CN206704333U - Sniffing robot after a kind of calamity - Google Patents
Sniffing robot after a kind of calamity Download PDFInfo
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- CN206704333U CN206704333U CN201720445689.8U CN201720445689U CN206704333U CN 206704333 U CN206704333 U CN 206704333U CN 201720445689 U CN201720445689 U CN 201720445689U CN 206704333 U CN206704333 U CN 206704333U
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- China
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- relay unit
- walking mechanism
- robot
- chain
- master controller
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Abstract
The utility model discloses sniffing robot after a kind of calamity, including robot housing, walking mechanism, master controller, camera, gas sensor, dust sensor, laser range sensor, wireless relay unit and relay unit relieving mechanism；Walking mechanism is arranged on robot housing both sides, walking mechanism includes W shape supports, two bottom installing wheels of W shape supports, W shapes internal stent is provided with chain, the motor shaft of walking mechanism is connected by chain with wheel, so as to drive vehicle wheel rotation, the outer surfaces of W shape supports is provided with crawler belt, crawler belt installation concentric with chain and with chain operation.The utility model carries out the walking mechanism of convolution using wheel, and structure local area network communication, the defects of overcoming traditional Zai Hou robots to exist are bridged using wireless multi-relay.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to sniffing robot after a kind of calamity.
Background technology
The dangerous accident such as China's mine disaster, chemical industry happens occasionally, the detection pair of movable rescue sniffing robot down-hole information
Rescue work serves conclusive effect.Therefore, Disaster Relief Robot by property, reliability seems of crucial importance.
The walking mechanism of sniffing robot is mainly based on wheel after traditional calamity.Wheel type traveling mechanism flexibility is high, speed
It hurry up, maneuverability.The efficiency highest of wheeled locomotion mechanism, gait of march is fast, turns to flexible and cheap, part appearance
Change rapidly after problem, in addition, on the ground of relatively flat, the existing quite preferable advantage of wheel type mobile, control also relative
Simply, it quite extensively, is one of current research travel mechanism the most thorough that wheeled locomotion mechanism is applied now.But usual calamity
The landform of rear region is complex, and when road surface is ups and downs or encounters larger barrier, wheel type traveling mechanism is difficult to deal with,
So as to reduce the service behaviour of Zai Hou robots and operating efficiency.
The communication of traditional rescue robot is typically all to be transmitted based on wired, using cable or optical fiber carry out signal and
The transmission of data, wire transmission signal stabilization, strong security, it is not easily susceptible to disturb.But wire transmission cost is big, cable it is tediously long and
It is heavy, limit scope of activities and the activity sensitivity of mobile platform, or even the broken cable meeting in the case of environment complexity
Cause communicating interrupt, cause unnecessary loss, work delays progress.Be wirelessly transferred is realized using the WLAN of structure
Communication function, in short haul connection, laser propagation effect is good, if but running into barrier or telecommunication and will be obstructed.
Utility model content
In order to solve the technical problem that above-mentioned background technology proposes, the utility model detects machine after aiming to provide a kind of calamity
People, the walking mechanism of convolution is carried out using wheel, structure local area network communication is bridged using wireless multi-relay, overcomes machine after traditional calamity
The defects of people is present.
In order to realize above-mentioned technical purpose, the technical solution of the utility model is：
Sniffing robot after a kind of calamity, including robot housing, in addition to walking mechanism, master controller, camera, gas
Sensor, dust sensor, laser range sensor, wireless relay unit and relay unit relieving mechanism；Walking mechanism is installed
In robot housing both sides, walking mechanism includes W shape supports, two bottom installing wheels of W shape supports, and W shape internal stents are set
There is chain, the motor shaft of walking mechanism is connected by chain with wheel, and so as to drive vehicle wheel rotation, the outer surface of W shape supports is set
There is a crawler belt, crawler belt installation concentric with chain and with chain operation；Relay unit relieving mechanism is fixedly mounted on robot housing,
Wireless relay unit is installed in the release end of relay unit relieving mechanism, and relay unit relieving mechanism discharges nothing in ad-hoc location
Line relay unit, makes wireless relay unit depart from robot, and the wireless relay unit of each specific location forms wireless routing；It is main
Controller is arranged on the inside of robot housing, camera, gas sensor, dust sensor and laser range sensor collection
Corresponding data simultaneously sends master controller to, and data are uploaded to command centre, while main control by master controller by wireless routing
Device receives the control instruction that command centre assigns, and the motor for controlling walking mechanism according to control instruction operates.
Preferred scheme based on above-mentioned technical proposal, the gas sensor use GH3 multi-gas sensors.
Preferred scheme based on above-mentioned technical proposal, the camera use 1080P high-definition cameras.
Excellent sequence scheme based on above-mentioned technical proposal, the wireless relay unit use WIFI routers.
Preferred scheme based on above-mentioned technical proposal, the master controller use STM32 chips.
The beneficial effect brought using above-mentioned technical proposal：
(1) the utility model carries out convolution walking mechanism using wheel, takes into account the advantages of crawler belt is with wheel.Road surface is than shallower
When, there are flexible, high speed characteristics wheels to play main advance effect, when road surface is ups and downs or encounters larger barrier
When, the climbing effect of crawler belt can cause robot car body smoothly to clear the jumps, and it is right in circumstances not known to improve robot
The adaptability of complicated landform, search and rescue investigative range is expanded, improves rescue efficiency；
(2) the utility model builds communication network by wireless relay, and nothing is built into using several wireless relay units
The network of line transmission, while timesharing relieving mechanism is utilized, wireless relay is discharged at bad environments, with a varied topography, signal blind zone
Module, the transmission of data stabilization is ensure that, effectively expand the scope of activities of moveable platform, improve the work energy of equipment
Power, the cost of communications facility construction is reduced, particularly in some urgent needs and use, disposable occasion.And avoid
The problem of wire communication cable is tediously long heavy, recovery is difficult, easy to operate, maintenance cost is low.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is walking mechanism schematic diagram in the utility model.
