CN115574857A

CN115574857A - Environment detection device

Info

Publication number: CN115574857A
Application number: CN202211300117.2A
Authority: CN
Inventors: 李娜娜; 韩海燕; 李欣浩; 赵翊璇
Original assignee: Xian Jiaotong University City College
Current assignee: Xian Jiaotong University City College
Priority date: 2022-10-24
Filing date: 2022-10-24
Publication date: 2023-01-06

Abstract

The present disclosure relates to the field of detection equipment technology, and in particular, to an environment detection device. The environment detection device comprises a detection assembly, a connecting assembly and a control mechanism, wherein the detection assembly is arranged at the end part of a walking assembly, the detection assembly is rotatably connected with the walking assembly through the connecting assembly, and the control mechanism is arranged on the walking assembly; the detection assembly is used for detecting a preset environment; the detection assembly and the walking assembly are electrically connected with the control mechanism; the walking assembly comprises a first walking wheel, the control mechanism is used for controlling the first walking wheel to move along a preset track so as to drive the environment detection device to move along the preset track, and the control mechanism is used for controlling the walking assembly and/or the detection assembly to swing relative to the connecting assembly; the walking assembly swings in a plane parallel to the axial direction of the first walking wheel, and an included angle is formed between the swinging direction of the detection assembly and the swinging direction of the walking assembly. The environment detection device of the present disclosure has a good detection effect.

Description

Environment detection device

Technical Field

The present disclosure relates to the field of detection equipment technology, and in particular, to an environment detection device.

Background

The environment detection device can detect obstacles and the like in the environment, can be applied to the rescue field, and can assist rescue workers to search, rescue and detect.

General environment detection device is mostly handheld formula, and in the use, operating personnel need to hold the portable environment detection device always to change environment detection device's position.

However, the environment detecting device needs to be held by an operator during the detection process, so that the application scene or the application space of the environment detecting device is limited.

Disclosure of Invention

To solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides an environment detection apparatus.

The environment detection device comprises a detection assembly, a connecting assembly and a control mechanism, wherein the detection assembly is arranged at the end part of a walking assembly, the detection assembly is rotatably connected with the walking assembly through the connecting assembly, and the control mechanism is arranged on the walking assembly; the detection assembly is used for detecting a preset environment; the detection assembly and the walking assembly are electrically connected with the control mechanism; the walking assembly comprises a first walking wheel, the control mechanism is used for controlling the first walking wheel to move along a preset track so as to drive the environment detection device to move along the preset track, and the control mechanism is used for controlling the walking assembly and/or the detection assembly to swing relative to the connecting assembly; the walking assembly swings in a plane parallel to the axial direction of the first walking wheel, and an included angle is formed between the swinging direction of the detection assembly and the swinging direction of the walking assembly.

Optionally, the walking assembly further comprises a plurality of main body structures which are sequentially detachably connected along the moving direction of the walking assembly, the main body structure close to the connecting assembly is in rotating fit with the connecting assembly, and two first walking wheels which are arranged at intervals are arranged at the bottom of each main body structure; the main structure comprises first steering engines, the first steering engines on each main structure are electrically connected with a control mechanism, and the control mechanism is used for controlling the first steering engines to drive the corresponding main structures to swing or move.

Optionally, the main body structure further includes a support shell, and the first steering engine is disposed at one end of the support shell; the other end of each supporting shell is provided with a concave cavity for the adjacent supporting shell to extend into, and the first steering engine on the adjacent main body structure is embedded on the top wall of the concave cavity; the bottom of cavity has the trompil of two interval settings, and two trompils and two first travelling wheels one-to-one set up, and first travelling wheel is installed in the trompil that corresponds.

Optionally, an installation shaft for sleeving the first traveling wheel is arranged on the side wall of the opening; the mounting shaft is provided with a notch extending along the axial direction of the mounting shaft, and the notch divides the mounting shaft into two single shafts arranged at intervals; the side of each single shaft far away from the side wall of the opening is provided with a stopping part so as to limit the first travelling wheel between the stopping part and the side wall of the opening.

Optionally, the first steering engine is connected with one end of the support shell through a first fixed shaft, and a first through hole for the first fixed shaft on the adjacent main body structure to pass through is formed in the top wall of the concave cavity; the first through hole is in running fit with the first fixed shaft on the adjacent main body structure.

Optionally, a second fixing shaft is arranged on the supporting shell, and a second through hole arranged opposite to the first through hole is arranged on the bottom wall of the concave cavity; and a bearing is arranged between the second fixed shaft and the second through hole on the adjacent main body structure.

