CN207448453U - A kind of robot and robot system - Google Patents
A kind of robot and robot system Download PDFInfo
- Publication number
- CN207448453U CN207448453U CN201721394106.XU CN201721394106U CN207448453U CN 207448453 U CN207448453 U CN 207448453U CN 201721394106 U CN201721394106 U CN 201721394106U CN 207448453 U CN207448453 U CN 207448453U
- Authority
- CN
- China
- Prior art keywords
- fixed plate
- camera
- robot
- photographic device
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model patent is related to technical field of fire control, and in particular to a kind of robot and robot system.Including：Car body；Panoramic shooting component, including be mounted on the car body at least three towards different directions photographic device；Video information synthesizer, for receiving the image data of at least three photographic device and synthesizing 3D panoramic pictures；Wireless transport module, for sending the 3D panoramic pictures.In above-mentioned technical proposal, by the real time monitoring of the panoramic shooting component, the 3D panoramic pictures of its periphery terrain environment can be fed back to remote control end and shown by robot, being capable of more accurate Manipulation of the machine people convenient for commander's accurately avoidance.
Description
Technical field
The utility model patent is related to technical field of fire control, and in particular to a kind of robot and robot system.
Background technology
Existing fire-fighting robot realizes collection image using a full-view camera, can only real-time display be not more than
The visual angle of 180 degree, there are blind areas, are unfavorable for commander's operation.
Existing fire-fighting robot uses the image around the acquisition of 2D panorama systems and is sent to long-range remote control end substantially, refers to
The person of waving is in remote control end observation fire-fighting robot ambient enviroment, and Manipulation of the machine people completes task.Due to being taken the photograph only with a panorama
Realize collection image as head, can only real-time display be not more than 180 degree visual angle.For fire-fighting robot when advancing, commander is only
It will appreciate that the picture on a direction, surrounding steric environment situation can not be understood, be susceptible to blind area.
The content of the invention
It is real for the scene of fire-fighting robot the utility model proposes a kind of robot that can realize 3D panoramic shootings
When monitor.The fire-fighting robot includes：
Car body；
Panoramic shooting component, including be mounted on the car body at least three towards different directions photographic device；
Video information synthesizer, for receiving the image data of at least three photographic device and synthesizing 3D panoramas
Image；
Wireless transport module, for sending the 3D panoramic pictures.
In above-mentioned technical proposal, by the real time monitoring of the panoramic shooting component, robot can be by its periphery landform
The 3D panoramic pictures of environment feed back to remote control end and are shown, convenient for commander's accurately avoidance, can more accurately manipulate
Robot.
Preferably, there are four the photographic devices, and be separately mounted to the front end of the car body, tail end, left side and
Right side.
Preferably, the photographic device includes the mounting bracket of adjustable angle and rack-mount camera.
The viewing visual angle of the camera can adjust, and be conducive to adjust to accurately shooting visual angle.
Preferably, the photographic device includes the first fixed plate, the first motor being arranged in first fixed plate；
The camera is arranged in first fixed plate；First motor is sequentially connected with the camera, for driving
Relatively described first fixed plate of camera is stated to swing in a first direction.
Preferably, the photographic device includes lens fixed seat and the first transmission component；The lens fixed seat
For fixing the camera, and it is rotatably installed in first fixed plate；First transmission component includes first and passes
Dynamic worm screw and the first transmission turbine, first geared worm are connected with first motor by shaft coupling, and described first passes
Dynamic turbine is sequentially connected with first geared worm, and the first transmission turbine is coaxially fixed on the lens fixed seat
In shaft.
Preferably, the photographic device includes the second fixed plate, the second motor being arranged in second fixed plate；
First fixed plate is arranged in second fixed plate；Second motor is sequentially connected with first fixed plate, uses
It is swung in a second direction in driving relatively described second fixed plate of the first fixed plate.
Preferably, the photographic device includes the second transmission component；First fixed plate is rotatably installed in described
In two fixed plates；Second transmission component include the second geared worm and second transmission turbine, second geared worm with
Second motor is connected by shaft coupling, and the second transmission turbine and second geared worm are sequentially connected, and described the
Two transmission turbines are coaxially fixed in the shaft of first fixed plate.
