CN117506853A - Intelligent detection robot - Google Patents

Abstract

The invention discloses an intelligent detection robot which comprises a machine body, a crawler running mechanism, a telescopic mechanism, a gesture control mechanism, a double-shaft cradle head, a tracking camera and a detection control system, wherein the tracking camera can acquire image information in a visual field or monitor and track a target object, the crawler running mechanism can be suitable for running on obstacles such as bumpy terrain or stairs, and the pavement passability is good; meanwhile, the overall attitude gravity center of the robot can be adjusted through an attitude control mechanism, so that toppling caused by gravity center inclination during bumpy running is avoided, and the safety and stability are high; in addition, even if the robot is in a posture adjustment state, the tracking camera can continuously track the target object accurately under the rotation adjustment of the double-shaft cradle head; in addition, the detection control system is rich in function, can monitor risks in conditions such as fire alarm, stranger intrusion, human body falling and the like, and meets various monitoring requirements of people in life or production scenes.

Description

Intelligent detection robot

Technical Field

The invention relates to the field of artificial intelligence, in particular to an intelligent detection robot.

Background

With the development of computer vision and artificial intelligence, various robots have achieved a rich result in related fields and applied the result of scientific research to the field of life. Wherein, intelligent robot is aimed at caring old man, caring child, accompanying individual female and caring pet, and is widely accepted gradually.

In the prior art, some intelligent robots on the market generally can only perform simple man-machine interaction, have single functions, cannot monitor safety information of target groups in real time, and cannot meet actual demands of people in life; in addition, the road surface trafficability characteristic of general intelligent robot is relatively poor, when meetting comparatively jolt topography or barrier such as stair, is difficult to pass through smoothly or stride across, leads to the tracking control inefficacy to target crowd, even though running gear of robot can support its topography that jolts and fluctuates to walk, and overall stability is also relatively poor, takes place to empty when jolt walking easily to cause the damage of camera or other devices.

Accordingly, the prior art has drawbacks and needs improvement.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the intelligent detection robot is rich in functions, good in road surface trafficability and high in stability.

To achieve the purpose, the invention adopts the following technical scheme:

an intelligent detection robot comprises a machine body, a crawler travelling mechanism, a telescopic mechanism, a gesture control mechanism, a double-shaft cradle head, a tracking camera and a detection control system;

the crawler travelling mechanism is arranged at the bottom of the machine body and is used for driving the machine body to travel;

the telescopic mechanism is arranged in the machine body and is connected with the gesture control mechanism so as to drive the gesture control mechanism to move up and down;

the gesture control mechanism is connected with the double-shaft cradle head and is used for adjusting the pitching angle or position of the double-shaft cradle head when the machine body walks obliquely so as to maintain the balance of the gravity center;

the tracking camera is arranged in the double-shaft cradle head;

the tracking camera is used for collecting image information in a visual field or monitoring and tracking a target object;

when the gesture control mechanism is in a gravity center adjusting state, the double-shaft cradle head is used for rotating and adjusting the tracking camera so that the tracking camera can acquire and track the image of the target object;

the detection control system comprises a sensor module and a central processing unit;

The central processing unit is used for receiving, analyzing and responding to the image information acquired by the tracking camera or the environment information detected by the sensor module.

By adopting the technical schemes, in the intelligent detection robot, the crawler travel mechanism comprises a travel motor, a driving wheel, a variable driven wheel, a fixed driven wheel and a crawler;

the caterpillar band is used for surrounding the driving wheel, the variable driven wheel and the fixed driven wheel;

the walking motor is arranged in the machine body, and an output shaft of the walking motor is connected with the driving wheel;

the fixed driven wheel is positioned at one side end of the driving wheel, and the fixed driven wheel is connected with the driving wheel through a connecting arm;

the variable driven wheel is positioned at the other side end of the driving wheel, and a shock absorbing wheel set is arranged between the variable driven wheel and the driving wheel;

the shock absorbing wheel set is hinged with the driving wheel through a first connecting rod;

the shock absorbing wheel set is also hinged with the variable driven wheel through a connecting rod elastic component;

the connecting rod elastic component is used for providing elastic acting force for the variable driven wheel so as to enable the variable driven wheel to be abutted with the inner wall of the crawler;

When the crawler belt walks to a bumpy terrain or an obstacle, resistance is generated to the variable driven wheel, and when the resistance is larger than the elastic acting force of the connecting rod elastic assembly to the variable driven wheel, the variable driven wheel can be driven to rotate around the axle center of the shock absorbing wheel set, so that the shape of the crawler belt is changed to adapt to the bumpy terrain or pass over the obstacle.

By adopting the technical schemes, in the intelligent detection robot, the connecting rod elastic assembly comprises a second connecting rod, a third connecting rod, a first spring piece and a first pin shaft;

the first end of the second connecting rod is hinged with the first end of the third connecting rod through the first pin shaft;

the second end of the second connecting rod is connected with the variable driven wheel;

the second end of the third connecting rod is hinged with the shock absorbing wheel set;

one end of the first spring piece is connected with the second connecting rod, and the other end of the first spring piece is connected with the third connecting rod;

the first spring member is configured to provide elastic support to the second link and the third link.

By adopting the technical schemes, in the intelligent detection robot, the shock absorbing wheel set comprises a first swing arm, a second pin shaft and a second spring piece;

The first swing arm and the second swing arm are arranged in a crossing manner;

the first swing arm is hinged with the second swing arm through the second pin shaft;

pulley rows which are in butt joint with the inner walls of the tracks are respectively arranged at the bottoms of the first swing arm and the second swing arm;

the second spring piece is arranged between the tops of the first swing arm and the second swing arm so as to provide elastic support for the first swing arm and the second swing arm.