Optionally, the main body structure further includes two batteries distributed at intervals, and the batteries are disposed on one end of the support case; first steering wheel is located between two batteries, and every battery all is connected with first steering wheel electricity, and the battery is used for supplying power to first steering wheel.

Optionally, one side of the walking assembly, which is far away from the connecting assembly, is provided with a tail structure, and the tail structure comprises a shell, a second steering engine and two first walking wheels arranged at intervals; the two first travelling wheels are arranged at the bottom end of the shell, one side of the shell facing the main structure is provided with an extension part, and the extension part is in running fit with the main structure close to the shell; the second steering engine is arranged on the extension part and electrically connected with the control mechanism, and the control mechanism is used for controlling the second steering engine to drive the tail structure to swing or move.

Optionally, the detection assembly comprises a fixed shell, a camera and a sensor, the camera and the sensor are both arranged in the fixed shell, and the camera and the sensor are both electrically connected with the control mechanism; the camera is used for shooting images in a preset environment; the sensor is used for detecting environmental characteristics in a preset environment; so as to obtain an environment characteristic signal and transmit the environment characteristic signal to the control mechanism; the control mechanism is used for controlling the running state of the walking assembly according to the image shot by the camera and/or the environmental characteristics detected by the sensor; one end of the fixed shell is matched with the connecting assembly in a rotating mode, two second walking wheels distributed at intervals are arranged at the bottom of one end of the fixed shell, and the second walking wheels are identical to the first walking wheels in shape and size.

Optionally, the connecting assembly comprises a detection steering engine, and the detection steering engine is electrically connected with the control mechanism; the control mechanism is used for controlling the detection steering engine to drive the detection assembly to swing or move.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the walking assembly is controlled by the control mechanism to move along the preset track in the environment detection device provided by the embodiment of the disclosure, so that the environment detection device provided by the embodiment of the disclosure can move along the preset track, compared with the prior art, the position of the environment detection device is not required to be changed by a handheld environment detection device, therefore, when the preset track is determined, the environment detection device provided by the embodiment of the disclosure can reach any position, and cannot be limited by a suitable scene or a suitable space, so that the detection effect of the environment detection device provided by the embodiment of the disclosure is better.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an environment detecting device according to an embodiment of the present disclosure;

FIG. 2 is a view of FIG. 1 taken along direction A;

FIG. 3 is a view of FIG. 1 taken along direction B;

FIG. 4 is a view of FIG. 1 taken along direction C;

FIG. 5 is a view of FIG. 1 taken along direction D;

FIG. 6 is a view of FIG. 2 taken along direction E;

FIG. 7 is a schematic partial structural diagram of a detection assembly in an environment detection apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of a portion of the structure of FIG. 7;

fig. 9 is a partial structural schematic view of a connection assembly in an environment detecting device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a partial structure of a main structure in an environment detecting apparatus provided in an embodiment of the present disclosure;

FIG. 11 is a partial schematic view of FIG. 10;

fig. 12 is a partial structural schematic view of a tail structure in an environment detecting device provided in an embodiment of the present disclosure;

fig. 13 is a partial structural view of fig. 12.

Wherein, the first and the second end of the pipe are connected with each other,

1. a detection component; 2. a connecting assembly; 3. a walking assembly;

10. an environment detection device; 11. a stationary case; 12. a second road wheel; 21. a first connecting member; 22. a second connecting member; 23. detecting a steering engine; 31. a first running wheel; 32. a main body structure; 33. a bearing; 34. a battery; 35. a tail structure;

111. mounting a shell; 112. a connecting frame; 211. a first connection body; 212. a first shaft section; 213. a second shaft section; 214. a rotating bearing; 221. a second connection body; 222. an extension frame; 321. a first steering engine; 322. a support housing; 351. a housing; 352. a second steering engine; 353. a first housing; 354. a second housing;

1111. a mounting cavity; 1112. monitoring a window; 1121. a first connecting lug; 1122. a minor axis; 1123. an opening; 1124. a second limiting part; 1125. a connecting plate; 1126. a cladding plate; 1127. switching the hole; 1128. a first limiting part; 2211. a second engaging lug; 2212. a rectangular hole; 2213. a third traveling wheel; 3221. a first support member; 3222. a second support member; 3223. opening a hole; 3224. an installation part; 3225. a rectangular through hole; 3226. flanging; 3227. installing a shaft; 3228. a notch; 3229. a stopper portion; 3230. a first fixed shaft; 3231. a first through hole; 3232. a second fixed shaft; 3233. a second through hole; 3234. a recessed portion; 3511. an extension portion; 3541. and (7) installing holes.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The environment detection device can detect obstacles in the environment and detect certain environmental parameters, and can be applied to the rescue field and assist rescue workers in searching and rescuing and detecting. General environment detection device is mostly handheld formula, and in the use, operating personnel need to hold the portable environment detection device always to change environment detection device's position. However, the environment detecting device needs to be held by an operator during the detection process, so that the application scene or the application space of the environment detecting device is limited.

