CN206235885U - A kind of live map collection mobile robot - Google Patents
A kind of live map collection mobile robot Download PDFInfo
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- CN206235885U CN206235885U CN201621224527.3U CN201621224527U CN206235885U CN 206235885 U CN206235885 U CN 206235885U CN 201621224527 U CN201621224527 U CN 201621224527U CN 206235885 U CN206235885 U CN 206235885U
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- robot
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Abstract
The utility model provides a kind of live map collection mobile robot, including：Robot body, the lower surface of robot body opens up semiclosed accommodating chamber, hydraulic transmission, support base and chassis are set in semiclosed accommodating chamber, motor is set in chassis, motor driven machine people integrally rotated, support base is ejected semiclosed accommodating chamber and causes that the wheel being arranged on robot body departs from ground by hydraulic transmission, and image collecting device and micro-control unit are installed in the upper surface of robot body.Mobile robot is reached after needing the place for carrying out map collection, image acquisition device scene scene in robot, and send to external processing apparatus, rotate in place the positional information acquired in the positioner for shooting the collection for realizing panoramic picture and combining robot carrying, realize the live map collection of operating environment, map collection simultaneously is more accurate, for rescue personnel provides easily condition into operating environment.
Description
Technical field
The utility model belongs to the technical field of cartographic information collection, more particularly to a kind of live mobile machine of map collection
People.
Background technology
In recent years, due to various burst accidents or the reason such as artificial, disaster occurs often, due to a varied topography and disaster
Destruction, it is when previous great society problem that effectively rescue how is carried out after calamity.And due to rescue the complexity of environment, mutability,
Abominable and unpredictability, the life security of rescue personnel are also difficult to be protected, therefore, rescue robot and field operation
Robot gradually comes into operation, so that for rescue personnel provides a large amount of helps.But current field rescue robot is have
Search and rescue function, or simple execution job instruction, it is impossible to which live map is acquired, cause subsequently into operating environment
Rescue personnel cannot in advance understand field condition, it is still desirable to be progressively familiar with scene while entering operating environment, cause operation
And rescue efficiency is low.
The content of the invention
In view of this, the utility model provides a kind of live map collection mobile robot, to solve current field operation
Robot cannot carry out the technical problem of precise acquisition to live map.In order to some aspects to the embodiment for disclosing have one
Basic understanding, shown below is simple summary.The summarized section is not extensive overview, nor to determine key/critical
Component describes the protection domain of these embodiments.Its sole purpose is that some concepts are presented with simple form, with this
As the preamble of following detailed description.
The utility model is adopted the following technical scheme that：
In some optional embodiments, there is provided a kind of live map collection mobile robot, including：Robot body,
The lower surface of the robot body is opened up and set in semiclosed accommodating chamber, the semiclosed accommodating chamber hydraulic transmission, branch
Support seat and chassis, set motor in the chassis, the support base is fixedly connected with the drive shaft of the motor, and the motor drives
The dynamic support base rotation is integrally rotated so as to band mobile robot, and the support base is installed by the hydraulic transmission
Inside the semiclosed accommodating chamber, the hydraulic transmission is used to make the support base ejection semiclosed accommodating chamber
The wheel that must be arranged on the robot body departs from ground；The upper surface of the robot body is installed by image collecting device
And micro-control unit, the micro-control unit is for processing the data and output control signal that receive, described image collection dress
Put and be connected with the micro-control unit, including：Camera lens, CCD imageing sensors and Digital Image Processor, the motor and institute
The output interface that hydraulic transmission is connected to the micro-control unit is stated, is controlled by the micro-control unit.
In some optional embodiments, the hydraulic transmission includes：Hydraulic pump, fuel tank, cylinder body, piston and push away
Plate, the hydraulic pump and fuel tank are arranged on the robot body, and the hydraulic pump pumps into the hydraulic oil in fuel tank described
So as to promote the piston, the piston to be fixedly connected with the support base by the push pedal in cylinder body.
In some optional embodiments, described a kind of live map collection mobile robot also includes：GPS location
Device and the wireless transport module being connected with the GPS positioning device, the wireless transport module is by acquired in GPS positioning device
Positional information and described image harvester acquired in view data be uploaded to external data processing device.
In some optional embodiments, the wireless transport module is that bluetooth module, WiFi module or Zigbee are wireless
Digital transmission module.
In some optional embodiments, the side surface on the chassis is gradually tapered up from bottom to top, is in one with ground
Fixed angle of inclination, the robot body sets sinking platform at the position on the corresponding chassis so that the hydraulic pressure is passed
Dynamic device in a contracted state when the chassis the semiclosed accommodating chamber is closed.
