CN209615538U - The Fang Xie robot of all-terrain adaptable movement inspection security protection - Google Patents

Abstract

The Fang Xie robot of all-terrain adaptable movement inspection security protection, including middle control main body and the autonomous dynamic intelligence machine leg being fixed in the middle control main body, autonomous dynamic attacking and defending intelligence machine saw pincers, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of autonomous dynamic, middle control main body includes intelligent power supply system, central intelligent control system, main frame and the intelligence machine leg fixed interface for being symmetrically distributed in main frame two sides or down either side, it is distributed in the intelligence machine saw pincers fixed interface of top in main frame front and the intelligence engagement machine mouth fixed interface of lower front, the intelligence machine whip tail fixed interface at main frame rear portion.The utility model structural stability and impact resistance are strong；It is able to achieve and the security protections patrol disposal options such as independently deters or expel or capture or attack according to danger classes with a variety of weapons；Personnel can be effectively substituted under complicated severe environments goes on patrol defence work.

Description

The Fang Xie robot of all-terrain adaptable movement inspection security protection

Technical field

The utility model relates to bio-robot technical fields, and in particular to the all-terrain adaptable movement inspection security protection of one kind Fang Xie robot.

Background technique

The very long boundary line topography and geomorphology complexity in China, ravines and guillies criss-cross, many place manpower Long term patrol monitoring effect power Institute it is difficult and, and as the rapid enhancing and dynamics of reforming and opening up to the outside world of national comprehensive strength further increase, the safe shape of boundary line Gesture is more severe, and overseas anti-China forces and undesirable attempt to penetrate into the country by the territory frontier defense line for breaking through China The event for endangering national security happens occasionally.In addition, the criminal activities such as the stealing into another country, smuggle of border area, gun traffic, traffic in drugs, robbery It is long-term to influence boundary policing, interior ground public security environment is also affected to some extent.In recent years, people and animals cross the border and terrified in order to prevent Molecule is sneaked in and out, and reinforces border management, video monitoring, fence, feel, satellite remote sensing etc. has detection, perception, alarm The technology of function gradually for being used as security protection means on national defence security protection line, and passes through borderguard or anti-smuggling army's night To be handled after the manpower prevention of day；But there are still more problem, first, prior art equipment still can not effectively answer very long Implement round-the-clock reliable monitoring in border under miscellaneous topography and geomorphology；Second, though the mobility height of people's air defense, actually national side Border line span is big, battle line is long, can not accomplish correlating in time to each point under harsh environment；Third, due to regional climate Also great actual bodily harm can be brought to the officers and men that guard the frontier, can not be timely responded in round-the-clock situation；4th, complicated landform landforms It when executing inspection security task, is easily ambushed, inevitable disability even death incident.Therefore, how modern security protection skill is utilized Art is combined with frontier guards's actual conditions, it has also become there is an urgent need to solve for frontier guards under complicated landform landforms and harsh environment Certainly the problem of.

On the other hand, with the rapid development of information technology, security robot is as technologies such as artificial intelligence, automatic controls Synthesis also quietly emerge, polypody bio-robot becomes domestic and international scientific worker's due to its well adapting to property Research emphasis, research achievement is numerous, such as in the gait research of bio-robot, Machine Design, control method mode, polypody machine There are a large amount of designs in terms of people's components.Multi-foot robot obstacle detouring, rugged ground, ditch, bank, in terms of it is very big excellent Gesture has caused the interest of numerous scientific workers.

CN 201710319397 discloses a kind of bionical scorpion Detecting Robot, including head, trunk, tail portion, walking Leg and preceding huge legendary turtle, trunk are shell structure, and head is connected with trunk front end, the rear end of tail portion connection and trunk, trunk The middle and back of upper surface is provided with solar panel, and solar panel is connected to the battery, and battery connects in trunk Master controller, walking leg has eight, wherein four are successively set on left side of trunk, four additional is sequentially arranged in the trunk right side Side, preceding huge legendary turtle pass through the left and right sides of preceding hinged seat connection and trunk front end respectively, one of them is provided with electric drill, another sets It is equipped with sabre, tail portion has multiple caudal knots to be sequentially connected end to end in turn, and head section is connect with trunk, and the end of periproct is connected with camera, Emitter and caisson can be forwarded by being additionally provided at the top of trunk；Although this patent provides a kind of bionical scorpion robot, but its Defect in mechanism and Functional Design is not suitable with the inspection security of ravines and guillies criss-cross complicated landform landforms, and first, without enough obstacle detourings Ability is gone on patrol range and is limited more without climbing ability, and design is promoted more in such a way that walking leg and traveling wheel combine Hinder performance, but actually increase only a kind of simple wheel type movement mode, does not simply fail to promote obstacle performance, be easy to cause resistance instead Hinder；Second, single motor pattern is designed, complicated landform or even full landform can not be adapted to, or even causes itself serious event Hinder and loses investigation or security effect；Third, the knife and brill being arranged on chela, practicability is low in actual use； 4th, the setting of control system is easy to cause because in investigation, part (such as single leg) damages and cause system out of control or tumble Investigation tasks failure；5th, leg and huge legendary turtle are very easy to damage in investigation use process, and the replacement performance of component is deposited In very big short slab；6th, it is investigated only with imaging sensor, is easy to occur judging by accident because of optical problem or personnel's specific aim goes out Existing image investigates illusion, brings problem for itself or security protection.