Therefore, the embodiment of the disclosure provides an environment detection device, which comprises a detection assembly, a connection assembly and a control mechanism, wherein the detection assembly is arranged at the end part of a walking assembly, the detection assembly is rotatably connected with the walking assembly through the connection assembly, and the control mechanism is arranged on the walking assembly; the detection assembly is used for detecting a preset environment; the detection assembly and the walking assembly are electrically connected with the control mechanism; the walking assembly comprises a first walking wheel, the control mechanism is used for controlling the first walking wheel to move along a preset track so as to drive the environment detection device to move along the preset track, and the control mechanism is used for controlling the walking assembly and/or the detection assembly to swing relative to the connecting assembly; the walking assembly swings in a plane parallel to the axial direction of the first walking wheel, and an included angle is formed between the swinging direction of the detection assembly and the swinging direction of the walking assembly. The walking assembly is controlled by the control mechanism to move along the preset track in the environment detection device provided by the embodiment of the disclosure, so that the environment detection device provided by the embodiment of the disclosure can move along the preset track, compared with the prior art, the position of the environment detection device is not required to be changed by a handheld environment detection device, therefore, when the preset track is determined, the environment detection device provided by the embodiment of the disclosure can reach any position, and cannot be limited by a suitable scene or a suitable space, so that the detection effect of the environment detection device provided by the embodiment of the disclosure is better.

The embodiments of the present disclosure will be described in detail below with reference to the drawings and detailed description.

Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of an environment detecting device according to an embodiment of the present disclosure, fig. 2 is a view of fig. 1 along a direction a, fig. 3 is a view of fig. 1 along a direction B, fig. 4 is a view of fig. 1 along a direction C, fig. 5 is a view of fig. 1 along a direction D, and fig. 6 is a view of fig. 2 along a direction E. As shown in fig. 1 to 6, the present embodiment provides an environment detecting device 10, which includes a detecting component 1, a connecting component 2, a traveling component 3 and a control mechanism, wherein the connecting component 2 is rotatably connected between the detecting component 1 and the traveling component 3, the control mechanism is disposed on the traveling component 3, and both the detecting component 1 and the traveling component 3 are electrically connected to the control mechanism; the walking assembly 3 is including setting up the first walking wheel 31 in walking assembly 3 bottom, and control mechanism is used for controlling first walking wheel 31 and moves along predetermineeing the orbit to drive the environment detection device 10 that this embodiment provided and move along predetermineeing the orbit, and control mechanism is used for controlling walking assembly 3 and/or detection subassembly 1 and swings for coupling assembling 2, wherein, walking assembly 3 swings in the plane that parallels with the axial of first walking wheel 31, has the contained angle between the swing direction of detection subassembly 1 and the swing direction of walking assembly 3. The walking assembly 3 is controlled to move along the preset track through the control mechanism 4 in the environment detection device 10 provided by the embodiment, so that the environment detection device 10 provided by the embodiment can move along the preset track, compared with the prior art, the position of the environment detection device provided by the embodiment is not required to be changed by a handheld environment detection device, therefore, when the preset track is determined, the environment detection device 10 provided by the embodiment can reach any position, and cannot be limited by a suitable scene or a suitable space, so that the detection effect of the environment detection device provided by the embodiment is better.

It should be noted that, in some specific embodiments, the control mechanism may include a single chip, and the single chip may transmit the signal acquired by the single chip to an external mobile phone terminal through WI-FI data communication, and perform corresponding control through the mobile phone terminal.

The probe assembly 1, the connecting assembly 2 and the walking assembly 3 in this embodiment will be further described below.

Referring to fig. 1 to 8, fig. 7 is a schematic partial structure diagram of a detection assembly in an environment detection apparatus according to an embodiment of the present disclosure, and fig. 8 is a schematic partial structure diagram of fig. 7. As shown in fig. 1 to 8, in a specific embodiment of the present embodiment, the detection assembly 1 includes a fixed casing 11, a camera (not shown in the figure) and a sensor (not shown in the figure), both of which are disposed in one end of the fixed casing 11, and both of which are electrically connected to the control mechanism; the camera is used for shooting images in a preset environment; the sensor is used for detecting environmental characteristics in a preset environment; the control mechanism is used for controlling the walking state of the walking assembly according to the images shot by the camera and/or the environmental characteristics detected by the sensor. Wherein the environmental characteristic may be an obstacle or the like in the environment; and the deformed state may refer to a moving speed or a moving direction of the environment detecting device 10.

