CN206406063U - A kind of Omnibearing reconnaissance robot - Google Patents
A kind of Omnibearing reconnaissance robot Download PDFInfo
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- CN206406063U CN206406063U CN201621475615.0U CN201621475615U CN206406063U CN 206406063 U CN206406063 U CN 206406063U CN 201621475615 U CN201621475615 U CN 201621475615U CN 206406063 U CN206406063 U CN 206406063U
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Abstract
The utility model discloses a kind of Omnibearing reconnaissance robot, including robot body and remote control, robot body is provided with road wheel, road wheel is connected with motor, motor is connected with master control borad, master control borad has also been electrically connected power module, wide-angle camera, distance measuring sensor, varifocal camera, 4G modules and expansion interface, varifocal camera is fixedly connected on rotatable head, head is arranged at the front side of the robot body, and the head passes sequentially through the drive circuit electrical connection master control borad of head driving steering wheel and the driving steering wheel action of controllable head, 4G modules and expansion interface may be contained within the rear side of the robot body, expansion interface includes RS232 electric interfaces and mechanical mounting interface.Robot interior space layout is more reasonable, and robot whole height is lower, improves the obstacle climbing ability of Omnibearing reconnaissance robot body, and function is more perfect, reduces the operating wheel noise of robot.
Description
Technical field
The utility model is related to robotic technology field, it particularly relates to a kind of Omnibearing reconnaissance robot.
Background technology
The use state of bottom of car component directly influences traffic safety.
The device of existing observation bottom of car component includes：（One）Underbody inspection bar.Underbody inspection bar includes mirror-reflection
Inspection bar and the class of video camera inspection bar two.Wherein, mirror-reflection inspection bar is to utilize convex mirror principle, and operator passes through minute surface
Underbody state is directly observed in reflection；And video camera inspection bar is then checked underbody by camera, and by showing liquid
Crystalline substance screen shows the image that camera is photographed.But, there is following defect in the use of above-mentioned two classes underbody inspection bar：Due to operation
Personnel need inspection bar manually is probeed into underbody space so that exist it is inconvenient for use, reinforcement labor intensity of operating staff the problem of；
Inspection result is easily influenceed by operating personnel's operating experience simultaneously.（Two）Underbody somascope.This type detection equipment is general
Ground is fixed on, when above vehicle passing detection instrument, detection device is scanned to the image of underbody, generates picture and pass
Pass operator.Generally include linear scan technology and image mosaic technology：Wherein, linear scan technology uses linear photograph
Machine, when above vehicle passing detection instrument, the line dot matrix arrangement of vehicle chassis is formed the whole car of a width by line camera
The image at bottom；Image mosaic technology：In vehicle passing detection equipment, many cameras on detection device connect to underbody
It is continuous to shoot, and many sheet photos are spliced into the complete automobile chassis image of a width using composing software.This kind equipment is using it
, there is awkward defect in preceding technical training and the site installation test for needing to carry out operating personnel the long period.（Three）
Portable underbody inspection.This kind equipment typically carries picture pick-up device using mobile chassis and video check is carried out to automobile chassis, and
Signal is transmitted by wireless transmitting system.It is broadly divided into crawler type, conventional wheel and two-wheeled.Crawler type inspection system is generally
The expanded function of special explosive equipment, checks that module realizes the inspection to automobile chassis, but operate very multiple by carrying underbody
It is miscellaneous；Conventional wheel is to carry video inspection device on wheel undercarriage to check automobile chassis this equipment is due to itself
The weakness of structure and motion principle, easily gets lost in underbody, and the stuck phenomenon that can not be exited in underbody often occurs；Two
Wheeled vehicle bottom checks to be space inspection special equipment, moves and turns to by way of two wheel differentials, but such sets
It is standby because itself is specific, it is impossible to adapt to longer-distance information communication.（Four）Omnibearing reconnaissance robot system.Notification number is CN
202037601 U Chinese patent discloses a kind of Omnibearing reconnaissance robot system, including：Car body and controller；The car body
Including：Drive moving assembly, the image collection module for obtaining external image information, control group that the car body moves freely
Part, signal transmission assembly and power module.The controller includes：Holder adjusting device, rotation control lever, speed-regulating switch, side