Therefore, the inspection under the all-terrain adaptable complexity harsh environment of one kind is studied, can be hidden according to instruction, patrol, with certainly Fright ability is defended and attacked, the guard the frontier round-the-clock patrol security robot of problem of security protection is greatly improved and has become and need the state that solves Anti- safe urgent need.

Summary of the invention

Technical problem to be solved in the utility model is to overcome the shortcomings of the prior art and background technique, provides one kind Can any direction walk, run, bounce, climb rocks and roll and/or movement of swimming, be suitable for complicated landform landforms and harsh environment It is lower patrol, latent, have and defend oneself and attacking ability, security protection can be disposed according to the autonomous patrol of instruction or latent security protection, from main process task The Fang Xie robot of the round-the-clock inspection security protection of problem.

The utility model solve its technical problem the technical solution adopted is that, it is all-terrain adaptable movement inspection security protection imitative scorpion Robot, including middle control main body and the autonomous dynamic intelligence machine leg being fixed in the middle control main body, autonomous dynamic attacking and defending Intelligence machine saw pincers, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine of autonomous dynamic Mouth, the middle control main body include intelligent power supply system, central intelligent control system, main frame and are symmetrically distributed in main frame two sides Or down either side intelligence machine leg fixed interface, be distributed in main frame front top intelligence machine saw pincers fixed interface and The intelligence of lower front engages the intelligence machine whip tail fixed interface of machine mouth fixed interface, main frame rear portion, and the intelligence supplies Electric system and central intelligent control system are electrically connected and secured in main frame；The autonomous dynamic intelligence machine leg and intelligent machine The connection of device leg fixed interface, the autonomous dynamic attacking and defending intelligence machine saw pincers are sawed pincers fixed interface with intelligence machine and are connect, institute It states the tooth-like intelligence engagement machine mouth of autonomous dynamic to connect with intelligence engagement machine mouth fixed interface, the autonomous dynamic ultrasonic wave swashs Light aggressiveness intelligence machine whip tail is connect with intelligence machine whip tail fixed interface；The intelligent power supply system respectively with autonomous dynamic Intelligence machine leg, autonomous dynamic intelligence machine saw pincers, autonomous dynamic intelligently engage machine mouth and autonomous dynamic intelligence machine whip tail Power device or component power electrical connection；The central intelligent control system respectively with autonomous dynamic intelligence machine leg, autonomous Intelligently the intelligent controlling device of engagement machine mouth and autonomous dynamic intelligence machine whip tail is electric for power intelligence machine saw pincers, autonomous dynamic Connection and/or wireless connection.

Further, the autonomous dynamic intelligence machine leg and the intelligence machine leg fixed interface be equipped with eight, it is described Autonomous dynamic attacking and defending intelligence machine saw pincers and intelligence machine saw pincers fixed interface are equipped with two.

Further, the autonomous dynamic intelligence machine leg is included component power, power device and intelligent controlling device Three to six axis legged mobile robots, can or self contained function mobile according to control independence in instruction disengaging.

Further, the autonomous dynamic attacking and defending intelligence machine saw pincers are included component power, power device and intelligence control Two axis of device processed are to five axis and have saw and/or clamp and defend to block the saw jaw type robot of function, can be detached from according to instruction Middle control independence movement or self contained function.

Further, the tooth-like intelligence engagement machine mouth of the autonomous dynamic is included component power, power device and intelligence control Robot is nibbled by the engagement robot or extension type of device processed, can be mobile or independent dynamic according to control independence in instruction disengaging Make.

Further, the autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail is included component power, power dress Set with three axis of intelligent controlling device and ultrasonic laser emitter to eight Zhou Bianwei formula robots, can according to instruction be detached from Control independence movement and/or self contained function.

Further, the middle control main body further includes air cannon device, and/or throwing net capture device, and/or extra-high voltage Hit/electric discharge device, and/or infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave orientation hair Injection device, and/or firearm device, the air cannon device throw net capture device, super-pressure electric shock/electric discharge device, infrasound Aimed launcher, electromagnetic pulse aimed launcher, microwave aimed launcher, firearm device are fixed on the middle control main body Main frame in or main frame outside.