In some optional embodiments, the side surface on the chassis sets spongy layer.
The beneficial effect that the utility model is brought：Mobile robot is reached after needing the place for carrying out map collection, liquid
Pressure transmission device rotates in place mobile robot jack-up, and motor driven machine people, now the image collector in robot
Collection site scene is put, and is sent to external processing apparatus, rotated in place shooting and realize the collection of panoramic picture and combine machine
The positional information acquired in positioner that people carries, realizes the live map collection of operating environment, while map collection is more
It is accurate, for rescue personnel provides easily condition into operating environment.
For above-mentioned and related purpose, one or more embodiments include will be explained in below and in claim
In the feature that particularly points out.Following explanation and accompanying drawing describes some illustrative aspects in detail, and its indicate be only
Some modes in the utilizable various modes of principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be will include all these aspects and they
Be equal to.
Brief description of the drawings
Fig. 1 is the structural representation that a kind of live map of the utility model gathers mobile robot；
Fig. 2 is the semiclosed accommodating chamber internal structure schematic diagram of the utility model；
Fig. 3 is schematic diagram of the present utility model.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, it is electric, process and it is other changes.Embodiment
Only represent possible change.Unless explicitly requested, otherwise single components and functionality is optional, and the order for operating can be with
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The scope of bright embodiment includes the gamut of claims, and all obtainable of claims is equal to
Thing.
As shown in Figures 1 to 3, in some illustrative embodiments, there is provided a kind of live map collection mobile robot, it is real
The panoramic table collection of existing site work environment, including：Robot body 1, hydraulic transmission 2, support base 3, chassis 4, figure
As harvester 5, micro-control unit 6, GPS positioning device 7 and wireless transport module 8.
The lower surface of the robot body 1 opens up semiclosed accommodating chamber 9, the hydraulic transmission 2, support base 3 and
Chassis 4 is arranged in the semiclosed accommodating chamber 9, and motor 10 is set in the chassis 4.The support base 3 and the motor 10
Drive shaft be fixedly connected, the motor 10 is rotated can drive the support base 3 to rotate, so as to drive by the support base 3
The robot body 1 of support rotates.The support base 3 is arranged on the semiclosed accommodating chamber 9 by the hydraulic transmission 2
Inside, the hydraulic transmission 2 is used to for the support base 3 to eject the semiclosed accommodating chamber 9, so that being arranged on institute
The wheel stated on robot body departs from ground.The upper surface of the robot body 1 is installed by image collecting device 5 and microcontroller
Unit 6, the micro-control unit 6 is used to process the data and output control signal for receiving, control mobile robot operating.
Described image harvester 5 and GPS positioning device 7 are arranged on the input interface of the micro-control unit 6, the liquid
Pressure transmission device 2, wireless transport module 8 and motor 10 are arranged on the output interface of the micro-control unit 6, by the microcontroller
Unit 6 is controlled, and GPS positioning device 7 is connected with wireless transport module 8.During work, when mobile robot reaches assignment
Position is detected after after rescue worker, and the micro-control unit 6 controls the hydraulic transmission 2 by the support base 3
The semiclosed accommodating chamber 9 is ejected, now robot body 1 is gradually distance from ground until being arranged on the robot body
Wheel departs from ground, is easy to subsequent movement robot to be rotated.After the robot body 1 is by jack-up, the microcontroller list
The control of unit 6 motor 10 and image collecting device 5 start, and drive robot body 1 to rotate, and often rotate 15 ° and stop 5 seconds, this
When image collecting device 5 collection image information, GPS positioning device 7 collection positional information.After collection is completed, the microcontroller
Unit 6 controls the wireless transport module 8 by the positional information acquired in GPS positioning device 7 and described image harvester 5
Acquired view data is uploaded to external data processing device, forms live map, and external data processing device is to carry out
The computer of map generation.In some illustrative embodiments, the wireless transport module 8 be bluetooth module, WiFi module or
Zigbee wireless data transmission modules.
Image collecting device 5 is connected with the micro-control unit 6, including：Camera lens, CCD imageing sensors and digital picture
Image information is converted to electric signal by processor, CCD imageing sensors, and Digital Image Processor is processed electric signal.