To control lever and display screen.The robot system coordinates pitching to scout head using four-wheel omni-directional wheel form, can realize pair
The Inspection of the small spaces such as underbody, but there is the obvious deficiency of several respects：1) the robot system omni-directional wheel form is adopted
With oblique 45 degree of four-wheel relative symmetry placement scheme two-by-two, while each wheel is direct-connected with motor, cause robot interior sky
Between isolate, be unfavorable for the layout of internal components so that robot whole height is higher, be not suitable for shorter space；2）The machine
Device people system uses single camera head, and image frame can not take into account robot while advancing and checking underbody, operability
Difference；3）The Omnibearing reconnaissance robot system classification of waterproof is poor, it is impossible to meet the use under moist and overcast and rainy environment；4）The robot
System endurance is poor, and the full electricity of single is lower can only to carry out the operation of several hours, can not meet in practical application for a long time
Inspection demand；5）Reconnaissance robot system robot's module uses metal shell, can be produced necessarily to being wirelessly transferred
Shielding interference, effective remote control distance index only has 50 meters, it is impossible to which satisfaction is used more at a distance；6）The reconnaissance robot system
Function is single, can only realize function by manually operated, less efficient；7）The system lack video record review, image protect
Deposit, the long-range functions such as passback of 4G, it is impossible to meet the demand such as evidence reservation, remote monitoring during scouting；8）The system is also deposited
The shortcomings of obstacle climbing ability is poor, wheel operation noise is big.
The problem of in above-mentioned correlation technique, effective solution is not yet proposed at present.
Utility model content
For the above-mentioned technical problem in correlation technique, the utility model proposes a kind of Omnibearing reconnaissance robot, layout is closed
Reason, it is vdiverse in function.
To realize above-mentioned technical purpose, what the technical solution of the utility model was realized in：
A kind of Omnibearing reconnaissance robot, including robot body and the remote control with robot body communication connection, institute
That states robot body is each side detachably provided with two road wheels parallel with its side, the road wheel respectively
A motor is respectively connected to, the motor is respectively electrically connected with by a drive circuit and is arranged at the machine respectively
Master control borad described in master control borad inside device human body be also electrically connected power module, wide-angle camera, distance measuring sensor, can
Zoom camera, 4G modules and expansion interface, the power module are removable installed in the left and right sides of the robot body,
The wide-angle camera and distance measuring sensor may be contained within the top of the robot body, and the varifocal camera is fixedly connected
On rotatable head, the head is arranged at the front side of the robot body, and the head passes sequentially through head driving
Steering wheel and one drive circuit electrical connection master control borad, the 4G modules and expansion interface may be contained within after the robot body
Side, the expansion interface includes RS232 electric interfaces and mechanical mounting interface.
Further, the remote control is internally provided with remote control master control borad, and the remote control master control borad is electrically connected respectively
Operation rocking bar, function button, tablet personal computer, power supply of remote controller module are connected to, the operation rocking bar, function button may be contained within this
The positive both sides of remote control, the tablet personal computer is removably installed in the positive middle part of the remote control, institute by Quick Release buckle
State the back side that power supply of remote controller module is removably installed in the remote control.
Further, the robot body includes two plastic housings up and down being fixedly connected, the robot body
Sealing ring is equipped with joint face and dynamic sealing face.
Further, the road wheel is Mecanum formula omni-directional wheel, Athey wheel, special-shaped wheel or rubber wheel.
Further, the master control borad is by the wireless data transmission module based on GFSK modulation systems and based on broadband FM videos
Modulation, the figure transmission module communication connection remote control of FM audio modulator modes.
Further, the wide-angle camera is the fixed camera of 175 degree big wide-angle, the wide-angle camera and variable
The edge of burnt camera is surrounded with illuminating lamp.
Further, the distance measuring sensor is infrared distance sensor or radar range finding sensor.
Further, the 4G modules include SIM card slot, and the 4G modules communication link is connected to remote terminal control and command
Center customer end.
Further, the remote terminal control and command center customer end includes cell-phone customer terminal, PC and page end.