Further, also settable driving cabin, clothing issue room in the main frame of the middle control main body.

Further, the middle control main body further includes wired charging device and wireless charging device, and/or solar power generation Device, and/or strong electromagnetic pulse are converted into electrical energy devices, and/or strong microwave is converted into electrical energy devices, and/or high voltage induction turns Turn to electrical energy devices.

Further, the middle control main body further includes filling at device, and/or laser radar and fortune at image recognition and fortune Set, and/or millimetre-wave radar and fortune at device, and/or infrared distance measurement sensing and fortune at device, and/or instant positioning map structure Build and fortune at device, device, and/or life detectors (instrument) at device, and/or gyroscope and fortune at Beidou navigation positioning and fortune And device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at device, and/or spectrum analyzer and fortune at fortune Locate device at device and/or sound wave detecting/poly- sound monitoring and fortune；Device, and/or laser radar at described image identification and fortune And device, instant positioning map at device, and/or infrared distance measurement sensing and fortune at device, and/or millimetre-wave radar and fortune at fortune At building and fortune at device, Beidou navigation positioning and fortune at device, and/or gyroscope and fortune device, and/or life-detection instrument and Device, and/or thermal imaging and Yun Chu at device, and/or infrared perspective and fortune at device, and/or spectrum analyzer and fortune at fortune Device, and/or sound wave detecting/poly- sound monitor and fortune at device can optionally be fixed in the main frame of middle control main body or main frame It is external.

Further, the intelligent power supply system includes that main body battery pack and energy monitoring managing device and/or standby electricity supply Electric installation；The energy monitoring managing device can monitor eight autonomous dynamic intelligence machine legs, two autonomous dynamic attacking and defending intelligence It can machine saw pincers, an autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement of an autonomous dynamic The charging and discharging state and temperature of the battery pack of machine mouth, and suspend or enable standby electric power supply unit when abnormal.

Further, the central intelligent control system can be close/remote speech intersection control routine and/or hand/automatic Semi-autonomous control system and/or remote computer or remote control device control device.

Further, the intelligence machine leg fixed interface and/or intelligence machine saw pincers fixed interface and/or intelligence machine Whip tail fixed interface and/or intelligence engagement machine mouth fixed interface are hinge hole or bolt hole or the clamping for being easily installed disassembly Slot, can Fast Installation and disassembly, in mechanical Leg-wheeled robot be convenient for quick-replaceable and reparation.

Further, the central intelligent control system and intelligent power supply system can be equipped with redundancy backup system, realize The multi-ensuring of a preparation and a use.

Further, the autonomous dynamic bionic machine leg is additionally provided with failure and checks oneself device, is sentenced according to failure damaged condition Disconnected impaired grade, and give up from the motor pattern of main modulation autonomous dynamic bionic machine leg and the automatic parallel off of failure leg.

Further, the middle control main body is additionally provided with distribution inflatable bladders device, passes through when swimming or hiding in water Air bag adjusts overall buoyancy.

The course of work:

The utility model is had 8 autonomous dynamic intelligent robots of self-movement function by middle control main body coordinated control Leg, 2 autonomous dynamic intelligent robot saw pincers, the tooth-like intelligence machine mouth of 1 autonomous dynamic and 1 autonomous dynamic intelligence machine The movement matching model of people's tail can also be separated or be totally separated according to operation part as 13 independent intelligent robots, separation Machine leg out/pincers hand/tail can independently move or self contained function.Concrete function execution can divide priority by nearly remote control terminal Setting automatically and manually operate and operational mode；Image, laser radar, millimetre-wave radar, the infrared distance measurement of Fang Xie robot Sensing, navigation positional device, life-detection instrument, spectrum analyzer, infrared perspective device, thermal imaging device, sound wave detecting/poly- sound Monitoring device is one or more of, and acquired environment and person poultry activity's information are transmitted in respective arithmetic processor at operation discrimination After reason, it is transmitted to central intelligent control system, multi-environment information is provided for the automatic or manual intervention operation of Fang Xie robot and goes forward side by side Row information fusion.

When Fang Xie robot overall operation, according to task or independently according to the locking of environmental information danger position and contexture by self Route is simultaneously adjusted with multisensor in real time, by central intelligent control system carry out information fusion and export to leg, tail, mouth and The control task for clamping the intelligent controlling device of saw, by each distributed power leg intelligent controlling device, pincers saw intelligent controlling device, tail intelligence It can control device and mouth intelligent controlling device carry out control driving, the sensor feedback real-time status through being arranged on each component is simultaneously real When make closed loop adjustment, realize that the intelligence of imitative scorpion robot motion is precisely controlled, precisely realize any direction advance, after The acrobatics and tumblings such as move back, turn round, seething, climbing, the movement patrol that is suitable under complicated landform landforms and latent.