By adopting the technical schemes, in the intelligent detection robot, the gesture control mechanism comprises a base, a swinging plate, a transverse swinging assembly, a turnover plate, a pitching turnover assembly and an inclination sensor;

the inclination sensor is arranged at the top center of the machine body and is used for detecting the inclination angle of the machine body and feeding back the inclination angle information to the central processing unit;

the base is connected with the telescopic mechanism;

the swinging plate is connected with the top of the base through a first movable shaft;

the transverse swinging assembly is arranged on the base and connected with the swinging plate so as to drive the swinging plate to transversely swing around the first movable shaft;

the swinging plate is of a U-shaped structure, the overturning plate is arranged in an opening of the swinging plate, and two sides of the overturning plate are respectively connected with the inner wall of the swinging plate through a second movable shaft;

The pitching turnover assembly is arranged on the swinging plate and connected with the turnover plate so as to drive the turnover plate to perform pitching turnover motion around the second movable shaft;

the double-shaft cradle head is arranged on the overturning plate;

when the robot runs to bumpy terrain or spans obstacles and the gravity center is changed due to the fact that the whole robot tilts, the central processing unit is used for controlling the transverse swinging assembly and the pitching overturning assembly to act so as to adjust the position of the tracking camera connected with the double-shaft cradle head, and therefore balance adjustment of the gravity center is achieved, and the occurrence of rolling is avoided;

the transverse swinging assembly comprises a swinging motor, a third swinging arm and a first pull rod, the swinging motor is arranged on the base, an output shaft of the swinging motor is connected with a first end of the first pull rod through the third swinging arm, and a second end of the first pull rod is connected with the swinging plate;

the pitching overturning assembly comprises an overturning motor, a fourth swinging arm and a second pull rod, wherein the overturning motor is arranged on the swinging plate, an output shaft of the overturning motor is connected with a first end of the second pull rod through the fourth swinging arm, and a second end of the second pull rod is connected with the overturning plate.

By adopting the technical schemes, in the intelligent detection robot, the double-shaft holder comprises a shell, a slewing mechanism, a swivel base, an angle overturning mechanism and a bearing box;

the rotary mechanism is arranged in the shell and is connected with the rotary seat so as to drive the rotary seat to perform 360-degree rotary motion;

the bearing box is rotatably connected to the top of the shell;

the angle overturning mechanism is arranged on the swivel base and connected with the bearing box to drive the bearing box to overturn;

the bearing box is used for loading the tracking camera, the bearing box is of a detachable structure, and a box hole for exposing a lens of the tracking camera is formed in the bearing box.

By adopting the technical schemes, in the intelligent detection robot, the telescopic mechanism comprises a telescopic motor, a reduction gear set, a threaded rod and a telescopic sleeve;

the telescopic motor is in transmission connection with the threaded rod through the reduction gear set so as to drive the threaded rod to rotate; the telescopic sleeve top with the base is connected, telescopic sleeve's inner wall is equipped with internal thread structure, telescopic sleeve with the threaded rod passes through threaded connection, works as when the threaded rod rotates, can drive telescopic sleeve realizes flexible removal to the adjustment focus position of robot or adjustment the height of tracking the camera.

By adopting the technical schemes, the intelligent detection robot further comprises an anti-collision mechanism, wherein the anti-collision mechanism is arranged on the back of the machine body;

the anti-collision mechanism comprises an anti-collision plate, a cross beam plate, a spring buffer piece, a limit sensor and an induction piece;

the beam plate is connected with the machine body;

the spring buffer parts are arranged along the length direction of the beam plate;

the anti-collision plate is arranged on one side, far away from the machine body, of the beam plate, and the anti-collision plate is connected with the beam plate through the spring buffer piece;

the spring buffer piece is used for providing elastic force for the anti-collision plate to push outwards;

the limiting sensor is arranged on the cross beam plate, the sensing piece is arranged on the inner side of the anti-collision plate, and a notch which can be used for the sensing piece to extend into for sensing is formed in the limiting sensor;

the limiting sensor is in signal connection with the central processing unit, when the anti-collision plate is collided by external force, and the impact force generated by collision is larger than the elastic force of the spring buffer piece, the sensing piece can be caused to stretch into the notch of the limiting sensor to realize sensing, at the moment, the central processing unit is used for receiving collision signals and controlling the telescopic mechanism to enable the height of the tracking camera to be reduced to the lowest, and meanwhile, the pitching overturning assembly of the gesture control mechanism is controlled to enable the tracking camera to overturn to one side close to the anti-collision plate, so that the gravity center of the robot is adjusted towards the back, and the situation that the tracking camera is damaged due to toppling of the robot when the robot receives high impact collision force is avoided.

By adopting the technical schemes, in the intelligent detection robot, the detection control system further comprises a display module, a wireless communication module and a voice module;

the display module is arranged on the machine body;

the sensor module comprises a temperature and humidity sensor, a flame sensor and a smoke sensor;

the temperature and humidity sensor is used for collecting the ambient temperature and the ambient humidity and converting the ambient temperature and the ambient humidity into data signals;

the central processing unit is used for transmitting the received temperature and humidity data signals to the display module for numerical display so as to display the temperature and humidity of the environment in real time;

the flame sensor is used for detecting flame information in the environment, and the smoke sensor is used for detecting smoke concentration in the environment;

the central processing unit is used for carrying out data analysis on the received flame information and smoke concentration information;

if the fire disaster is analyzed and judged, fire disaster early warning information is sent to the mobile terminal of the user through the wireless communication module or sound early warning is sent on site through the voice module.