For example, when there is an obstacle in the environment, the control mechanism may decrease the moving speed of the environment detecting device 10, or cause the environment detecting device 10 to bypass the obstacle; for another example, when there is no obstacle in the environment, the control mechanism may accelerate the environment detecting device 10, or may continue to advance the environment detecting device 10 without changing the original moving direction. This is not listed here.

Further, the other end of the fixed shell 11 is in running fit with the connecting assembly 2, two second traveling wheels 12 which are distributed at intervals are arranged at the bottom of the other end of the fixed shell 11, and the second traveling wheels 12 are the same as the first traveling wheels 31 in shape and size.

It should be noted that the camera may be an ESP32-CAM module, data communication is performed through WI-FI, and the images acquired by the camera are transmitted to the mobile phone terminal in real time for monitoring.

Specifically, in some alternative embodiments, the fixing shell 11 includes a mounting shell 111 and a connecting frame 112 that are detachably connected, the mounting shell 111 is connected to a side of the connecting frame 112 away from the connecting assembly 2, and the mounting shell 111 is provided with a mounting cavity 1111 for accommodating a camera and a sensor.

In order to enable the camera to capture an external image and enable the sensor to monitor an external environmental characteristic, in some specific embodiments, a monitoring window 1112 communicated with the mounting cavity 1111 is disposed on the mounting shell 111, and the camera can capture an external image through the monitoring window 1112 and the sensor can monitor the external environmental characteristic.

In a specific implementation manner of this embodiment, the opening of the monitoring window 1112 faces upward, and herein, the opening of the monitoring window 1112 is not limited; in some other embodiments, in order to improve the detection effect of the detection assembly 1, the monitoring windows 1112 may also be multiple, and the openings of the multiple monitoring windows 1112 are not oriented uniformly, and herein, the number of the monitoring windows 1112 is not limited.

Further, the connecting frame 112 includes two first connecting lugs 1121 which are oppositely disposed, a matching cavity which is rotatably matched with the connecting assembly is formed between the two first connecting lugs 1121, and a short shaft 1122 for sleeving the second road wheel 12 is disposed on one side of each first connecting lug 1121 facing the other first connecting lug 1121.

In order to facilitate the second road wheel 12 to be sleeved on the corresponding short shaft 1122, an opening 1123 which is consistent with the short shaft 1122 in the axial direction may be formed in the middle of the short shaft 1122 so as to divide the short shaft 1122 into two independent semi-short shafts.

Further, in order to limit the position of the second road wheel 12, a first limiting portion 1128 is disposed on a side of each semi-short shaft away from the first connecting lug 1121, and the second road wheel 12 is located between the first limiting portion 1128 and the corresponding first connecting lug 1121.

In order to define the installation position between the connection assembly 2 and the detection assembly 1, in some alternative embodiments, a bottom end of each first connection lug 1121 may be provided with a second limiting portion 1124 for limiting the connection assembly 2, and the connection assembly 2 is located between the mating cavity and the second limiting portion 1124. In this way, the mounting of the connection assembly 2 with the probe assembly 1 is facilitated.

It should be noted that the mounting shell 111 and the connecting frame 112 may be connected by a threaded fastener, such as a screw, and the type of the threaded fastener is not limited herein.

In order to realize the detachable connection between the mounting shell 111 and the connection frame 112, the connection frame 112 further includes a connection plate 1125 detachably connected to the mounting shell 111, two first connection ears 1121 are located at two sides of the connection plate 1125, where the connection plate 1125 may be a circular plate; here, the shape of the connection plate 1125 is not limited.

In order to enhance the appearance of the environment detecting device 10 provided in this embodiment and to provide a certain protection effect for the connecting assembly 2, in this embodiment, a top of each first connecting lug 1121 is provided with a cladding plate 1126 extending toward another first connecting lug 1121. In this way, the appearance of the environment detecting device 10 provided by the embodiment is better, and the matching area between the connecting component 2 and the detecting component 1 can be increased to protect the connecting component 2.

Please refer to fig. 1 to 9, wherein fig. 9 is a schematic partial structural view of a connection component in an environment detection apparatus according to an embodiment of the present disclosure. As shown in fig. 1 to 9, in the present embodiment, the connecting assembly 2 includes a first connecting member 21 and a second connecting member 22, the first connecting member 21 extends into the matching cavity of the connecting frame 112 and is rotatably matched with the matching cavity of the connecting frame 112; the second connecting piece 22 is detachably connected with the first connecting piece 21, and the second connecting piece 22 is used for being in running fit with the running component 3.

