush 809 cleans camera 802, realizes clean function, s4 when dispelling the heat, starts circulating water pump 408, and circulating water pump 408 drives the coolant liquid and flows to coil pipe 405, and the inside heat that produces of protective housing 401 is absorbed to the coolant liquid in the coil pipe 405, and circulation flow gets back to in the storage box 407 afterwards, realizes lasting efficient cooling to protective housing 401 is inside, and fan 404 drives the air current, further strengthens the radiating effect.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a robot is used in patrol and guard that possesses function is dodged to obstacle, includes bottom plate (1), battery box (3), information processing case (4) and observation box (8), its characterized in that: the bottom of the bottom plate (1) is provided with a battery box (3);

a storage battery (301) is mounted on the inner wall of the battery box (3), a first motor (302) is mounted on the outer wall of the storage battery (301), a first bevel gear is mounted at the output end of the first motor (302), a plurality of driving rods (303) are mounted on the outer wall of the battery box (3) in a penetrating mode, a second bevel gear (304) is mounted at the other end of each driving rod (303), and the second bevel gear (304) is meshed with the first bevel gear;

safety cover (2) are installed at the top of bottom plate (1), information processing case (4) are installed at the top of bottom plate (1), and information processing case (4) are located the back of safety cover (2), the both sides outer wall of information processing case (4) is equipped with protecting groove (6), a top installation protecting cylinder (7) of information processing case (4), observation box (8) are installed at the top of protecting cylinder (7), level detection box (5) are installed at the top of information processing case (4), and level detection box (5) are located the front of protecting cylinder (7).

2. A patrol robot having an obstacle avoidance function according to claim 1, wherein: universal joint (306) are installed to the one end of actuating lever (303), adjustable ring (307) are installed to the one end of universal joint (306), wheel (305) are installed to the one end of universal joint (306), the connecting rod of L type is installed to the outer wall of adjustable ring (307), and the one end of connecting rod extends into the inside of battery box (3), electric telescopic handle (308) are installed to the inside diapire of battery box (3), and the one end of electric telescopic handle (308) is connected with the one end of connecting rod.

3. A patrol robot having an obstacle avoidance function according to claim 1, wherein: the inner wall of level detection box (5) is equipped with slip track (501), and detection ball (502) are installed to the inner wall of slip track (501), and trigger formula switch (503) are all installed to the both sides inner wall of slip track (501), and fixed plate (504) are installed to the inner wall of slip track (501), and outer wall of fixed plate (504) runs through and installs inserted bar (505), and the outer wall of inserted bar (505) encircles and installs reset spring.

4. A patrol robot having an obstacle avoidance function according to claim 1, wherein: the protection plate (601) is installed on the inner rear wall of the protection groove (6) through a bearing, the fixing shaft (602) is installed on the inner rear wall of the protection groove (6), the telescopic pipe (603) is installed at the bottom of the fixing shaft (602), the telescopic spring (604) is installed on the inner wall of the telescopic pipe (603), the supporting rod (605) is installed at the bottom of the telescopic spring (604), the bottom of the supporting rod (605) extends out of the bottom of the telescopic pipe (603), the first spring (606) is installed on the inner wall of the protection groove (6), one end of the first spring (606) is connected with the outer wall of the supporting rod (605), the motor (607) is installed on the inner bottom wall of the protection groove (6), the movable rod (608) is located on one side of the motor (607), the L-shaped limiting rod (609) is installed on the inner bottom wall of the protection groove (6), the limiting rod (609) is positioned at one side of the movable rod (608), and the motor (607) is electrically connected with the switch (503) through a lead.

5. A patrol robot having an obstacle avoidance function according to claim 1, wherein: the outer wall of the observation box (8) is provided with a rotating groove (810), the inner wall of the observation box (8) is provided with a fixed rotating shaft (801), the outer wall of the fixed rotating shaft (801) is provided with a camera (802), one end of the camera (802) extends out of the front face of the rotating groove (810), the inner bottom wall of the observation box (8) is provided with a limiting spring (803), the top of the limiting spring (803) is connected with the bottom of the camera (802) through the rotating shaft, the inner wall of the observation box (8) is provided with a fixed pulley (804), the inner bottom wall of the observation box (8) is provided with a driving motor (805), the output end of the driving motor (805) is provided with a coil in a surrounding manner, the coil, the fixed pulley (804) and the camera (802) are connected through cables, the top of the observation box (8) is provided with a power box (806), and the inner bottom wall of the power box (806) is provided with a cleaning motor (807), and the output end of the cleaning motor (807) extends into the observation box (8), the output end of the cleaning motor (807) is provided with a cleaning plate (808), and the bottom of the cleaning plate (808) is provided with a brush (809).

