CN202037601U - Omnibearing reconnaissance robot system - Google Patents
Omnibearing reconnaissance robot system Download PDFInfo
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- CN202037601U CN202037601U CN2011200464309U CN201120046430U CN202037601U CN 202037601 U CN202037601 U CN 202037601U CN 2011200464309 U CN2011200464309 U CN 2011200464309U CN 201120046430 U CN201120046430 U CN 201120046430U CN 202037601 U CN202037601 U CN 202037601U
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- robot system
- car body
- cloud terrace
- control
- servopackage
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Abstract
The utility model provides an omnibearing reconnaissance robot system, which comprises a vehicle body and a controller, wherein the vehicle body comprises a moving assembly, an image acquisition module, a control assembly, a signal transmission assembly and an energy source assembly, wherein the moving assembly is used for driving the vehicle body to freely move; and the image acquisition module is used for acquiring external image information. The controller comprises a cradle head adjusting device, a rotary operating and controlling lever, a speed regulating switch, a direction operating and controlling lever and a display screen. The omnibearing reconnaissance robot system has the advantages of flexibility in control, convenience in use and complete functions when being used for checking the vehicle bottom and other narrow and small spaces.
Description
Technical field
The utility model relates to the picture control field, particularly a kind of omnidirectional Scouting robotic robot system.
Background technology
The user mode of automobile bottom member directly has influence on traffic safety.
The existing device of observing the automobile bottom member comprises: inspection bar at the bottom of (one) car.Inspection bar comprises minute surface reflex bar and video camera inspection bar two classes at the bottom of the car.Wherein, minute surface reflex bar is to utilize the convex mirror principle, and the operator is by the direct state at the bottom of the observation car of minute surface reflection; The video camera inspection bar then checks at the bottom of to car by camera, and by showing that liquid crystal display shows the image that camera photographs.But there is following defective in the use of inspection bar at the bottom of the above-mentioned two class cars: because operating personnel's needs manually probe into inspection bar the car base space, thereby have the problem of using inconvenience, strengthening labor intensity of operating staff; Check result is subjected to the influence of operating personnel's operating experience easily simultaneously.(2) somascope at the bottom of the car.This type detection equipment generally is fixed on ground, and in the time of above the vehicle passing detection instrument, the image of checkout equipment at the bottom of to car scans, and generates picture and also passes to the operator.Generally include linear scan technology and image splicing: wherein, the linear scan technology is used line camera, and in the time of above the vehicle passing detection instrument, line camera is the line dot matrix arrangement of vehicle chassis, forms the image at the bottom of the whole car; The image splicing: when vehicle passing detection equipment, many cameras on the checkout equipment are taken at the bottom of to car continuously, and use composing software that many sheet photos are spliced into a complete automobile chassis image.This kind equipment needed operating personnel are carried out technical training and the on-the-spot Installation and Debugging of long period before using, have awkward defective.(3) check at the bottom of the portable car.This kind equipment generally uses mobile chassis lift-launch picture pick-up device that automobile chassis is carried out video check, and transmits signal by wireless transmitting system.Mainly be divided into crawler type, conventional wheeled and two-wheeled.The crawler type check system is generally the expanded function of special-purpose explosive equipment, check that module realizes the inspection to automobile chassis at the bottom of carrying car, but operation is very complicated; Conventional wheeled is to carry video check equipment automobile chassis to be checked this equipment is got lost easily, and the stuck phenomenon that can't withdraw from often occurs at the bottom of car owing to the weakness of self structure and motion principle on wheel undercarriage at the bottom of car; Check at the bottom of the two-wheeled car to be the space inspection special equipment, the mode by two wheel differentials moves and turns to, but this kind equipment is specific owing to self, can't adapt to longer-distance information communication.
The utility model content
At the above-mentioned defective that prior art exists, the utility model provides a kind of omnidirectional Scouting robotic robot system, and the advantage that has simple in structure, easy to use, complete function and be easy to carry about with one can effectively improve user's use experience.