Specifically, the first connecting member 21 includes a first connecting body 211, the first connecting body 211 is provided with a first shaft section 212 and a second shaft section 213 at two opposite positions, the first shaft section 212 is disposed corresponding to one of the two first connecting lugs 1121, the second shaft section 213 is disposed corresponding to the other of the two first connecting lugs 1121, the first shaft section 212 penetrates through the corresponding first connecting lug 1121, and the detecting steering gear 23 connected to the first shaft section 212 is embedded in the first connecting lug 1121, wherein the first shaft section 212 is rotatably matched with the corresponding first connecting lug 1121; the second shaft section 213 is sleeved with a rotating bearing 214, and the rotating bearing 214 is rotatably engaged with the corresponding adapting hole 1127 of the first connecting lug 1121.

It should be noted that the detection steering engine 23 is electrically connected with the control mechanism; the control mechanism is used for controlling the detection steering engine 23, so that the detection steering engine 23 drives the detection assembly 1 to swing or move.

Further, the second connecting member 22 includes a second connecting body 221 and an extension frame 222, the second connecting body 221 is connected to a side of the extension frame 222 facing the walking assembly 3, the extension frame 222 is detachably connected to the first connecting body 211, and the shape of the first connecting body 211 is not particularly limited herein; the second connecting body 221 includes two second connecting lugs 2211 disposed oppositely, the distribution direction of the two second connecting lugs 2211 is perpendicular to the distribution direction of the two first connecting lugs 1121, and a transfer cavity rotationally matched with the walking assembly 3 is formed between the two second connecting lugs 2211.

In a specific implementation manner of this embodiment, two rectangular holes 2212 are disposed at an interval at the bottom of the adapter cavity and are communicated with the adapter cavity, a third traveling wheel 2213 is installed in the rectangular hole 2212, and here, an installation manner of the third traveling wheel 2213 is the same as an installation manner of the second traveling wheel 12, which is not described herein again.

The contour shape of the second engaging tab 2211 is matched with the contour shape of the first engaging tab 1121, and the shape of the second engaging tab 2211 is not particularly limited.

Please refer to fig. 1 to 11, wherein fig. 10 is a schematic structural diagram of a partial structure of a main body structure in an environment detecting apparatus according to an embodiment of the present disclosure, and fig. 11 is a schematic structural diagram of the partial structure of fig. 10. In this embodiment, the walking assembly 3 further includes a plurality of main structures 32 detachably connected in sequence along the moving direction of the walking assembly 3, the main structure 32 close to the connecting assembly 2 is rotatably matched with the connecting assembly 2, and the bottom of each main structure 32 is provided with two first walking wheels 31 arranged at intervals; the main structure 32 comprises first steering engines 321, the first steering engines 321 on each main structure 32 are electrically connected with a control mechanism, and the control mechanism is used for controlling the first steering engines 321 to enable the first steering engines 321 to drive the corresponding main structure 32 to swing or move.

Specifically, the main body structure 32 further includes a supporting shell 322, the supporting shell 322 includes a first supporting piece 3221 and a second supporting piece 3222 detachably connected, the first supporting piece 3221 is located on one side of the second supporting piece 3222 facing the connecting assembly 2, and the first steering gear 321 is arranged on the first supporting piece 3221; the second supporting member 3222 has a concave cavity for the adjacent supporting shell 322 to extend into, and the first steering gear 321 on the adjacent main body structure 32 is embedded in the top wall of the concave cavity; the bottom of the cavity has two spaced openings 3223, the two openings 3223 are arranged in one-to-one correspondence with the two first traveling wheels 31, and the first traveling wheels 31 are installed in the corresponding openings 3223.

The number of the above-described main structures 32 may be increased or decreased depending on the actual use condition, and the number of the main structures 32 is not particularly limited.

In some alternative embodiments, a side of the second support 3222 facing the first support 3221 is provided with a mounting portion 3224, and the mounting portion 3224 is detachably connected to the first support 3221 to realize the detachable connection of the second support 3222 and the first support 3221.

In a specific embodiment of this embodiment, the second supporting member 3222 is a frame structure having a rectangular through hole 3225, the first supporting member 3221 is a rectangular parallelepiped structure extending through the rectangular through hole 3225, and in order to achieve the detachable connection between the first supporting member 3221 and the mounting portion 3224, a flange 3226 is disposed on one side of the first supporting member 3221, and the flange 3226 is detachably connected to the mounting portion 3224 through a threaded fastener.