By adopting the technical schemes, in the intelligent detection robot, the detection control system further comprises a face recognition module, a face database, a human body detection module and a falling recognition module;

The face database is used for storing face characteristic data of authorized personnel;

the face recognition module is used for recognizing the face image acquired by the tracking camera, extracting the characteristics and comparing and matching the extracted characteristics with the face characteristics in the face database;

if the matching is unsuccessful, judging that the mobile terminal is a stranger, and sending the intrusion early warning information of the stranger to the mobile terminal of the user through the wireless communication module;

the human body detection module is used for detecting the scene image acquired by the tracking camera to determine whether the scene image contains an image of a human body or not;

when the scene image contains a human body image, the falling identification module is used for carrying out falling action identification on the human body image so as to determine whether the human body is in a falling state, and if so, the falling identification module sends human body falling early warning information to a mobile terminal of a user through the wireless communication module;

the sensor module also comprises a ranging sensor and a pyroelectric human body sensor;

the pyroelectric human body sensor is used for detecting infrared signals of human bodies or animals in surrounding scenes, and when the human bodies or the animals in the surrounding scenes are detected, the central processing unit is used for controlling and driving the crawler travelling mechanism to walk along with the human bodies or the animals so as to enable the tracking camera to keep a video monitoring state with the human bodies or the animals;

The distance measuring sensor is used for detecting the interval distance between the robot and the adjacent object, and the central processing unit is used for analyzing and judging the received interval distance information and controlling whether the crawler travelling mechanism stops to act or not to avoid.

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

the tracking camera of the robot can acquire image information in a visual field or monitor and track a target object, the crawler traveling mechanism can drive the machine body to travel, and the telescopic mechanism can adjust the height of the tracking camera so as to avoid a shielding object to monitor the target object in real time; the shape of the crawler belt travelling mechanism can be changed along with fluctuation of a road surface so as to be suitable for travelling on obstacles such as bumpy terrain or stairs, and the road surface has good trafficability, and prevents follow-up shooting interruption caused by poor road conditions when a target is tracked and shot or monitored; meanwhile, the overall attitude gravity center of the robot can be adjusted through an attitude control mechanism, so that the phenomenon that the tracking camera or other components are damaged due to tilting of the gravity center during bumpy running is avoided, and the safety and the stability are high; in addition, even if the robot is in a posture adjustment state, the tracking camera can continuously track the target object with accurate images under the rotation adjustment of the double-shaft cradle head, so that the loss of monitoring pictures is avoided, and the monitoring performance is good; when the robot is impacted by high impact force on the back, the anti-collision mechanism not only can buffer the machine body for collision protection, but also can control the telescopic mechanism to retract to the lowest height through the detection control system, and simultaneously control the gesture control mechanism to act so as to turn the tracking camera to one side close to the anti-collision plate, thereby enabling the gravity center of the robot to be adjusted towards the back, being beneficial to counteracting part of forward tilting impact force and avoiding the damage to the tracking camera caused by tilting of the robot when the robot receives the high impact force; in addition, the detection control system is rich in function, can monitor risks in conditions such as fire alarm, stranger intrusion, human body falling and the like, and meets various monitoring requirements of people in life or production scenes.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.

The structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure, and are not intended to limit the scope of the invention, since any modification, variation in proportions, or adjustment of the size, etc. of the structures, proportions, etc. should be considered as falling within the spirit and scope of the invention, without affecting the effect or achievement of the objective.

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the attitude control mechanism of the present invention in another state;

FIG. 3 is a schematic view of the crawler travel mechanism of the present invention;

FIG. 4 is a schematic view of the front overall structure of the present invention;

FIG. 5 is a schematic view of the attitude control mechanism according to the present invention;

FIG. 6 is a schematic view of another view angle structure of the attitude control mechanism according to the present invention;

FIG. 7 is a schematic view of a telescopic mechanism according to the present invention;

FIG. 8 is a schematic view of an anti-collision mechanism according to the present invention;

FIG. 9 is a schematic view of a dual axis stage structure according to the present invention;

FIG. 10 is a schematic view of another view angle structure of the dual-axis stage of the present invention;

FIG. 11 is a schematic diagram of the operation of the detection control system according to the present invention.

Illustration of:

1. a body; 2. a crawler belt travelling mechanism; 21. a walking motor; 22. a driving wheel; 23. a variable driven wheel; 24. fixing a driven wheel; 25. a track; 26. a connecting arm; 27. a shock absorbing wheel set; 271. a first swing arm; 272. a second swing arm; 273. a second pin; 274. a second spring member; 275. a pulley row; 28. a first link; 29. a link elastic assembly; 291. a second link; 292. a third link; 293. a first spring member; 294. a first pin; 3. a telescoping mechanism; 31. a telescopic motor; 32. a reduction gear set; 33. a threaded rod; 34. a telescoping sleeve; 4. a posture control mechanism; 41. a base; 42. a swinging plate; 43. a lateral swing assembly; 431. a swing motor; 432. a third swing arm; 433. a first pull rod; 44. a turnover plate; 45. a pitch-roll assembly; 451. a turnover motor; 452. a fourth swing arm; 453. a second pull rod; 46. a tilt sensor; 5. double-shaft cradle head; 51. a housing; 52. a slewing mechanism; 53. rotating base; 54. an angle overturning mechanism; 55. a carrying case; 6. tracking a camera; 7. an anti-collision mechanism; 71. an anti-collision plate; 72. a cross beam plate; 73. a spring buffer; 74. a limit sensor; 741. a notch; 75. an induction piece; 81. and a display module.

Detailed Description

In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. It is noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 11, an embodiment of the present invention provides an intelligent inspection robot,

the device comprises a machine body 1, a crawler travel mechanism 2, a telescopic mechanism 3, a gesture control mechanism 4, a double-shaft cradle head 5, a tracking camera 6 and a detection control system;

the crawler travel mechanism 2 is arranged at the bottom of the machine body 1 and is used for driving the machine body 1 to travel;

the telescopic mechanism 3 is arranged in the machine body 1, the telescopic mechanism 3 is connected with the gesture control mechanism 4, so as to drive the gesture control mechanism 4 to move up and down, the gesture control mechanism 4 is connected with the double-shaft cradle head 5, the gesture control mechanism 4 is used for adjusting the pitching angle or position of the double-shaft cradle head 5 when the machine body 1 is in inclined walking so as to maintain the balance of the gravity center, the tracking camera 6 is arranged in the double-shaft cradle head 5, the tracking camera 6 is used for collecting image information in a visual field or monitoring and tracking a target object, when the gesture control mechanism 4 is in a gravity center adjusting state, the double-shaft cradle head 5 is used for rotating and adjusting the tracking camera 6 so as to enable the tracking camera 6 to acquire and track an image of the target object, and the detection control system comprises a sensor module and a central processing unit, and the central processing unit is used for receiving, analyzing and responding to the image information collected by the tracking camera 6 or the environment information detected by the sensor module.