Preferably, the angle that swings of the camera, more than 5 °, the angle that swings up and down of the camera is more than
10°。
Preferably, the camera is fish-eye camera.With wider shooting visual angle.
Preferably, four photographic devices it is mutual setting height(from bottom) difference be not more than 100mm.
The utility model also provides a kind of robot system, commander can be convenient for understand site environment and avoidance, more had
It is manipulated beneficial to commander.The robot system includes remote control and robot described in any one of the above embodiments；The robot leads to
It crosses its wireless transport module and sends the 3D panoramic pictures to the remote control；The remote control includes showing described
The display of 3D panoramic pictures.
In above-mentioned technical proposal, the 3D panoramic pictures of its periphery terrain environment can be fed back to remote control end by the robot
It is shown, it, being capable of more accurate Manipulation of the machine people convenient for commander's accurately avoidance.
Description of the drawings
Fig. 1 is robot architecture's schematic diagram one of the utility model embodiment.
Fig. 2 is robot architecture's schematic diagram two of the utility model embodiment.
Fig. 3 is the camera device structure schematic diagram of the utility model embodiment.
Specific embodiment
Robot proposed by the invention and robot system are carried out below in conjunction with the drawings and specific embodiments further
It is described in detail.According to following explanation, advantages and features of the invention will become apparent from.It should be noted that attached drawing is using very
Simplified form and non-accurate ratio, only to purpose that is convenient, lucidly saying the embodiment of the present invention.
Embodiment one
A kind of fire-fighting robot system, fire-fighting robot including crawler-type traveling and long-range for being carried out to robot
The remote controler of manipulation.
Fire-fighting robot is included through car body 1, mounted on 1 surrounding of car body panoramic shooting component and be arranged on car body 1
On video information synthesizer（It is not shown in figure）And wireless transport module（It is not shown in figure）.
Car body 1 is included for the Athey wheel 11 for driving fire-fighting and robot ambulation, the shell of top cover being arranged on Athey wheel 11
Body 12.Camera assembly includes the front end photographic device 2a mounted on 1 front end of car body, the tail end mounted on 1 tail end of car body images dress
Put 2b, the left side photographic device 2c on the left of car body, the right side photographic device 2d on the right side of car body.Wherein, left side
Photographic device 2c and right side photographic device 2d is mounted on 12 on fire-fighting robot upper cover housing, and the height apart from ground is about
500mm；Front end photographic device 2a and tail end photographic device 2b is separately mounted to the front and rear side of car body（Positioned at car body front-rear center axis
At line）, the height apart from ground is about 400-500mm.Difference in height before four photographic devices are mutual is preferably controlled in
Within 100mm.The ambient enviroment of four photographic device real time monitoring fire-fighting robots, and the image data shot is sent to
The video information synthesizer being connected electrically.
Video information synthesizer is electrically connected respectively with four photographic devices, collects the picture number that each photographic device is sent
According to and store into its memory module.Video information synthesizer includes memory module, for storing the picture number that it is collected into
According to.The computing module of video information synthesizer reads the image data of storage in a storage module, and passes through certain algorithm
Synthesize a width 3D panoramic pictures.Computing module can also further import 3D fire-fighting robot moulds in 3D panoramic pictures
Type forms the 3D panoramic pictures for getting a bird's eye view visual angle.
Wireless transport module, for the data communication of fire-fighting robot and remote control.Video information synthesizer generates
3D panoramic pictures remote control can be sent to by the wireless transport module, and be shown in the display of remote control
On, understand site environment and avoidance convenient for commander, more have and manipulated using commander, can efficiently, be accurately remotely controlled fire-fighting
Robot obstacle-avoiding and the area etc. that surmounts obstacles, are rapidly achieved scene of a fire hazardous area.It puts out a fire so as to fulfill remote-controlled operation, subtracts as much as possible
Few personnel's injury.