In order to mount the first traveling wheel 31 in the opening 3223, in this embodiment, a mounting shaft 3227 for sleeving the first traveling wheel 31 is disposed on a sidewall of the opening 3223; the mounting shaft 3227 has a notch 3228 extending axially along the mounting shaft 3227, and the notch 3228 divides the mounting shaft 3227 into two separate shafts. Thus, when the first road wheel 31 is mounted on the mounting shaft 3227, the two single axles approach each other, thereby facilitating mounting of the first road wheel 31 on the mounting shaft 3227.

In order to limit the position of the first traveling wheel 31, in some alternative embodiments, a stop portion 3229 is disposed on a side of each single axle away from the side wall of the hole 3223, so as to limit the first traveling wheel 31 between the stop portion 3229 and the side wall of the hole 3223. That is, in the present embodiment, the mounting shaft 3227 has the same structure as the stub shaft 1122, that is, in the present embodiment, the first road wheel 31, the second road wheel 12 and the third road wheel 2213 are mounted in the same manner. Thus, the environment detecting device 10 provided in the present embodiment is easy to manufacture and assemble.

In a specific implementation manner of this embodiment, the first steering engine 321 is connected to the first supporting member 3221 through a first fixed shaft 3230, and a first through hole 3231 for the first fixed shaft 3230 on the adjacent main body structure 32 to pass through is formed in the top wall of the concave cavity; the first through hole 3231 is rotatably engaged with the first fixed shaft 3230 of the adjacent body structure 32.

Further, the first supporting member 3221 is further provided with a second fixed shaft 3232, and a second through hole 3233 opposite to the first through hole 3231 is formed in the bottom wall of the concave cavity; a bearing 33 is disposed between the second stationary shaft 3232 and an adjacent second through hole 3233 of the body structure 32. The bearing 33 can also have a certain supporting effect.

It should be noted that, in the present embodiment, the structure of the second connecting body 221 in the connecting assembly 2 is the same as that of the second supporting member 3222, that is, the matching connection manner between the connecting assembly 2 and the main body structure 32 located at the side close to the connecting assembly 2 is the same as the matching connection manner between two adjacent main body structures 32, in the above embodiment, the matching connection manner between two adjacent main body structures 32 has been described in detail, and thus, no further description is given here.

In order to supply power to the first steering engine 321, in this embodiment, the main body structure 32 further includes two batteries 34 distributed at intervals, and the batteries 34 are disposed on the mounting portion 3224; first steering wheel 321 is located between two batteries 34, and every battery 34 all is connected with first steering wheel 321 electricity, and battery 34 is used for supplying power to first steering wheel 321.

The battery 34 may be, for example, a 18650 lithium battery; here, the type of the battery 34 is not particularly limited.

In order to limit the position of the battery 34, in some alternative embodiments, a recess portion 3234 for mounting the battery may be disposed at both sides of the mounting portion 3224, and the shape of the recess portion 3234 is adapted to the contour shape of the battery 34. Thus, the position of the battery 34 can be restricted, and the battery 34 can be easily mounted on the mounting portion 3224.

The battery 34 may be bonded in the concave portion 3234, and the connection manner between the battery 34 and the concave portion 3234 is not particularly limited.

Please refer to fig. 1 to fig. 13, wherein fig. 12 is a partial structural schematic diagram of a tail structure in an environment detecting device according to an embodiment of the present disclosure, and fig. 13 is a partial structural schematic diagram of fig. 12. As shown in fig. 1 to 13, in order to protect the main structure 32 far from the connecting assembly 2, in this embodiment, a tail structure 35 is provided on a side of the walking assembly 3 far from the connecting assembly 2, and the tail structure 35 includes an outer shell 351, a second steering engine 352, and two first walking wheels 31 arranged at intervals; the two first travelling wheels 31 are arranged at the bottom end of the casing 351, one side of the casing 351 facing the main body structure 32 is provided with an extension part 3511, and the extension part 3511 is in rotating fit with the main body structure 32 close to the casing 351; the second steering gear 352 is arranged on the extension portion 3511, the second steering gear 352 is electrically connected with the control mechanism, and the second steering gear 352 is used for receiving a position signal sent by the control mechanism to drive the tail structure 35 to swing or move.

It should be noted that the structure of the extension portion 3511 may be similar to the structure of the first supporting member 3221 and the mounting portion 3224, except that in this embodiment, a battery is not connected to the extension portion 3511; the manner of the mating connection between the extension portion 3511 and the main body structure 32 far away from the connecting component 2 is the same as the manner of the mating connection between the adjacent main body structures 32, and the manner of the mating connection between the extension portion 3511 and the main body structure 32 far away from the connecting component 2 is not described herein again.