In this embodiment, the tracking camera 6 may collect image information in the field of view or monitor and track the target object, the crawler 2 may drive the machine body 1 to walk, and the telescopic mechanism 3 may adjust the height of the tracking camera 6 to avoid the shielding object to monitor the target object in real time; the crawler belt travelling mechanism 2 can deform along with the fluctuation of the road surface so as to be suitable for travelling on obstacles such as bumpy terrain or stairs, and the road surface has good trafficability, and prevents the follow-up shooting interruption caused by poor road conditions when the target is tracked and shot or monitored; meanwhile, the overall posture gravity center of the robot can be adjusted through the posture control mechanism 4, so that the phenomenon that the tracking camera 6 or other components are damaged due to tilting of the gravity center during bumpy running is avoided, and the safety and the stability are high; in addition, even when the robot is in the posture adjustment state, the tracking camera 6 can continuously track the target object accurately under the rotation adjustment of the double-shaft cradle head 5, so that the loss of monitoring pictures is avoided, and the monitoring performance is good.

As shown in fig. 3, further, the crawler traveling mechanism 2 includes a traveling motor 21, a driving wheel 22, a variable driven wheel 23, a fixed driven wheel 24, and a crawler 25;

The caterpillar band 25 is used for enclosing the driving wheel 22, the variable driven wheel 23 and the fixed driven wheel 24; in this embodiment, the outer surface of the track 25 is provided with a texture structure for increasing friction with the ground, and the track 25 is made of rubber material, so that the track is soft in nature and can deform to adapt to different road conditions;

the walking motor 21 is arranged in the machine body 1, an output shaft of the walking motor 21 is connected with the driving wheel 22, and when the walking motor 21 is started, the crawler belt 25 can be driven to rotate by the driving wheel 22 so as to realize walking;

the fixed driven wheel 24 is located at one side end of the driving wheel 22, the fixed driven wheel 24 is connected with the driving wheel 22 through a connecting arm 26, the fixed driven wheel 24 is used for supporting the crawler belt 25, and the fixed driven wheel 24 is used for stabilizing the tension of the crawler belt 25 in the running process;

the variable driven wheel 23 is positioned at the other side end of the driving wheel 22, a shock absorbing wheel set 27 is arranged between the variable driven wheel 23 and the driving wheel 22, the shock absorbing wheel set 27 is hinged with the driving wheel 22 through a first connecting rod 28, the shock absorbing wheel set 27 is also hinged with the variable driven wheel 23 through a connecting rod elastic assembly 29, and the connecting rod elastic assembly 29 is used for providing elastic acting force for the variable driven wheel 23 so as to enable the variable driven wheel 23 to be abutted against the inner wall of the crawler 25; when the caterpillar band 25 walks to a bumpy terrain or obstacle, a resistance is generated to the variable driven wheel 23, and when the resistance is larger than the elastic acting force of the connecting rod elastic assembly 29 to the variable driven wheel 23, the variable driven wheel 23 can be driven to rotate around the axle center of the shock absorbing wheel set 27, so that the shape of the caterpillar band 25 is changed to adapt to the bumpy terrain or pass over the obstacle, and therefore better walking performance and obstacle passing ability of the robot are provided. The function of the shock absorbing wheel set 27 is to increase the walking stability of the robot when the robot bumps or encounters an obstacle, specifically, when the crawler 25 walks to bump or encounters an obstacle, the shock absorbing wheel set 27 plays a role of buffering and damping, and it can absorb the impact from the ground, thereby reducing the vibration of the machine body 1.

As shown in fig. 3, further, the link elastic assembly 29 includes a second link 291, a third link 292, a first spring member 293 and a first pin 294, wherein a first end of the second link 291 and a first end of the third link 292 are hinged by the first pin 294, a second end of the second link 291 is connected to the variable driven wheel 23, a second end of the third link 292 is hinged to the shock absorbing wheel set 27, one end of the first spring member 293 is connected to the second link 291, the other end of the first spring member 293 is connected to the third link 292, and the first spring member 293 is used for providing elastic support to the second link 291 and the third link 292. The connecting rod elastic assembly 29 plays a role in connection and providing elastic support when the crawler 25 walks, specifically, when the crawler 25 walks to a bumpy terrain or the resistance of an obstacle to the variable driven wheel 23 is smaller than the elastic acting force of the connecting rod elastic assembly 29 to the variable driven wheel 23, the variable driven wheel 23 cannot rotate, namely, the crawler 25 cannot change in shape, the crawler 25 can smoothly pass through the terrain at the moment, and the connecting rod elastic assembly 29 plays a role in connection to maintain the tension of the crawler 25; when the track 25 walks to a bumpy terrain or the resistance of the obstacle to the variable driven wheel 23 is greater than the elastic force of the link elastic assembly 29 to the variable driven wheel 23, the second link 291 rotates around the first pin 294, and at the same time the first spring 293 is pressed, so that the third link 292 rotates around the axle center of the shock absorbing wheel set 27, and in this state, the link elastic assembly 29 plays a role of elastic support.

As shown in fig. 3, further, the shock absorbing wheel set 27 includes a first swing arm 271, a second swing arm 272, a second pin 273, and a second spring 274; the first swing arm 271 and the second swing arm 272 are disposed to intersect each other; the first swing arm 271 and the second swing arm 272 are hinged through the second pin shaft 273; pulley rows 275 which are in contact with the inner walls of the tracks 25 are respectively arranged at the bottoms of the first swing arm 271 and the second swing arm 272; the second spring 274 is disposed between the tops of the first swing arm 271 and the second swing arm 272 to provide elastic support to the first swing arm 271 and the second swing arm 272. In this embodiment, the first swing arm 271 and the second swing arm 272 are mutually crossed, and are hinged by the second pin shaft 273, so that when the shape of the track 25 is changed, the swing angle between the first swing arm 271 and the second swing arm 272 can be changed by the pulley row 275, and the pulley row 275 is caused to be always attached to the inner wall of the track 25, so that the tension of the track 25 is maintained.