Further, photographic device includes the mounting bracket of adjustable angle and rack-mount camera 21.It takes the photograph
It is fixed as device includes camera 21, the first fixed plate 22, the first motor 23, the second fixed plate 24, the second motor 25, camera
Seat 26.Wherein, camera 21 is more than 180 ° of fish eye camera using visual angle.Lens fixed seat 26 is taken the photograph for installing fixation
As first 21, the first fixed plate 22 is equipped with bearing block 221, and lens fixed seat is horizontally arranged with shaft 261.Lens fixed seat
21 shaft 261 is mounted in bearing block 221 so that lens fixed seat 26 opposite can be swung up and down with the first fixed plate 22.
First motor 23 is fixed in the first fixed plate 22.Shaft 261 coaxially fixes the first transmission close to one end of the first motor 23
Turbine 271, the first motor 23 are connected to the first geared worm being sequentially connected with the first transmission turbine 271 by shaft coupling
272.First motor 23 can be driven by the first transmission component being made of the first geared worm 272 and the first transmission turbine 271
The lower swing in the vertical direction of lens fixed seat 26 is moved, so as to fulfill swinging up and down for camera 21.Above and below camera 21
Swing angle is not less than 10 °.
Second fixed plate 24 is equipped with bearing block 241, and the first fixed plate 22 is vertically provided with shaft 222.First
The shaft 222 of fixed plate 22 is mounted in bearing block 241 so that the first fixed plate 22 can be with respect to 24 or so pendulum of the second fixed plate
It is dynamic.Second motor 25 is fixed in the second fixed plate 24.Shaft 222 coaxially fixes the second transmission whirlpool close to one end of the second motor
Wheel 281, the second motor 25 are connected to the second geared worm being sequentially connected with the second transmission turbine 281 by shaft coupling.Second
Motor 25 can drive the first fixed plate 22 by the second transmission component that the second geared worm and the second transmission turbine 281 form
It swings in the horizontal direction, so as to fulfill swinging for camera 21.The angle that swings of camera is not less than 5 °.The
Two fixed plates are fixed on the car body, by controlling the first motor and the second motor, adjust camera viewing visual angle, present needs in real time
The picture wanted can more accurately operation robot move.For example, when fire-fighting robot one side Athey wheel is jacked up by stone
When, camera can be rotated by motor to depression angle, observes the terrain environment immediately below Athey wheel.
Although being described in conjunction with the accompanying embodiments of the present invention, those of ordinary skill in the art can be in appended power
Various deformations or amendments are made in the range of profit requirement.
Claims (11)
1. a kind of robot, which is characterized in that including：
Car body；
Panoramic shooting component, including be mounted on the car body at least three towards different directions photographic device；
Video information synthesizer, for receiving the image data of at least three photographic device and synthesizing 3D panorama sketch
Picture；
Wireless transport module, for sending the 3D panoramic pictures.
2. a kind of robot according to claim 1, it is characterised in that：
There are four the photographic devices, is separately mounted to front end, tail end, left side and the right side of the car body.
3. a kind of robot according to claim 1, it is characterised in that：
The photographic device includes the mounting bracket of adjustable angle and rack-mount camera.
4. a kind of robot according to claim 3, it is characterised in that：
The photographic device includes the first fixed plate, the first motor being arranged in first fixed plate；
The camera is arranged in first fixed plate；
First motor and the camera are sequentially connected, for driving relatively described first fixed plate of the camera the
One side is swung up.
5. a kind of robot according to claim 4, it is characterised in that：
The photographic device includes lens fixed seat and the first transmission component；
The lens fixed seat is rotatably installed in for fixing the camera in first fixed plate；
First transmission component includes the first geared worm and the first transmission turbine, first geared worm and described first
Motor is connected by shaft coupling, and the first transmission turbine is sequentially connected with first geared worm, the first transmission whirlpool
Wheel is coaxially fixed in the shaft of the lens fixed seat.
6. a kind of robot according to claim 4, it is characterised in that：
The photographic device includes the second fixed plate, the second motor being arranged in second fixed plate；
First fixed plate is arranged in second fixed plate；
Second motor is sequentially connected with first fixed plate, for driving first fixed plate relatively described second solid
Fixed board is swung in a second direction.