The beneficial effects of the utility model：Robot interior space layout is more reasonable, and robot whole height is lower, meets
The job requirements in shorter space；The scouting function of system and the mode of operation of terminal remote control, scope of reconnaissance are greatly enriched
More comprehensively, operation is more convenient, and function is more perfect；Classification of waterproof is higher, meets the use in the moist, environment that rains；Carry significantly
The high activity duration of system, reach continuation of the journey free of discontinuities；The contactless transmission distance of system is bigger, adds wire transmission scheme,
Meet wider array of application；The intelligent of system is added, reconnaissance efficiency is improved；Remote control video record is added to review, scheme
As sectional drawing, document storing such as check at function, and the remote monitoring command function；Increase the extension work(of Omnibearing reconnaissance robot system
Can, meet more multi-functional job requirements；The obstacle climbing ability of Omnibearing reconnaissance robot body is improved, reduction robot is operating
Wheel noise；The robot of system and the weight of terminal remote control are lighter, and outward appearance is more attractive, and there is provided more preferable customer experience.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the overall structure diagram one of the Omnibearing reconnaissance robot according to the utility model embodiment；
Fig. 2 is the overall structure diagram two of the Omnibearing reconnaissance robot according to Fig. 1；
Fig. 3 is the internal structure schematic diagram of the Omnibearing reconnaissance robot according to Fig. 1；
Fig. 4 is the automatic touring investigation work schematic diagram of underbody of the Omnibearing reconnaissance robot according to Fig. 1；
Fig. 5 is the front schematic view of the remote control according to the utility model embodiment；
Fig. 6 is the schematic rear view of the remote control according to Fig. 4；
Fig. 7 is the circuit diagram of the master control borad according to the utility model embodiment；
Fig. 8 is the circuit diagram of the remote control master control borad according to the utility model embodiment.
In figure：
1st, robot body；2nd, power module；3rd, wide-angle camera；4th, distance measuring sensor；5th, varifocal camera；6th, OK
Walk wheel；7th, 4G modules；8th, expansion interface；9th, remote control；10th, rocking bar is operated；11st, function button；12nd, tablet personal computer；13rd, Quick Release
Buckle；14th, power supply of remote controller module.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art are obtained all belongs to
The scope protected in the utility model.
As shown in figures 1-8, a kind of Omnibearing reconnaissance robot according to the utility model embodiment, including robot sheet
Body 1 and the remote control 9 communicated to connect with robot body 1, the robot body 1 are each side removably set respectively
Two road wheels 6 parallel with its side are equipped with, the road wheel 6 is respectively connected to a motor, the driving electricity
Machine is respectively electrically connected with the master control borad being arranged inside the robot body 1 by a drive circuit respectively, and the master control borad is also
It has been electrically connected power module 2, wide-angle camera 3, distance measuring sensor 4, varifocal camera 5,4G modules 7 and expansion interface
8, the power module 2 is removable installed in the left and right sides of the robot body 1, and the wide-angle camera 3 and ranging are passed
Sensor 4 may be contained within the top of the robot body 1, and the varifocal camera 5 is fixedly connected on rotatable head, institute
The front side that head is arranged at the robot body 1 is stated, and the head passes sequentially through head driving steering wheel and one drive circuit
Master control borad is electrically connected, the 4G modules 7 and expansion interface 8 may be contained within the rear side of the robot body 1, the expansion interface 8
Including RS232 electric interfaces and mechanical mounting interface.
In the specific embodiment of the present utility model, the remote control 9 is internally provided with remote control master control borad, institute
State remote control master control borad and be electrically connected operation rocking bar 10, function button 11, tablet personal computer 12, power supply of remote controller module 14,
The operation rocking bar 10, function button 11 may be contained within the positive both sides of remote control 9, and the tablet personal computer 12 passes through Quick Release card
Button 13 is removably installed in the positive middle part of remote control 9, and it is distant that the power supply of remote controller module 14 is removably installed in this
Control the back side of device 9.
In a specific embodiment of the present utility model, the robot body 1 includes two up and down be fixedly connected
Sealing ring is equipped with plastic housing, the joint face of the robot body 1 and dynamic sealing face.
In a specific embodiment of the present utility model, the road wheel 6 be Mecanum formula omni-directional wheel, Athey wheel,
Special-shaped wheel or rubber wheel.
In a specific embodiment of the present utility model, the master control borad by based on GFSK modulation systems without line number
Transmission module and the figure transmission module communication connection remote control 9 based on broadband FM video modulations, FM audio modulator modes.
In the wide-angle camera 3 is taken the photograph for 175 degree of big wide-angles are fixed in a specific embodiment of the present utility model
As head, the edge of the wide-angle camera 3 and varifocal camera 5 is surrounded with illuminating lamp.