As shown in fig. 2, 5 and 6, the attitude control mechanism 4 further includes a base 41, a swing plate 42, a yaw assembly 43, a roll plate 44, a pitch roll assembly 45 and a tilt sensor 46;

The tilt sensor 46 is disposed at the top center of the machine body 1, and is configured to detect a tilt angle of the machine body 1, and feed back the tilt angle information to the central processing unit. In this embodiment, the tilt sensor 46 is in signal connection with the central processing unit.

The base 41 is connected with the telescopic mechanism 3, the swinging plate 42 is connected with the top of the base 41 through a first movable shaft, the transverse swinging assembly 43 is arranged on the base 41, and the transverse swinging assembly 43 is connected with the swinging plate 42 so as to drive the swinging plate 42 to transversely swing around the first movable shaft;

the swinging plate 42 is in a U-shaped structure, the turning plate 44 is arranged in an opening of the swinging plate 42, two sides of the turning plate 44 are respectively connected with the inner wall of the swinging plate 42 through a second movable shaft, the pitching turnover assembly 45 is arranged on the swinging plate 42, and the pitching turnover assembly 45 is connected with the turning plate 44 so as to drive the turning plate 44 to perform pitching turnover motion around the second movable shaft;

the dual-axis tripod head 5 is arranged on the turnover plate 44, and when the robot is driven to bump the terrain or stride across the obstacle and the whole body tilts to change the gravity center, the central processing unit is used for controlling the transverse swinging component 43 and the pitching turnover component 45 to act so as to adjust the position of the tracking camera 6 connected with the dual-axis tripod head 5, thereby realizing the balance adjustment of the gravity center and avoiding the occurrence of rolling. It should be noted that, in order to increase the capturing field of view of the screen, the height of the tracking camera 6 is often required to be increased to avoid the shielding object for shooting, however, due to the heavy weight of the tracking camera 6, the overall center position of the robot is higher, and when the robot walks to a slightly bumpy road, the robot is easy to topple due to shaking, and at this time, the gravity center balance can be timely adjusted by the gesture control mechanism 4. Specifically, when the inclination sensor 46 detects that the machine body 1 deflects to the left, the central processing unit can control the transverse swinging component 43 to act so as to enable the swinging plate 42 to swing to the right; when the inclination sensor 46 detects that the machine body 1 deflects to the rear side, such as when the robot climbs stairs, the central processor can control the pitching turnover assembly 45 to act so that the bearing surface of the turnover plate 44 faces to the front side, and the gravity center is moved forward, so that the whole gravity center is prevented from being moved backward to cause the robot to topple over, and vice versa.

Specifically, the lateral swing assembly 43 includes a swing motor 431, a third swing arm 432, and a first pull rod 433, where the swing motor 431 is disposed on the base 41, an output shaft of the swing motor 431 is connected to a first end of the first pull rod 433 through the third swing arm 432, and a second end of the first pull rod 433 is connected to the swing plate 42. In this embodiment, the swing motor 431 may drive the first pull rod 433 to pull down or push up through the third swing arm 432, so as to drive the swing plate 42 to swing laterally around the first movable shaft.

Specifically, the pitch-overturning assembly 45 includes an overturning motor 451, a fourth swinging arm 452, and a second pull rod 453, the overturning motor 451 is disposed on the swinging plate 42, an output shaft of the overturning motor 451 is connected with a first end of the second pull rod 453 through the fourth swinging arm 452, and a second end of the second pull rod 453 is connected with the overturning plate 44. In this embodiment, the overturning motor 451 may drive the second pull rod 453 to perform a back-pulling or front-pushing action through the fourth swing arm 452, so as to drive the overturning plate 44 to pitch and overturn around the second movable shaft.

As shown in fig. 1, 9 and 10, the biaxial cradle head 5 further comprises a housing 51, a swivel mechanism 52, a swivel 53, an angle turning mechanism 54 and a carrying case 55; the swivel mechanism 52 is disposed in the housing 51, and the swivel mechanism 52 is connected to the swivel seat 53, so as to drive the swivel seat 53 to perform a 360-degree swivel motion.

The bearing box 55 is rotatably connected to the top of the housing 51, the angle turning mechanism 54 is disposed on the swivel base 53, the angle turning mechanism 54 is connected to the bearing box 55 to drive the bearing box 55 to perform turning motion,

the carrying box 55 is used for loading the tracking camera 6, the carrying box 55 is of a detachable structure, and a box hole for exposing a lens of the tracking camera 6 is formed in the carrying box 55. In this embodiment, the rotation mechanism 52 may drive the tracking camera 6 to rotate 360 ° to perform rotation shooting on the surrounding environment; the angle turning mechanism 54 may drive the tracking camera 6 to pitch and turn, and it should be noted that the roles of the angle turning mechanism 54 and the pitch turning assembly 45 are different, the role of the pitch turning assembly 45 is more prone to adjust the center of gravity of the robot, and the angle turning mechanism 54 is prone to adjust the lens direction of the tracking camera 6, so that the lens direction of the tracking camera 6 can be aligned with the target object at any time for follow shooting when the tracking camera 6 is in the posture adjustment state. In addition, bear box 55 can protect tracking camera 6, will bear box 55 and set up to detachable construction, can be convenient for the user change the tracking camera 6 of other models according to actual demand.