In some illustrative embodiments, the hydraulic transmission 2 includes：Hydraulic pump 21, fuel tank 22, cylinder body 23,
Piston 24 and push pedal 25, the hydraulic pump 21 and fuel tank 22 are arranged on the robot body 1.The hydraulic transmission 2
During work, hydraulic pump 21 pumps into cylinder body 23 hydraulic oil in fuel tank 22, and the pressure of cylinder body 23 increases so as to promote the piston
24, now piston 24 support base 4 is ejected into semiclosed accommodating chamber 9 by promoting the push pedal 25.After the completion of map collection,
Hydraulic oil is back to fuel tank 22 by oil-out, and now support base 3 falls.
In some illustrative embodiments, the side surface on the chassis 4 is gradually tapered up from bottom to top, is in ground
Certain angle of inclination, the robot body 1 sets sinking platform at the position on the corresponding chassis 4 so that the liquid
The semiclosed accommodating chamber is closed on the chassis 4 when pressing transmission device 2 in a contracted state, it is to avoid enter debris, such as dust
Used into the influence of semiclosed accommodating chamber 9.The side surface on the chassis 4 sets spongy layer, increases the sealing of semiclosed accommodating chamber 9
Property.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, other are any without departing from the change made under Spirit Essence of the present utility model and principle, and modification is substituted,
Combination, simplifies, and should be equivalent substitute mode, should all be included in protection domain of the present utility model.
Claims (6)
1. a kind of live map gathers mobile robot, it is characterised in that including：Robot body, the robot body's
Lower surface opens up and hydraulic transmission, support base and chassis, the bottom is set in semiclosed accommodating chamber, the semiclosed accommodating chamber
Motor is set, and the support base is fixedly connected with the drive shaft of the motor, the motor drives the support base rotation in disk
So as to band mobile robot is integrally rotated, the support base is arranged on the semiclosed receiving by the hydraulic transmission
Inside chamber, the hydraulic transmission is used to cause to be arranged on the machine by the support base ejection semiclosed accommodating chamber
Wheel on human agent departs from ground；The upper surface of the robot body is installed by image collecting device and micro-control unit, institute
State micro-control unit for process the data that receive simultaneously output control signal, described image harvester and the microcontroller list
Unit's connection, including：Camera lens, CCD imageing sensors and Digital Image Processor, the motor connect with the hydraulic transmission
The output interface of the micro-control unit is connected to, is controlled by the micro-control unit.
2. a kind of live map according to claim 1 gathers mobile robot, it is characterised in that the hydraulic drive dress
Put including：Hydraulic pump, fuel tank, cylinder body, piston and push pedal, the hydraulic pump and fuel tank are arranged on the robot body, institute
Hydraulic pump is stated to pump into so as to promote the piston in the cylinder body hydraulic oil in fuel tank, the piston by the push pedal with
The support base is fixedly connected.
3. a kind of live map according to claim 2 gathers mobile robot, it is characterised in that also include：GPS location
Device and the wireless transport module being connected with the GPS positioning device, the wireless transport module is by acquired in GPS positioning device
Positional information and described image harvester acquired in view data be uploaded to external data processing device.
4. a kind of live map according to claim 3 gathers mobile robot, it is characterised in that described to be wirelessly transferred mould
Block is bluetooth module, WiFi module or Zigbee wireless data transmission modules.
5. a kind of live map according to claim 4 gathers mobile robot, it is characterised in that the side table on the chassis
Face is gradually tapered up from bottom to top, is in certain angle of inclination with ground, and the robot body is on the corresponding chassis
Position at sinking platform is set so that the hydraulic transmission in a contracted state when the chassis by the semiclosed receiving
Close in chamber.
6. a kind of live map according to claim 5 gathers mobile robot, it is characterised in that the side table on the chassis
Face sets spongy layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621224527.3U CN206235885U (en) | 2016-11-15 | 2016-11-15 | A kind of live map collection mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621224527.3U CN206235885U (en) | 2016-11-15 | 2016-11-15 | A kind of live map collection mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN206235885U true CN206235885U (en) | 2017-06-09 |
Family
ID=58990127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621224527.3U Active CN206235885U (en) | 2016-11-15 | 2016-11-15 | A kind of live map collection mobile robot |
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| CN (1) | CN206235885U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110620597A (en) * | 2019-10-24 | 2019-12-27 | 山东勤成信息科技有限公司 | Medical wireless data transceiver |
-
2016
- 2016-11-15 CN CN201621224527.3U patent/CN206235885U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110620597A (en) * | 2019-10-24 | 2019-12-27 | 山东勤成信息科技有限公司 | Medical wireless data transceiver |
| CN110620597B (en) * | 2019-10-24 | 2021-04-23 | 山东勤成健康科技股份有限公司 | Medical wireless data transceiver |
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