Further, in this embodiment, the outer casing 351 further includes a first casing 353 and a second casing 354 integrally connected to the extension portion 3511, the second casing 354 and the first casing 353 are fastened together to form an accommodating cavity for accommodating the control mechanism, wherein the second casing 354 and the first casing 353 can be connected by a threaded fastener, such as a screw.

In a specific embodiment of this embodiment, the first housing 353 is located at the upper end of the second housing 354, and the bottom of the second housing 354 has a mounting hole 3541 for mounting the first traveling wheel 31. The manner of mounting the first traveling wheel 31 in the mounting hole 3541 is the same as the manner of mounting the first traveling wheel 31 in the opening 3223, and will not be described herein again.

In order to facilitate the length change of the walking assembly 3 to meet the requirements of different environments, in this embodiment, the supporting shell 322 may be printed by using Acrylonitrile Butadiene Styrene (ABS) through a 3D printing technology, and the material of the supporting shell 322 is not particularly limited.

Further, in order to provide the environment detecting device 10 of the present embodiment with more auxiliary functions, in some specific embodiments, an insertion hole (not shown) may be disposed on the supporting shell 322 to insert a structural member with different functions, where the structural member may be a brush or the like. Here, the function of the structural member is not particularly limited.

Further, the environment detecting device 10 provided in this embodiment may be provided with a switch button (not shown in the figure) for turning on and off the environment detecting device 10, and the switch button is provided to control the on/off of the environment detecting device 10.

The operation of the environment detecting apparatus 10 provided in the present embodiment will be described below.

Specifically, when the environment detection device 10 that this embodiment provided needs to be made work, press shift knob, use cell-phone end APP to observe current environment detection device 10's position state, confirm the route of marcing on next step, make environment detection device 10 march, survey, keep away barrier detection etc.. When the environment detection device 10 of the embodiment is used in rescue operation, the mobile phone end can judge whether to perform search and rescue operation according to the monitored real-time image.

More specifically, when the environment detection device 10 provided in this embodiment detects the position of the living body, the environment detection device 10 may emit an alarm sound, the mobile phone operating end presses the alarm button, the detection assembly 1 starts to swing, the surrounding environment is detected, the computer can be used to perform modeling and identification of the surrounding environment, the entering path of the environment detection device 10 is memorized, data is acquired by this method, and the operator determines whether to continue searching and rescuing according to the image data.

The environment detection device provided by the embodiment comprises a detection assembly, a connecting assembly and a control mechanism, wherein the detection assembly is arranged at the end part of the walking assembly, the detection assembly is rotatably connected with the walking assembly through the connecting assembly, and the control mechanism is arranged on the walking assembly; the detection assembly is used for detecting a preset environment; the detection assembly and the walking assembly are electrically connected with the control mechanism; the walking assembly comprises a first walking wheel, the control mechanism is used for controlling the first walking wheel to move along a preset track so as to drive the environment detection device to move along the preset track, and the control mechanism is used for controlling the walking assembly and/or the detection assembly to swing relative to the connecting assembly; the walking assembly swings in a plane parallel to the axial direction of the first walking wheel, and an included angle is formed between the swinging direction of the detection assembly and the swinging direction of the walking assembly. The walking assembly is controlled by the control mechanism to move along the preset track in the environment detection device provided by the embodiment, so that the environment detection device provided by the embodiment of the disclosure can move along the preset track, compared with the prior art, the position of the environment detection device is not required to be changed by a handheld environment detection device, therefore, when the preset track is determined, the environment detection device provided by the embodiment of the disclosure can reach any position, and cannot be limited by a applicable scene or an applicable space, so that the detection effect of the environment detection device provided by the embodiment of the disclosure is better.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An environment detection device (10) is characterized by comprising a detection component (1), a walking component (3) and a control mechanism;

the detection assembly (1) is arranged at the end part of the walking assembly (3), and the detection assembly (1) is rotatably connected with the walking assembly (3) through a connecting assembly (2); the control mechanism is arranged on the walking assembly (3); the detection assembly (1) is used for detecting a preset environment; the detection assembly (1) and the walking assembly (3) are electrically connected with the control mechanism;

the walking assembly (3) comprises a first walking wheel (31), the control mechanism is used for controlling the first walking wheel (31) to move along a preset track so as to drive the environment detection device (10) to move along the preset track, and the control mechanism is used for controlling the walking assembly (3) and/or the detection assembly (1) to swing relative to the connecting assembly (2);

the walking assembly (3) swings in a plane parallel to the axial direction of the first walking wheel (31), and an included angle is formed between the swinging direction of the detection assembly (1) and the swinging direction of the walking assembly (3).