In a specific embodiment of the present utility model, the distance measuring sensor 4 is infrared distance sensor or radar
Distance measuring sensor.
In a specific embodiment of the present utility model, the 4G modules 7 include SIM card slot, and the 4G modules 7 are led to
Letter is connected with remote terminal control and command center customer end.
In a specific embodiment of the present utility model, the remote terminal control and command center customer end includes mobile phone
Client, PC and page end.
Above-mentioned technical proposal of the present utility model is understood for convenience, below by way of new to this practicality in specifically used mode
The above-mentioned technical proposal of type is described in detail.
It is described in the utility model to be fixedly connected, be fixedly mounted and set-up mode be using mode connects for screw, bonding, clamping etc.
Conventional technical means is replaced.
In order to improve the internal components space of Omnibearing reconnaissance robot system, rational deployment, so as to reduce the whole of robot
Body height, the utility model realizes machine using four Mecanum formula omni-directional wheels and its suspension drive system as road wheel 6
The traveling of device human body's any direction and spinfunction, each omni-directional wheel have independent suspended structure and drive circuit board, then
Omnidirectional moving is realized by the algorithm of master control borad.The four wheels of the omni-directional wheel are parallel two-by-two to be symmetrically arranged in robot
The left and right sides of body 1, and the motor of omni-directional wheel realizes that right angle is transferred by bevel gear so that four motors are parallel
The inside both sides of robot body 1 are arranged in, so that the installing space of abundance has been reserved to robot interior device, or omni-directional wheel
It can also be played the same role with the form of motor direct-connected, reach the effect of rational deployment, reduce robot whole height.
In order to which the camera for improving Omnibearing reconnaissance robot system investigates module, the utility model employs dual camera side
Case, a fixed camera of 175 degree big wide-angle is positioned over directly over robot body 1, is aided with circular illuminating lamp, realization pair
Scouted on a large scale directly over robot body 1；Another varifocal camera is positioned over robot front end can be more than 90 degree
On the head of pitching, road conditions and surrounding enviroment are observed in being advanced for robot, while can also be by remote control 9
Operate rocking bar 10 and function button 11 to adjust head and camera zoom respectively, suspicious place is carried out to scout identification in detail to realize
Function.And remote control 9 receive be arranged on active plate picture isolating circuit transmission double picture images when, can be by distant
Device master control borad is controlled to double pictures or by the picture switching control button in function button 11 by any one picture therein
It is presented on tablet personal computer.Dual camera scheme it is this will advance and scout picture simultaneously or any switching laws be presented to operator's
Function, substantially increases varifocal camera 4 on operation ease, wide-angle camera 3 and pattern distortion automatic straightening and head
Cooperation cause system scope of reconnaissance it is more comprehensive.
The utility model uses waterproofing design, and all dynamic sealing faces and plastic housing on system machine human body 1 own
Faying face is all using sealing ring Seal Design so that the equipment has good waterproofing design, even in the day of outdoor heavy rain
Can also normal work in gas.
The battery module 2 of robot body 1 is designed as the quick-detachable module in the left and right sides by the utility model, is passed through
Using form is snapped connection between battery module 2 and robot body 1, battery just can be quickly pulled down after unblock button is pressed
Module 2 is changed, so as to realize robot continuation of the journey free of discontinuities.And the flat board electricity of remote control 9 same design fast changeable
Brain 12 and power supply of remote controller module 14, to realize the continuation of the journey free of discontinuities of the terminal of remote control 9.Battery module 2 and robot body 1 it
Between, the form that snaps connection between remote control 9 and power supply of remote controller module 14 and between tablet personal computer 12 and remote control 9 can be with
Have many patterns, the utility model battery module 2 and power supply of remote controller module 14 use stage clip form, remote control 9 with
Tablet personal computer 12 uses torsion spring form, and the buckle of other alternative forms such as stage clip, torsion spring, flexible shell is all to reach
To the same effect.