The technical solution of the utility model is as follows:
The utility model provides a kind of omnidirectional Scouting robotic robot system, comprising: car body and controller;
Described car body comprises:
---drive the moving assembly that described car body moves freely, described moving assembly comprises: be arranged on four omnidirectionals wheel of four jiaos of described car bodies, described four omnidirectionals wheel by reductor be used to drive the wheel drive motor that described four omnidirectionals wheel rotates and link to each other; Described wheel drive motor also is connected with the primary importance servopackage;
---be used to obtain the image collection module of external image information, described image collection module comprises: be arranged on described car body outer surface The Cloud Terrace, be fixed on camera head on the described The Cloud Terrace, the The Cloud Terrace drive motors, the described The Cloud Terrace drive motors that are used to drive described The Cloud Terrace rotation also be connected with second place servopackage;
---Control Component is used to receive described wheel drive rotating speed of motor information and the angle position information that described primary importance servopackage is uploaded; And,
---receive the rotary speed information and the angle position information of the described The Cloud Terrace drive motors that described second place servopackage uploads, and the various information that will receive are transferred to the signal transmission assembly of described controller;
---power module is used for respectively to described moving assembly, described image collection module, described Control Component and the power supply of described signal transmission assembly.
Preferably, described controller comprises: the holder adjusting device that is used to control the described The Cloud Terrace anglec of rotation; Be used to control the rotation control lever of described car body cast angle; Be used to regulate the speed-regulating switch of described car body translational speed; Be used to control the direction to control bar of described car body travel direction; The display screen of the image that is used to show that described image collection module gets access to.
Preferably, described moving assembly also comprises the damper of the vibrations that produce when being used to slow down described omnidirectional wheel, described reductor and described wheel drive machine operation.
Preferably, described camera head comprises: full shot, feeling of passivity mating plate and infrared light supply.
Preferably, described primary importance servopackage and described second place servopackage are position coder.
Preferably, described Control Component comprises the AVR single-chip microcomputer.
The beneficial effects of the utility model are as follows:
The utility model provides a kind of omnidirectional Scouting robotic robot system, during the inspection of small space, has control advantage flexible, easy to use at the bottom of carrying out car etc.Can either be implemented in that omnirange moves on the prevailing roadway, have the cast function again.And, can control the The Cloud Terrace luffing angle by controller, enlarge range of observation; By using the video check under feeling of passivity mating plate realization low light conditions even zero illumination conditions.
Description of drawings
The structural representation of omnidirectional's Scouting robotic robot system that Fig. 1 provides for the utility model;
The structure chart of car body in omnidirectional's Scouting robotic robot system that Fig. 2 provides for the utility model;
The structure chart of omnidirectional's Scouting robotic robot system middle controller that Fig. 3 provides for the utility model.
The specific embodiment
Below in conjunction with accompanying drawing a concrete embodiment of the present utility model is described.
Shown in Fig. 1-3, a kind of omnidirectional Scouting robotic robot system for the utility model provides comprises: car body and controller; Described car body comprises: drive the moving assembly that described car body moves freely, described moving assembly comprises: be arranged on four omnidirectionals wheel of four jiaos of described car bodies, described four omnidirectionals wheel by reductor be used to drive the wheel drive motor that described four omnidirectionals wheel rotates and link to each other; Described wheel drive motor also is connected with the primary importance servopackage; Be used to obtain the image collection module of external image information, described image collection module comprises: be arranged on described car body outer surface The Cloud Terrace, be fixed on camera head on the described The Cloud Terrace, the The Cloud Terrace drive motors, the described The Cloud Terrace drive motors that are used to drive described The Cloud Terrace rotation also be connected with second place servopackage; Control Component is used to receive described wheel drive rotating speed of motor information and the angle position information that described primary importance servopackage is uploaded; And, receive the rotary speed information and the angle position information of the described The Cloud Terrace drive motors that described second place servopackage uploads, and the various information that will receive are transferred to described controller by signal transmission assembly; Power module is used for respectively to described moving assembly, described image collection module, described Control Component and described signal transmission assembly.
Described controller comprises: the holder adjusting device that is used to control the described The Cloud Terrace anglec of rotation; Be used to control the rotation control lever of described car body cast angle; Be used to regulate the speed-regulating switch of described car body translational speed; Be used to control the direction to control bar of described car body travel direction; The display screen of the image that is used to show that described image collection module gets access to.Wherein, by operation holder adjusting device, rotation control lever, speed-regulating switch and direction to control bar, the Control Component in car body sends corresponding control command, thereby realizes corresponding regulatory function.
In addition, described moving assembly also comprises the damper of the vibrations that produce when being used to slow down described omnidirectional wheel, described reductor and described wheel drive machine operation.By mounting shock absorber, can effectively reduce the influence that car body self is caused because of vibrations, thereby improve the stability of car body operation.
Described camera head comprises: full shot, feeling of passivity mating plate and infrared light supply.By being used of feeling of passivity mating plate and infrared light supply, can make car body hang down the observation that realizes under the illuminance condition destination object.