As shown in fig. 7, further, the telescopic mechanism 3 includes a telescopic motor 31, a reduction gear set 32, a threaded rod 33 and a telescopic sleeve 34, wherein the telescopic motor 31 is in transmission connection with the threaded rod 33 through the reduction gear set 32 so as to drive the threaded rod 33 to rotate; the top of the telescopic sleeve 34 is connected with the base 41, an internal thread structure is arranged on the inner wall of the telescopic sleeve 34, the telescopic sleeve 34 is in threaded connection with the threaded rod 33, and when the threaded rod 33 rotates, the telescopic sleeve 34 can be driven to realize telescopic movement so as to adjust the gravity center position of the robot or the height of the tracking camera 6. It should be noted that, the telescopic motor 31 is in driving connection with the threaded rod 33 through the reduction gear set 32, so configured that the telescopic motor 31 can increase the output torque to the threaded rod 33 by reducing the rotation speed, and further provide enough thrust to drive the base 41 to lift.

As shown in fig. 1 and 8, the robot further includes an anti-collision mechanism 7, wherein the anti-collision mechanism 7 is disposed at the back of the machine body 1; the anti-collision mechanism 7 comprises an anti-collision plate 71, a beam plate 72, a spring buffer 73, a limit sensor 74 and a sensing piece 75;

The beam plate 72 with organism 1 is connected, and is a plurality of spring cushioning member 73 is followed the length direction of beam plate 72 sets up, the anticollision board 71 is located beam plate 72 is kept away from one side of organism 1, pass through between anticollision board 71 and the beam plate 72 spring cushioning member 73 is connected, spring cushioning member 73 is used for the anticollision board 71 provides the elasticity of pushing out outwards, limit sensor 74 locates on the beam plate 72, the inboard of anticollision board 71 is located to the response piece 75, be equipped with on the limit sensor 74 and supply the response piece 75 stretches into the notch 741 that carries out the response.

In this embodiment, the limit sensor 74 is in signal connection with the central processing unit, when the anti-collision plate 71 is collided by an external force, and the impact force generated by the collision is greater than the elastic force of the spring buffer 73, the sensing piece 75 is caused to extend into the notch 741 of the limit sensor 74 to achieve sensing, at this time, the central processing unit is configured to receive the collision signal and control the telescopic mechanism 3 to retract the height of the tracking camera 6 to the lowest, and simultaneously control the pitch and tilt assembly 45 of the gesture control mechanism 4 to tilt the tracking camera 6 to a side close to the anti-collision plate 71, so as to adjust the gravity center of the robot toward the back, thereby avoiding the robot from tilting to damage the tracking camera 6 when receiving a high impact force. When the collision plate 71 is not sufficiently collided by the external force to overcome the elastic force of the spring buffer 73, the collision force is small, and the normal operation of the robot is not affected.

As shown in fig. 11, further, the detection control system further includes a display module 81, a wireless communication module, and a voice module;

the display module 81 is arranged on the machine body 1;

the sensor module comprises a temperature and humidity sensor, a flame sensor and a smoke sensor;

the temperature and humidity sensor is used for collecting the ambient temperature and the ambient humidity and converting the ambient temperature and the ambient humidity into data signals;

the central processing unit is used for transmitting the received temperature and humidity data signals to the display module 81 for numerical display so as to display the temperature and humidity of the environment in real time.

The flame sensor is used for detecting flame information in the environment, and the smoke sensor is used for detecting smoke concentration in the environment;

the central processing unit is used for carrying out data analysis on the received flame information and smoke concentration information;

if the fire disaster is analyzed and judged, fire disaster early warning information is sent to the mobile terminal of the user through the wireless communication module or sound early warning is sent on site through the voice module.

It should be noted that, temperature and humidity detection and fire early warning recognition function are not only applicable to the monitoring at home, but also applicable to the production operation of mill to in time discover unexpected condition and report to the police, reduce the loss.

Further, the detection control system further comprises a face recognition module, a face database, a human body detection module and a falling recognition module;

the face database is used for storing face characteristic data of authorized personnel;

the face recognition module is used for recognizing the face image acquired by the tracking camera 6, extracting features and comparing and matching the extracted features with the face features in the face database;

if the matching is unsuccessful, judging the mobile terminal to be a stranger, and sending the intrusion early warning information of the stranger to the mobile terminal of the user through the wireless communication module.

It should be noted that, the robot can recognize family members through the face recognition module, and send early warning information when a stranger intrudes.

The human body detection module is used for detecting the scene image acquired by the tracking camera 6 to determine whether the scene image contains an image of a human body or not;

when the scene image contains a human body image, the falling identification module is used for carrying out falling action identification on the human body image so as to determine whether the human body is in a falling state, and if so, the falling identification module sends the human body falling early warning information to the mobile terminal of the user through the wireless communication module.

In this embodiment, the human body detection module and the fall recognition module can monitor the safety conditions of the family members, such as the old and children, and timely alarm the family members when accidents such as falling occur.

The sensor module also comprises a ranging sensor and a pyroelectric human body sensor;

the pyroelectric human body sensor is used for detecting infrared signals of human bodies or animals in surrounding scenes, and when the human bodies or the animals in the surrounding scenes are detected, the central processing unit is used for controlling and driving the crawler travelling mechanism 2 to travel along with the human bodies or the animals so as to enable the tracking camera 6 to keep a video monitoring state with the human bodies or the animals;

the distance measuring sensor is used for detecting the interval distance between the robot and the adjacent object, and the central processing unit is used for analyzing and judging the received interval distance information and controlling whether the crawler travelling mechanism 2 stops to act or not to avoid.

It should be noted that, the robot may use the pyroelectric human body sensor and the ranging sensor to detect the surrounding environment, and perform inspection and avoidance according to the distance information and the human body recognition result, for example, perform security inspection in a warehouse, a factory, or a public transportation site, or implement tracking and follow-up for human bodies or animals.