6. A patrol robot having an obstacle avoidance function according to claim 1, wherein: the protection shell (401) is installed on the inner wall of the information processing box (4), a plurality of fixing grooves (402) are installed on the inner wall of the protection shell (401), an information processing chip (403) is installed on the inner wall of the fixing grooves (402), a coil pipe (405) is installed on the outer wall of the protection shell (401), a fan (404) is installed on the rear wall of the information processing box (4), a cooling box (406) is installed on the front face of the information processing box (4), a storage box (407) is installed on the inner wall of the cooling box (406), cooling liquid is filled in the storage box (407), a circulating water pump (408) is installed at the top of the storage box (407), a water inlet pipe is installed at the input end of the circulating water pump (408), one end of the water inlet pipe extends into the internal coil pipe of the storage box (407), one end of the 405) extends into the storage box (407), and a water outlet pipe is installed at the output end of the circulating water pump (408), and one end of the water outlet pipe is connected with the other end of the coil pipe (405).

7. A patrol robot having an obstacle avoidance function according to claim 1, wherein: buzzer (201) are installed to the inside diapire of safety cover (2), and the backup pad is installed to the inner wall of safety cover (2), and warning light (202) are installed at the top of backup pad.

8. A patrol robot having an obstacle avoidance function according to claim 1, wherein: the inside diapire of protection section of thick bamboo (7) is installed and is rotated motor (701), and the output of rotating motor (701) is connected with the bottom of observation box (8).

9. A patrol robot having an obstacle avoidance function according to claim 1, wherein: infrared detector (101) are installed at the top of bottom plate (1), and controller (102) pass through wire electric connection with first motor (302) and electric telescopic handle (308).

10. A patrol robot having an obstacle avoidance function according to any one of claims 1 to 9, wherein the apparatus is operated by:

s1, when a robot patrols and guards, an infrared detector (101) detects whether a person exists in front, when the person lives and is blocked by an object, a controller (102) controls a first motor (302) to rotate, the first motor (302) rotates a first bevel gear to rotate, the first bevel gear rotates to drive a second bevel gear (304) to rotate, the second bevel gear (304) rotates to drive a driving rod (303) to rotate, the driving rod (303) rotates to drive a universal joint (306) to rotate, the universal joint (306) drives wheels (305) to rotate, the robot moves, then the controller (102) controls an electric telescopic rod (308) to extend or shorten, the electric telescopic rod (308) drives an adjusting ring (307) to rotate, the adjusting ring (307) drives the universal joint (306) to rotate, then the angles of the wheels (305) change, and the advancing direction of the robot changes, so that an obstacle avoiding function is realized;

s2, when the robot inclines, the detection ball (502) moves towards the insertion rods (505) on two sides, the detection ball (502) impacts the insertion rods (505), the insertion rods (505) drive the reset springs to extend, then the insertion rods (505) impact the switch (503), the switch (503) controls the motor (607) to rotate, the motor (607) drives the Odong to drive the cable to contract, the cable drives the movable rod (608) to rotate, the movable rod (608) does not limit the supporting rod (605), the first spring (606) extends to drive the supporting rod (605) to impact the protection plate (601), the supporting rod (605) extends out of the outer wall of the protection groove (6) along with hands, the telescopic spring (604) drives the supporting rod (605) to extend out of the telescopic pipe (603), the supporting rod (605) extends to contact with the ground, the robot is prevented from continuously inclining, and the function of preventing inclining is achieved;

s3, when the camera (802) is cleaned, a driving motor (805) is started, the driving motor (805) drives a coil to rotate, the coil drives a cable to contract, the cable drives the camera (802) to rotate, a limiting spring (803) extends, then the camera (802) rotates to a vertical position, a cleaning motor (807) is started, the cleaning motor (807) drives a cleaning plate (808) to rotate, the cleaning plate (808) drives a brush (809) to rotate, and the brush (809) cleans the camera (802) to achieve a cleaning function;

s4, during the heat dissipation, start circulating water pump (408), circulating water pump (408) drive coolant liquid flow direction coil pipe (405), and the coolant liquid in coil pipe (405) absorbs the inside heat that produces of protective housing (401), and circulation flow gets back to in storage tank (407) afterwards, realizes lasting efficient cooling to protective housing (401) inside, and fan (404) drive air flow further strengthens the radiating effect.