Described Control Component comprises AVR single-chip microcomputer and pid control algorithm, wheel drive motor and The Cloud Terrace drive motors are controlled, and by the position coder of two class motor correspondences motor position, speed are proofreaied and correct, thereby realization is to the control of two class drive motors.
In sum, when omnidirectional's Scouting robotic robot system that the utility model provides has the inspection of small spaces such as carrying out at the bottom of the car, has control advantage flexible, easy to use.Can either be implemented in that omnirange moves on the prevailing roadway, have the cast function again.And, can control the The Cloud Terrace luffing angle by controller, enlarge range of observation; By using the video check under feeling of passivity mating plate realization low light conditions even zero illumination conditions.
Claims (6)
1. omnidirectional's Scouting robotic robot system is characterized in that, comprising: car body and controller;
Described car body comprises:
---drive the moving assembly that described car body moves freely, described moving assembly comprises: be arranged on four omnidirectionals wheel of four jiaos of described car bodies, described four omnidirectionals wheel by reductor be used to drive the wheel drive motor that described four omnidirectionals wheel rotates and link to each other; Described wheel drive motor also is connected with the primary importance servopackage;
---be used to obtain the image collection module of external image information, described image collection module comprises: be arranged on described car body outer surface The Cloud Terrace, be fixed on camera head on the described The Cloud Terrace, the The Cloud Terrace drive motors, the described The Cloud Terrace drive motors that are used to drive described The Cloud Terrace rotation also be connected with second place servopackage;
---Control Component is used to receive described wheel drive rotating speed of motor information and the angle position information that described primary importance servopackage is uploaded; And,
---receive the rotary speed information and the angle position information of the described The Cloud Terrace drive motors that described second place servopackage uploads, and the various information that will receive are transferred to the signal transmission assembly of described controller;
---power module is used for respectively to described moving assembly, described image collection module, described Control Component and the power supply of described signal transmission assembly.
2. omnidirectional according to claim 1 Scouting robotic robot system, it is characterized in that: described controller comprises: the holder adjusting device that is used to control the described The Cloud Terrace anglec of rotation; Be used to control the rotation control lever of described car body cast angle; Be used to regulate the speed-regulating switch of described car body translational speed; Be used to control the direction to control bar of described car body travel direction; The display screen of the image that is used to show that described image collection module gets access to.
3. omnidirectional according to claim 1 Scouting robotic robot system is characterized in that: described moving assembly also comprises the damper of the vibrations that produce when being used to slow down described omnidirectional wheel, described reductor and described wheel drive machine operation.
4. omnidirectional according to claim 1 Scouting robotic robot system, it is characterized in that: described camera head comprises: full shot, feeling of passivity mating plate and infrared light supply.
5. omnidirectional according to claim 1 Scouting robotic robot system is characterized in that: described primary importance servopackage and described second place servopackage are position coder.
6. omnidirectional according to claim 1 Scouting robotic robot system, it is characterized in that: described Control Component comprises the AVR single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200464309U CN202037601U (en) | 2011-02-24 | 2011-02-24 | Omnibearing reconnaissance robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200464309U CN202037601U (en) | 2011-02-24 | 2011-02-24 | Omnibearing reconnaissance robot system |
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| Publication Number | Publication Date |
|---|---|
| CN202037601U true CN202037601U (en) | 2011-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200464309U Expired - Fee Related CN202037601U (en) | 2011-02-24 | 2011-02-24 | Omnibearing reconnaissance robot system |
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| Country | Link |
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| CN (1) | CN202037601U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105427601A (en) * | 2015-12-14 | 2016-03-23 | 北京中交华安科技有限公司 | Multiple-degree-of-freedom road condition observation apparatus |
| CN107864310A (en) * | 2017-12-11 | 2018-03-30 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scan method |
| CN109640042A (en) * | 2018-12-19 | 2019-04-16 | 成都森和电子科技有限公司 | High-precision holder infrared panorama camera based on FPGA |
-
2011
- 2011-02-24 CN CN2011200464309U patent/CN202037601U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105427601A (en) * | 2015-12-14 | 2016-03-23 | 北京中交华安科技有限公司 | Multiple-degree-of-freedom road condition observation apparatus |
| CN107864310A (en) * | 2017-12-11 | 2018-03-30 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scan method |
| WO2019114321A1 (en) * | 2017-12-11 | 2019-06-20 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scanning method |
| CN109640042A (en) * | 2018-12-19 | 2019-04-16 | 成都森和电子科技有限公司 | High-precision holder infrared panorama camera based on FPGA |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111116 Termination date: 20170224 |