In order to improve the contactless transmission distance of Omnibearing reconnaissance robot, the utility model robot body 1 and remote control 9 are equal
It can well solve to avoid the shielding action of metal shell using plastic casing, base is used between master control borad and remote control master control borad
Led in the wireless data transmission module of GFSK modulation systems and the figure transmission module based on broadband FM video modulations, FM audio modulators
Letter, contactless transmission distance can reach more than 150 meters, and the controlled in wireless form of the form such as other WIFI, bluetooth be also can
Meet desired alternative form.In addition to the control of Omnibearing reconnaissance robot under shielding or other particular surroundings is met, this
Utility model can also connect robot body and remote control by cable, so as to carry out line traffic control.
In order to improve the intellectuality of Omnibearing reconnaissance robot system, the utility model devises Omnibearing reconnaissance robot underbody
Automatic touring scouting function, infrared or radar range finding sensor is installed directly over robot body 1, passes through distance measuring sensor
The signal of 4 feedback detection objects simultaneously carries out internal control algorithm process, realizes that Omnibearing reconnaissance robot is automatic immediately ahead of automobile
Return and stop after underbody of passing by, to complete automatic touring scouting, the function of automatic touring scouting can be by function button 11
A key it is touring scout function button open.The modeling function of annex is extended based on the additional laser radar of such application form, also
The automated intelligent pattern of various other functions can be expanded out, such as multiple repeatedly touring scouting, the peripheral cruising in target area, target
The intelligent mode such as zone location cruising.
Reviewed to improve the video record of Omnibearing reconnaissance robot system, the function such as image sectional drawing, document storing are checked, this
The software system interface being provided with the remote control 9 of utility model in tablet personal computer, tablet personal computer is developed based on MFC, software system
System is connected with the communication of Omnibearing reconnaissance robot to be made up of serial ports, wireless data transmission module and figure transmission module, and it is right that software systems pass through
The functions such as sectional drawing, video recording of the operation of video frequency collection card to complete video.Increased 4G modules 7 are real on robot body 1 simultaneously
The function that remote monitoring command centre client monitors Omnibearing reconnaissance robot is in real time showed.4G remote wireless video monitoring functions
Use view data by the real-time uploaded videos of 3G or 4G wireless networks to remote monitoring command centre client, remotely
Control and command center customer end includes cell-phone customer terminal, PC, page end etc..
In order to enrich Omnibearing reconnaissance robot system function, the utility model is provided with RS232 electricity on robot body
Gas interface and mechanical mounting interface, can install manipulator, following-up cradle head, danger sounding device, laser radar, realize crawl
The Multi-function extensions such as object, positioning scouting, danger sounding, target area modeling；In addition, the utility model have also been devised machine
The replaceable road wheel 6 of human body 1, by changing other various forms of road wheels 6, such as Athey wheel, special-shaped wheel wheel can
So that robot body can adapt to different road conditions and environment.
The obstacle climbing ability and low noise of the Mecanum formula omni-directional wheel that the system is used are significantly better than the omnidirectional of common form
Wheel.
Omnibearing reconnaissance robot system is by robot body 1, remote control 9 and remote terminal control and command center customer end group
Into, and robot body 1 is provided with and covers removably power module 2 more and include manipulator, following-up cradle head, danger sounding
Device, laser radar, rubber wheel, Athey wheel and special-shaped wheel etc. extend annex；Remote control 9 is provided with quick disassembled power supply of remote controller mould
Block 14, quick disassembled three proofings tablet personal computer 12 and software systems；Remote terminal control and command center customer end comprising cell-phone customer terminal,
PC and page end etc..
This Omnibearing reconnaissance robot system is entered by operator by the control machine human body 1 of remote control 9 scouts region, machine
The collection target area image of device human body 1, which is transferred on the tablet personal computer 12 of remote control 9, feeds back to operator's finishing man-machine interaction
Process, while robot body can also pass through 4G network transmissions to remote monitoring command centre client.The scouting ring of system
Border contains vehicle, large-scale counter, shelf, container, the bottom of meeting venue tables and chairs and other various narrow and small short spaces
Check.The power module 2 for many set fast demountables that system is provided alternately can charge and use so that the system realizes nothing
Interruption continuation of the journey.Omnidirectional's robot body employs the Seal Design of sealing ring so that robot body classification of waterproof reaches IP65
More than, meet use of the system in the moist, environment that rains.In addition, this practicality is new under shielding or other particular surroundings
Type can also connect robot body 1 by cable and remote control 9 carries out having line traffic control.Need in uneven when robot or
During the ground handling that other omni-directional wheels can not be passed through, the utility model can be by changing such as Athey wheel, special-shaped wheel and rubber
The wheels of the forms such as rubber tire is met.The power supply of remote controller module on power module 2 and remote control 9 on robot body 1
14th, being used alternatingly for quick disassembled three proofings tablet personal computer 12 ensure that the continuation of the journey free of discontinuities of the system is used.