The detection control system has rich functions, can monitor risks in fire alarm, stranger intrusion, human body falling and other conditions, and meets various monitoring requirements of people in life or production scenes.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An intelligent detection robot is characterized by comprising a machine body (1), a crawler travelling mechanism (2), a telescopic mechanism (3), a gesture control mechanism (4), a double-shaft cradle head (5), a tracking camera (6) and a detection control system;

the crawler travelling mechanism (2) is arranged at the bottom of the machine body (1) and is used for driving the machine body (1) to travel;

the telescopic mechanism (3) is arranged in the machine body (1), and the telescopic mechanism (3) is connected with the gesture control mechanism (4) and is used for driving the gesture control mechanism (4) to move up and down;

The attitude control mechanism (4) is connected with the double-shaft tripod head (5), and the attitude control mechanism (4) is used for adjusting the pitching angle or position of the double-shaft tripod head (5) when the machine body (1) is inclined so as to maintain the gravity center balance;

the tracking camera (6) is arranged in the double-shaft holder (5), and the tracking camera (6) is used for collecting image information in a visual field or monitoring and tracking a target object;

when the gesture control mechanism (4) is in a gravity center adjusting state, the double-shaft cradle head (5) is used for rotationally adjusting the tracking camera (6) so that the tracking camera (6) can acquire and track an image of a target object;

the detection control system comprises a sensor module and a central processing unit, wherein the central processing unit is used for receiving, analyzing and responding to image information acquired by the tracking camera (6) or environment information detected by the sensor module.

2. The intelligent detection robot according to claim 1, wherein the crawler travel mechanism (2) comprises a travel motor (21), a drive wheel (22), a variable driven wheel (23), a fixed driven wheel (24) and a crawler (25);

the crawler belt (25) is used for enclosing the driving wheel (22), the variable driven wheel (23) and the fixed driven wheel (24);

The walking motor (21) is arranged in the machine body (1), and an output shaft of the walking motor (21) is connected with the driving wheel (22);

the fixed driven wheel (24) is positioned at one side end of the driving wheel (22), and the fixed driven wheel (24) is connected with the driving wheel (22) through a connecting arm (26);

the variable driven wheel (23) is positioned at the other side end of the driving wheel (22), and a shock absorbing wheel set (27) is arranged between the variable driven wheel (23) and the driving wheel (22);

the shock absorbing wheel set (27) is hinged with the driving wheel (22) through a first connecting rod (28);

the shock absorbing wheel set (27) is also hinged with the variable driven wheel (23) through a connecting rod elastic assembly (29);

the connecting rod elastic assembly (29) is used for providing elastic acting force for the variable driven wheel (23) so as to enable the variable driven wheel (23) to be abutted with the inner wall of the crawler belt (25);

when the crawler belt (25) walks to a bumpy terrain or obstacle, resistance is generated on the variable driven wheel (23), and when the resistance is larger than the elastic acting force of the connecting rod elastic assembly (29) on the variable driven wheel (23), the variable driven wheel (23) can be driven to rotate around the axle center of the shock absorbing wheel set (27), so that the shape of the crawler belt (25) is changed to adapt to the bumpy terrain or pass over the obstacle.

3. The intelligent detection robot according to claim 2, wherein the link elastic assembly (29) comprises a second link (291), a third link (292), a first spring member (293) and a first pin (294);

the first end of the second connecting rod (291) and the first end of the third connecting rod (292) are hinged through the first pin shaft (294);

a second end of the second connecting rod (291) is connected with the variable driven wheel (23);

the second end of the third connecting rod (292) is hinged with the shock absorbing wheel set (27);

one end of the first spring member (293) is connected to the second link (291), and the other end of the first spring member (293) is connected to the third link (292);

the first spring member (293) is configured to provide resilient support to the second (291) and third (292) links.

4. The intelligent detection robot according to claim 2, wherein the shock absorbing wheel set (27) comprises a first swing arm (271), a second swing arm (272), a second pin (273) and a second spring member (274);

the first swing arm (271) and the second swing arm (272) are arranged to cross each other;

the first swing arm (271) and the second swing arm (272) are hinged through the second pin shaft (273);

The bottoms of the first swing arm (271) and the second swing arm (272) are respectively provided with a pulley row (275) which is abutted against the inner wall of the crawler belt (25);

the second spring member (274) is disposed between the tops of the first swing arm (271) and the second swing arm (272) to provide elastic support to the first swing arm (271) and the second swing arm (272).

5. The intelligent detection robot according to claim 1, wherein the attitude control mechanism (4) includes a base (41), a swing plate (42), a lateral swing assembly (43), a roll plate (44), a pitch roll assembly (45), and a tilt sensor (46);

the inclination sensor (46) is arranged at the top center of the machine body (1) and is used for detecting the inclination angle of the machine body (1) and feeding back the inclination angle information to the central processing unit;

the base (41) is connected with the telescopic mechanism (3);

the swinging plate (42) is connected with the top of the base (41) through a first movable shaft;

the transverse swinging assembly (43) is arranged on the base (41), and the transverse swinging assembly (43) is connected with the swinging plate (42) so as to drive the swinging plate (42) to transversely swing around the first movable shaft;

the swinging plate (42) is of a U-shaped structure, the overturning plate (44) is arranged in an opening of the swinging plate (42), and two sides of the overturning plate (44) are respectively connected with the inner wall of the swinging plate (42) through a second movable shaft;

The pitching turnover assembly (45) is arranged on the swinging plate (42), and the pitching turnover assembly (45) is connected with the turnover plate (44) to drive the turnover plate (44) to perform pitching turnover motion around the second movable shaft;

the double-shaft cradle head (5) is arranged on the overturning plate (44);

when the robot runs to a bumpy terrain or spans an obstacle and the center of gravity is changed due to the fact that the whole robot tilts, the central processing unit is used for controlling the transverse swinging assembly (43) and the pitching overturning assembly (45) to act so as to adjust the position of the tracking camera (6) connected with the double-shaft tripod head (5), and therefore balance adjustment of the center of gravity is achieved, and the occurrence of rolling is avoided;

the transverse swinging assembly (43) comprises a swinging motor (431), a third swinging arm (432) and a first pull rod (433), the swinging motor (431) is arranged on the base (41), an output shaft of the swinging motor (431) is connected with a first end of the first pull rod (433) through the third swinging arm (432), and a second end of the first pull rod (433) is connected with the swinging plate (42);

the pitching overturning assembly (45) comprises an overturning motor (451), a fourth swinging arm (452) and a second pull rod (453), wherein the overturning motor (451) is arranged on the swinging plate (42), an output shaft of the overturning motor (451) is connected with a first end of the second pull rod (453) through the fourth swinging arm (452), and a second end of the second pull rod (453) is connected with the overturning plate (44).