Label declaration：1st, wireless relay unit；2nd, wheel；3rd, W shapes support；4th, camera；5th, gas sensor and dust
Sensor；6th, laser range sensor；7th, crawler belt；8th, motor shaft.
Embodiment
Below with reference to accompanying drawing, the technical solution of the utility model is described in detail.
Sniffing robot after a kind of calamity, as shown in figure 1, including robot housing, walking mechanism, master controller, camera
4th, gas sensor 5, dust sensor 5, laser range sensor 6, wireless relay unit 1 and relay unit relieving mechanism.
Walking mechanism is arranged on robot housing both sides, as shown in Fig. 2 walking mechanism includes W shapes support 3, W shapes support 3
Two bottom installing wheels 2, the inside of W shapes support 3 is provided with chain, and motor shaft 8 is connected by chain with wheel 2, so as to drive
Wheel 2 rotates, and the outer surface of W shapes support 3 is provided with crawler belt 7, the installation concentric with chain of crawler belt 7 and with chain operation.
Relay unit relieving mechanism is fixedly mounted on robot housing, and wireless relay unit 1 is installed in relay unit and released
In the release end of laying mechanism, relay unit relieving mechanism discharges wireless relay unit 1 in ad-hoc location, makes wireless relay unit 1
Depart from robot, the wireless relay unit of each specific location forms wireless routing.
Master controller is arranged on the inside of robot housing, camera 4, gas sensor 5, dust sensor 5 and laser
Distance measuring sensor 6 gathers corresponding data and sends master controller to, and data are uploaded to commander by master controller by wireless routing
Center, while master controller receives the control instruction that command centre assigns, and motor in walking mechanism is controlled according to control instruction
Operating.
In the present embodiment, gas sensor uses GH3 multi-gas sensors, for detecting oxygen, H2S, CO concentration,
Its degree of protection is IP54.Camera uses 1080P high-definition cameras, for gathering the image information of search coverage.Laser Measuring
A range of obstacle distance is detected away from sensor.Dust sensor is used to detect the dust concentration in search coverage.Root
Go out Post disaster relief scheme according to the image information, gas and the dust concentration information that detect and obstacle distance information research.
Embodiment is only to illustrate technological thought of the present utility model, it is impossible to the scope of protection of the utility model is limited with this,
It is every according to the utility model proposes technological thought, any change done on the basis of technical scheme, each fall within this practicality
Within the scope of novel protected.
Claims (5)
1. sniffing robot after a kind of calamity, including robot housing, it is characterised in that：Also include walking mechanism, master controller, take the photograph
As head, gas sensor, dust sensor, laser range sensor, wireless relay unit and relay unit relieving mechanism；Walking
Mechanism is arranged on robot housing both sides, and walking mechanism includes W shape supports, two bottom installing wheels of W shape supports, W shape branch
Chain is provided with inside frame, the motor shaft of walking mechanism is connected by chain with wheel, so as to drive vehicle wheel rotation, W shape supports
Outer surface is provided with crawler belt, crawler belt installation concentric with chain and with chain operation；Relay unit relieving mechanism is fixedly mounted on machine
On people's housing, wireless relay unit is installed in the release end of relay unit relieving mechanism, and relay unit relieving mechanism is specific
Position discharges wireless relay unit, wireless relay unit is departed from robot, and the wireless relay unit of each specific location is formed
Wireless routing；Master controller is arranged on the inside of robot housing, camera, gas sensor, dust sensor and Laser Measuring
Corresponding data is gathered away from sensor and sends master controller to, and data are uploaded in commander by master controller by wireless routing
The heart, while master controller receives the control instruction that command centre assigns, the motor for controlling walking mechanism according to control instruction operates.
A kind of 2. sniffing robot after calamity according to claim 1, it is characterised in that：The gas sensor is more using GH3
Gas sensor.
A kind of 3. sniffing robot after calamity according to claim 1, it is characterised in that：The camera uses 1080P high definitions
Camera.
A kind of 4. sniffing robot after calamity according to claim 1, it is characterised in that：The wireless relay unit uses WIFI
Router.
A kind of 5. sniffing robot after calamity according to claim 1, it is characterised in that：The master controller uses STM32 cores
Piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445689.8U CN206704333U (en) | 2017-04-26 | 2017-04-26 | Sniffing robot after a kind of calamity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445689.8U CN206704333U (en) | 2017-04-26 | 2017-04-26 | Sniffing robot after a kind of calamity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206704333U true CN206704333U (en) | 2017-12-05 |
Family
ID=60459302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720445689.8U Expired - Fee Related CN206704333U (en) | 2017-04-26 | 2017-04-26 | Sniffing robot after a kind of calamity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206704333U (en) |
-
2017
- 2017-04-26 CN CN201720445689.8U patent/CN206704333U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 Termination date: 20210426 |
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| CF01 | Termination of patent right due to non-payment of annual fee |