2. The environment detecting device (10) according to claim 1, characterized in that the walking assembly (3) further comprises a plurality of main structures (32) detachably connected in sequence along the moving direction of the walking assembly (3), the main structure (32) close to the connecting assembly (2) is rotatably matched with the connecting assembly (2), and the bottom of each main structure (32) is provided with two first walking wheels (31) arranged at intervals;

the main body structure (32) comprises first steering engines (321), each first steering engine (321) on the main body structure (32) is electrically connected with the control mechanism, and the control mechanism is used for controlling the first steering engines (321) to enable the first steering engines (321) to drive the main body structure (32) to swing or move correspondingly.

3. The environment detection device (10) according to claim 2, wherein the main body structure (32) further comprises a support shell (322), the first steering engine (321) being arranged at one end of the support shell (322);

the other end of each supporting shell (322) is provided with a concave cavity for the adjacent supporting shell (322) to extend into, and a first steering engine (321) on the adjacent main body structure (32) is embedded on the top wall of the concave cavity;

the bottom of the cavity is provided with two openings (3223) which are arranged at intervals, the two openings (3223) are arranged in one-to-one correspondence with the two first travelling wheels (31), and the first travelling wheels (31) are arranged in the corresponding openings (3223).

4. The environment detecting device (10) according to claim 3, wherein a mounting shaft (3227) for sleeving the first traveling wheel (31) is provided on a side wall of the opening (3223);

the mounting shaft (3227) is provided with a notch (3228) extending along the axial direction of the mounting shaft (3227), and the notch (3228) divides the mounting shaft (3227) into two single shafts arranged at intervals;

a stopping part (3229) is arranged on one side of each single shaft far away from the side wall of the opening (3223) so as to limit the first travelling wheel (31) between the stopping part (3229) and the side wall of the opening (3223).

5. The environment detecting device (10) according to claim 3, characterized in that the first steering engine (321) is connected with one end of the supporting shell (322) through a first fixed shaft (3230), and the top wall of the concave cavity is provided with a first through hole (3231) for the first fixed shaft (3230) of the adjacent main body structure (32) to pass through;

the first through hole (3231) is rotatably matched with a first fixed shaft (3230) on the adjacent main body structure (32).

6. The environment detecting device (10) according to claim 5, characterized in that the supporting shell (322) is provided with a second fixed shaft (3232), and the bottom wall of the concave cavity is provided with a second through hole (3233) opposite to the first through hole (3231);

and a bearing (33) is arranged between the second fixed shaft (3232) and the second through hole (3233) on the adjacent main body structure (32).

7. The environment detection device (10) according to any one of claims 3-6, wherein the main body structure (32) further comprises two batteries (34) spaced apart, the batteries (34) being disposed on one end of the support housing (322);

the first steering engine (321) is located between the two batteries (34), each battery (34) is electrically connected with the first steering engine (321), and the batteries (34) are used for supplying power to the first steering engines (321).

8. The environment detecting device (10) according to any one of claims 2-6, characterized in that the walking assembly (3) has a tail structure (35) on a side away from the connecting assembly (2), and the tail structure (35) comprises a housing (351), a second steering engine (352) and two first walking wheels (31) arranged at intervals;

the two first travelling wheels (31) are arranged at the bottom end of the shell (351), one side of the shell (351) facing the main body structure (32) is provided with an extension part (3511), and the extension part (3511) is rotationally matched with the main body structure (32) close to the shell (351);

the second steering engine (352) is arranged on the extending part (3511), the second steering engine (352) is electrically connected with the control mechanism, and the control mechanism is used for controlling the second steering engine (352) to enable the second steering engine (352) to drive the tail structure (35) to swing or move.

9. The environment detection device (10) according to any one of claims 1 to 6, characterized in that the detection assembly (1) comprises a stationary housing (11), a camera and a sensor, both of which are disposed within the stationary housing (11), and both of which are electrically connected with the control mechanism;

the camera is used for shooting images in a preset environment; the sensor is used for detecting environmental characteristics in a preset environment; the control mechanism is used for controlling the walking state of the walking assembly according to the image shot by the camera and/or the environmental characteristics detected by the sensor;

the one end of set casing (11) with coupling assembling (2) normal running fit, just the bottom of set casing (11) one end is provided with two interval distribution's second walking wheel (12), second walking wheel (12) with first walking wheel (31) the shape is the same, the size equals.

10. The environment detection device (10) according to claim 9, wherein the connection assembly (2) comprises a detection steering engine (23), and the detection steering engine (23) is electrically connected with the control mechanism;

the control mechanism is used for controlling the detection steering engine (23) to enable the detection steering engine (23) to drive the detection assembly (1) to swing or move.