6. The intelligent detection robot according to claim 5, wherein the biaxial holder (5) comprises a housing (51), a swivel mechanism (52), a swivel base (53), an angle turning mechanism (54), and a carrying case (55);

the rotary mechanism (52) is arranged in the shell (51), and the rotary mechanism (52) is connected with the rotary seat (53) to drive the rotary seat (53) to perform 360-degree rotary motion;

the bearing box (55) is rotatably connected to the top of the shell (51);

the angle overturning mechanism (54) is arranged on the swivel seat (53), and the angle overturning mechanism (54) is connected with the bearing box (55) so as to drive the bearing box (55) to carry out overturning movement;

the bearing box (55) is used for loading the tracking camera (6), the bearing box (55) is of a detachable structure, and a box hole for exposing a lens of the tracking camera (6) is formed in the bearing box (55).

7. The intelligent detection robot according to claim 5, wherein the telescopic mechanism (3) comprises a telescopic motor (31), a reduction gear set (32), a threaded rod (33) and a telescopic sleeve (34);

the telescopic motor (31) is in transmission connection with the threaded rod (33) through the reduction gear set (32) so as to drive the threaded rod (33) to rotate; the telescopic sleeve (34) top with base (41) are connected, the inner wall of telescopic sleeve (34) is equipped with internal thread structure, telescopic sleeve (34) with threaded rod (33) are through threaded connection, work as threaded rod (33) rotate, can drive telescopic sleeve (34) realizes flexible removal to the adjustment focus position of robot or adjustment the height of tracking camera (6).

8. The intelligent detection robot according to claim 7, further comprising an anti-collision mechanism (7), wherein the anti-collision mechanism (7) is arranged at the back of the machine body (1);

the anti-collision mechanism (7) comprises an anti-collision plate (71), a beam plate (72), a spring buffer (73), a limit sensor (74) and an induction piece (75);

the beam plate (72) is connected with the machine body (1);

the spring buffer pieces (73) are arranged along the length direction of the beam plate (72);

the anti-collision plate (71) is arranged on one side, far away from the machine body (1), of the beam plate (72), and the anti-collision plate (71) is connected with the beam plate (72) through the spring buffer piece (73);

the spring buffer (73) is used for providing elastic force for pushing out the anti-collision plate (71);

the limiting sensor (74) is arranged on the beam plate (72), the sensing piece (75) is arranged on the inner side of the anti-collision plate (71), and a notch (741) which can enable the sensing piece (75) to extend into for sensing is arranged on the limiting sensor (74);

the limiting sensor (74) is in signal connection with the central processing unit, when the anti-collision plate (71) is collided by external force, and the impact force generated by collision is larger than the elastic force of the spring buffer (73), the sensing piece (75) can be caused to extend into the notch (741) of the limiting sensor (74) to achieve sensing, at the moment, the central processing unit is used for receiving collision signals and controlling the telescopic mechanism (3) to retract the height of the tracking camera (6) to the lowest, and meanwhile, the pitching overturning assembly (45) of the gesture control mechanism (4) is controlled to overturn the tracking camera (6) to the side close to the anti-collision plate (71) so as to adjust the gravity center of the robot towards the back, and the situation that the tracking camera (6) is damaged due to toppling of the robot when the high impact force is avoided.

9. The intelligent detection robot according to claim 1, wherein the detection control system further comprises a display module (81), a wireless communication module and a voice module;

the display module (81) is arranged on the machine body (1);

the sensor module comprises a temperature and humidity sensor, a flame sensor and a smoke sensor;

the temperature and humidity sensor is used for collecting the ambient temperature and the ambient humidity and converting the ambient temperature and the ambient humidity into data signals;

the central processing unit is used for transmitting the received temperature and humidity data signals to the display module (81) for numerical display so as to display the temperature and humidity of the environment in real time;

the flame sensor is used for detecting flame information in the environment, and the smoke sensor is used for detecting smoke concentration in the environment;

the central processing unit is used for carrying out data analysis on the received flame information and smoke concentration information;

if the fire disaster is analyzed and judged, fire disaster early warning information is sent to the mobile terminal of the user through the wireless communication module or sound early warning is sent on site through the voice module.

10. The intelligent detection robot of claim 9, wherein the detection control system further comprises a face recognition module, a face database, a human detection module, and a fall recognition module;

The face database is used for storing face characteristic data of authorized personnel;

the face recognition module is used for recognizing the face image acquired by the tracking camera (6), extracting features and comparing and matching the extracted features with the face features in the face database;

if the matching is unsuccessful, judging that the mobile terminal is a stranger, and sending the intrusion early warning information of the stranger to the mobile terminal of the user through the wireless communication module;

the human body detection module is used for detecting the scene image acquired by the tracking camera (6) so as to determine whether the scene image contains an image of a human body or not;

when the scene image contains a human body image, the falling identification module is used for carrying out falling action identification on the human body image so as to determine whether the human body is in a falling state, and if so, the falling identification module sends human body falling early warning information to a mobile terminal of a user through the wireless communication module;

the sensor module also comprises a ranging sensor and a pyroelectric human body sensor;

the pyroelectric human body sensor is used for detecting infrared signals of human bodies or animals in surrounding scenes, and when the human bodies or the animals in the surrounding scenes are detected, the central processing unit is used for controlling and driving the crawler travelling mechanism (2) to walk along with the human bodies or the animals so as to enable the tracking camera (6) to keep a video monitoring state with the human bodies or the animals;

The distance measuring sensor is used for detecting the interval distance between the robot and the adjacent object, and the central processing unit is used for analyzing and judging the received interval distance information and controlling whether the crawler travelling mechanism (2) stops acting to avoid.