7. a kind of robot according to claim 6, it is characterised in that：
The photographic device includes the second transmission component；
First fixed plate is rotatably installed in second fixed plate；
Second transmission component includes the second geared worm and the second transmission turbine, second geared worm and described second
Motor is connected by shaft coupling, and the second transmission turbine is sequentially connected with second geared worm, the second transmission whirlpool
Wheel is coaxially fixed in the shaft of first fixed plate.
8. a kind of robot according to claim 3, it is characterised in that：
For the angle that swings of the camera more than 5 °, the camera swings up and down angle more than 10 °.
9. a kind of robot according to any one of claim 1-8, it is characterised in that：
The camera is fish-eye camera.
10. a kind of robot according to any one of claim 1-8, it is characterised in that：
The mutual setting height(from bottom) difference of four photographic devices is not more than 100mm.
11. a kind of robot system, it is characterised in that：Including the machine any one of remote control, claim 1-10
People；
The robot sends the 3D panoramic pictures to the remote control by its wireless transport module；
The remote control includes the display for showing the 3D panoramic pictures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721394106.XU CN207448453U (en) | 2017-10-26 | 2017-10-26 | A kind of robot and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721394106.XU CN207448453U (en) | 2017-10-26 | 2017-10-26 | A kind of robot and robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207448453U true CN207448453U (en) | 2018-06-05 |
Family
ID=62281741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721394106.XU Expired - Fee Related CN207448453U (en) | 2017-10-26 | 2017-10-26 | A kind of robot and robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207448453U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748210A (en) * | 2018-07-18 | 2018-11-06 | 昆明理工大学 | A kind of light-duty package picks and places robot |
| CN110012221A (en) * | 2019-03-15 | 2019-07-12 | 昭通学院 | A kind of mobile camera |
-
2017
- 2017-10-26 CN CN201721394106.XU patent/CN207448453U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748210A (en) * | 2018-07-18 | 2018-11-06 | 昆明理工大学 | A kind of light-duty package picks and places robot |
| CN110012221A (en) * | 2019-03-15 | 2019-07-12 | 昭通学院 | A kind of mobile camera |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10976647B2 (en) | Method and system for motion camera with embedded gimbal | |
| CN207181920U (en) | A kind of one camera oblique photograph device for airborne vehicle | |
| CN111720691B (en) | Pan-tilt for image capture | |
| JP6483492B2 (en) | Aerial equipment | |
| CN110315498B (en) | Autonomous mobile patrol robot linked with MR glasses and system thereof | |
| KR101783545B1 (en) | Camera Gimbal Syatem of Unmanned Flight Vehicle for VR 360 degree Omnidirectional Photographing | |
| EP3505808A1 (en) | Systems and methods for payload stabilization | |
| JP2016218430A (en) | Support rod device for virtual reality camera | |
| CN106029501A (en) | Uav panoramic imaging | |
| CN207448453U (en) | A kind of robot and robot system | |
| US4716465A (en) | Device for wireless video monitoring and control of a still camera | |
| CN105915772A (en) | Indoor panoramic data collection trolley | |
| CN103888750A (en) | Three-dimensional image shooting control system and method | |
| CN109250004A (en) | A kind of panoramic information acquisition rolling robot | |
| CN206294286U (en) | A kind of remote dummy reality realizes system | |
| WO2018223424A1 (en) | System based on tri-axial pan-tilt stable photographing device | |
| CN111163252B (en) | Panoramic shooting device, panoramic shooting system, shooting method and aircraft | |
| JP7175301B2 (en) | Intelligent shooting system | |
| CN115076561A (en) | Tele-immersion type binocular holder follow-up system and method applied to engineering machinery | |
| CN213906781U (en) | Cloud platform control system | |
| CN102360152B (en) | Three-dimensional panoramic camera bracket | |
| JPWO2022124398A5 (en) | ||
| CN208248509U (en) | Unmanned plane twin-lens mechanism and unmanned plane | |
| CN207148655U (en) | The panoramic video UAS of intelligent 3D motion sensing controls | |
| CN207314870U (en) | A kind of indoor evener device of view-based access control model inertia combined navigation |
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: 20180605 |