Four sets of Mecanum formula omni-directional wheel trains for possessing independent suspension and its independent driving are contained in robot body 1
The drive system of motor and drive circuit board, the wireless data transmission module for receiving and dispatching the control instruction data of remote control 9, for transmitting
The figure transmission module of view data, the 4G modules 7 for sending remote image data, processing remote control 9 instructs and controlled supervisor
It is 175 degree big wide-angle camera and illuminating lamp and ranging sensing above the master control borad of each function of device human body 1, robot body
Device 4, robot front end is can be with the head of pitching, varifocal camera 5 and illuminating lamp, and robot rear portion is then in 4G modules 7
SIM card slot and two expansion interfaces, and fast disassembly type power module 2 be arranged on the left and right sides of robot body 1.
The automatic touring function of Omnibearing reconnaissance robot, by taking the inspection of bottom of car as an example, vapour is put into by robot body 1
Immediately ahead of car, the automatic touring function button of a key in remote controller 9, robot body 1 passes through distance measuring sensor 4 and control
Algorithm can realize that automatic begun its travel to from head immediately ahead of automobile bottom is used automobile tail and returned to again by the former road of afterbody
Head, the application of other scenes is similar.It is such as repeatedly anti-and the system expands out the automated intelligent pattern of various other functions
It is multiple it is touring scout, the peripheral cruising in target area, the intelligent mode such as target-region locating cruising, be also by adjusting module control and
Keypress function can be achieved with.
The operation rocking bar of two control machine people any directions travelings and rotation and head pitching is contained on remote control 9
10, eight function buttons 11, respectively a key are touring to scout function button, varifocal camera zooming adjustment button, robot
Luminous lamp switch button, robot body movement velocity regulating key, picture switching control button on body etc..Remote control 9
On be also provided with Quick Release buckle 13 and remote controller battery Quick-disassembling mechanism, can rapidly dismount tablet personal computer 12 and power supply of remote controller
Module 14.
Software systems are devised on tablet personal computer 12, major function has：Display image, take pictures, record a video, check picture, regard
Frequency playback, bluetooth state, information about power and robot working condition etc..
In summary, by means of above-mentioned technical proposal of the present utility model, the interior of Omnibearing reconnaissance robot system is improved
Portion's device space, rational deployment, so as to reduce the whole height of robot, improves the layout of system space present in prior art
It is unreasonable, the higher shortcoming that cannot be introduced into shorter space of system altitude；Camera investigation module is improved, dual camera is used
Scheme so that the scope of reconnaissance of system more comprehensively, improves the operation ease of system, solves to check model present in prior art
Enclose small, illuminating ray is not enough, the problems such as operability is poor；Omnibearing reconnaissance robot system classification of waterproof is improved, existing skill is solved
The problem of art classification of waterproof deficiency can not be used in the moist, environment that rains；Battery is Quick replacing structure, is realized free of discontinuities
Continuation of the journey, solves the system cruising time short shortcoming that can not be worked for a long time in the prior art；Improve omnidirectional's Scouting robotic
The contactless transmission distance of people's system, solves contactless transmission of the prior art apart from partially short shortcoming；Add omnidirectional's reconnaissance plane
Intelligent, the raising reconnaissance efficiency of device people's system, solves to rely on manually operated in the prior art, intelligence poor efficiency is scarce
Point；The perfect function of Omnibearing reconnaissance robot, can be realized by remote control video record review, image sectional drawing, document storing
The function such as check, while increasing 4G wireless backhaul functions on system machine human body, it is objective that realization can remotely pass through PC, mobile phone
Family end, webpage P2P viewings preserve real time reconnaissance picture, monitor scouting process, so as to realize information networking, improve prior art；
Add the expanded function of Omnibearing reconnaissance robot system；The obstacle climbing ability of Omnibearing reconnaissance robot body is improved, machine is reduced
The operating wheel noise of device people.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of Omnibearing reconnaissance robot, including robot body（1）And and robot body（1）The remote control of communication connection
（9）, it is characterised in that the robot body（1）Be each side detachably provided with respectively it is parallel with its side
Two road wheels（6）, the road wheel（6）A motor is respectively connected to, the motor is each to be driven by one respectively
Dynamic circuit electrical connection is arranged at the robot body（1）Internal master control borad, the master control borad has also been electrically connected power supply mould
Block（2）, wide-angle camera（3）, distance measuring sensor（4）, varifocal camera（5）, 4G modules（7）And expansion interface（8）, it is described
Power module（2）It is removable installed in the robot body（1）The left and right sides, the wide-angle camera（3）Passed with ranging
Sensor（4）It may be contained within the robot body（1）Top, the varifocal camera（5）It is fixedly connected on rotatable cloud
On platform, the head is arranged at the robot body（1）Front side, and the head pass sequentially through head driving steering wheel and one
Drive circuit electrically connects master control borad, the 4G modules（7）And expansion interface（8）It may be contained within the robot body（1）Rear side,
The expansion interface（8）Including RS232 electric interfaces and mechanical mounting interface.
2. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the remote control（9）Be internally provided with
Remote control master control borad, the remote control master control borad is electrically connected operation rocking bar（10）, function button（11）, tablet personal computer
（12）, power supply of remote controller module（14）, the operation rocking bar（10）, function button（11）It may be contained within the remote control（9）Front
Both sides, the tablet personal computer（12）Pass through Quick Release buckle（13）It is removably installed in the remote control（9）Positive middle part, institute
State power supply of remote controller module（14）It is removably installed in the remote control（9）The back side.
3. Omnibearing reconnaissance robot according to claim 2, it is characterised in that the robot body（1）Including fixation
Two plastic housings up and down of connection, the robot body（1）Joint face and dynamic sealing face on be equipped with sealing ring.
4. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the road wheel（6）For Mecanum formula
Omni-directional wheel, Athey wheel, special-shaped wheel or rubber wheel.
5. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the master control borad based on GFSK by being modulated
The wireless data transmission module of mode and the figure transmission module communication connection remote control based on broadband FM video modulations, FM audio modulator modes
（9）.
6. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the wide-angle camera（3）It is big for 175 degree
The fixed camera of wide-angle, the wide-angle camera（3）With varifocal camera（5）Edge be surrounded with illuminating lamp.
7. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the distance measuring sensor（4）For infrared survey
Away from sensor or radar range finding sensor.
8. Omnibearing reconnaissance robot according to claim 1, it is characterised in that the 4G modules（7）Inserted including SIM card
Groove, the 4G modules（7）Communicate to connect remote terminal control and command center customer end.
9. Omnibearing reconnaissance robot according to claim 8, it is characterised in that the remote terminal control and command center visitor
Family end is cell-phone customer terminal, PC or page end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475615.0U CN206406063U (en) | 2016-12-30 | 2016-12-30 | A kind of Omnibearing reconnaissance robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| 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 |
| CN108470011A (en) * | 2018-05-15 | 2018-08-31 | 赫星科技有限公司 | Unmanned plane support plate |
| CN111998170A (en) * | 2020-09-10 | 2020-11-27 | 深圳市博铭维智能科技有限公司 | Laser radar amphibious pipeline detection robot |
| CN112055678A (en) * | 2019-05-16 | 2020-12-08 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN113225456A (en) * | 2020-10-20 | 2021-08-06 | 北京晶品特装科技有限责任公司 | Investigation robot |
| CN113479276A (en) * | 2021-07-30 | 2021-10-08 | 上海中为智能机器人有限公司 | Light-duty formula reconnaissance robot of jettisoninging |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| 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 |
| CN108470011A (en) * | 2018-05-15 | 2018-08-31 | 赫星科技有限公司 | Unmanned plane support plate |
| CN112055678A (en) * | 2019-05-16 | 2020-12-08 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN111998170A (en) * | 2020-09-10 | 2020-11-27 | 深圳市博铭维智能科技有限公司 | Laser radar amphibious pipeline detection robot |
| CN113225456A (en) * | 2020-10-20 | 2021-08-06 | 北京晶品特装科技有限责任公司 | Investigation robot |
| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN113479276A (en) * | 2021-07-30 | 2021-10-08 | 上海中为智能机器人有限公司 | Light-duty formula reconnaissance robot of jettisoninging |
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