Main body is controlled in part or all of robot leg and/or pincers hand and/or tail are detached from by Fang Xie robot according to instruction Independent movement independently executes hot mission；It can be by wireless transmission task and with the intelligence of leg and/or pincers hand and/or tail or mouth Control device controls power supply and drive part and agnail etc. realize leg formula, tail formula, the snakelike fortune of saw jaw type or Zui Shi robot The wheel type movement that ontology is controlled in Dong Huofangxie robot, can independently execute task.

Analysis further accordance with central intelligent control system to environmental hazard information judges simultaneously hazard recognition source position and danger Grade is deterred, is defendd, is captured, attacked or is dispersed independently to hold according to the sub-category weaponry with outfit of danger classes Row task passes through simultaneously wirelessly reports dangerous disposition situation.

The utility model have it is following the utility model has the advantages that

1, it is attacked by eight autonomous dynamic intelligence legged mobile robots, two autonomous dynamics that middle control Principal machine people is anchored with it Anti- property intelligence saw jaw type robot, the robot of the aggressive intelligent whip tail formula of an autonomous dynamic ultrasonic laser and one are autonomous The tooth-like formula of power intelligently pacify by engagement Zui Shi robot, the patrol security protection Fang Xie robot that 13 intelligent robots are constituted altogether Dress is simple, and convenient for manufacture, and its structural stability and impact resistance are extremely strong, can any direction with high, medium and low position stepping, run, Or prance or climbing sports or latent, it is adapted to complicated landform landforms and harsh field environment.

2, with it is middle control Principal machine people central control system coordinated control have can independent operation function autonomous dynamic Intelligent robot leg/pincers/tail, implements the movement matching model of each robot, in addition can be with multi-sensor fusion technological means to big The region of range is detected, and is integrated with a variety of mature technologies, is not only convenient for realizing grading control sequencing campaign mould Formula precisely realizes the advance of any direction, retreats, turns round, turning over convenient for guaranteeing that the intelligence of imitative scorpion robot motion is precisely controlled The acrobatics and tumblings such as rise, climb, the movement patrol that is suitable under complicated landform landforms and latent；Settable distribution can fill in addition Gas air bag can swim or hide in water, can be used as a kind of amphibious patrol security Fang Xie robot.

3, convenient for the movement being arranged under varying environment and operating mode, independently located according to instruction with intelligence control system It sets and is faced a danger, realize and independently deter with a variety of weapons according to danger classes or expel or capture or attack etc. at security protections patrol Mode is set, or according to instruction by control independence movement in part or all of robot leg and/or pincers hand and/or tail disengaging or solely It is vertical to execute hot mission；Personnel can be effectively substituted under complicated severe environments and go on patrol defence work, and security protection is greatly reduced and guards the frontier people Member's risk, the intensity of upgrading patrol security protection.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of the utility model embodiment 1；

Fig. 2 is the two-dimensional structure schematic diagram of the utility model embodiment 1；

Fig. 3 is the side view of Fig. 2.

In figure: controlling main body, 11- intelligent power supply system, 12- central intelligent control system, 13- main frame in 1-, 131- drives Multiply cabin, 132- clothing issue room, 14- fixed interface, 141- leg fixed interface, 142- saw pincers fixed interface, 143- whip tail fixed interface, 144- mouth fixed interface, 2- autonomous dynamic intelligence machine leg, 3- autonomous dynamic attacking and defending intelligence machine saw pincers, 4- autonomous dynamic are super The tooth-like intelligence engagement machine mouth of sound wave laser strikes intelligence machine whip tail, 5- autonomous dynamic.

Specific embodiment

1~Fig. 3 and specific embodiment are described in further detail the utility model with reference to the accompanying drawing.

Embodiment 1

The present embodiment includes the autonomous dynamic of autonomous dynamic intelligence machine leg 2, two of middle control main body 1, eight attacking and defending intelligence Machine saw 3, autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tails 4 of pincers and the tooth-like intelligence engagement of an autonomous dynamic Machine mouth 5, the middle control main body 1 mainly include intelligent power supply system 11, central intelligent control system 12, main frame 13 and right Two for claiming eight intelligence machine leg fixed interfaces 141 for being distributed in 13 two sides of main frame, being distributed in top in main frame front The intelligence engagement machine mouth fixed interface 144 and a main frame of intelligence machine saw pincers fixed interface 142 and a lower front 4 fixed interface 143 of intelligence machine whip tail at rear portion, intelligent power supply system 11 and central intelligent control system 12 are fixed on main frame Interior, intelligent power supply system 11 and central intelligent control system 12 are electrically connected；Eight autonomous dynamic intelligence machine legs 2 difference Connect with eight intelligence machine leg fixed interfaces 141, two autonomous dynamic attacking and defending intelligence machines saw pincers 3 respectively with two intelligence Machine saw pincers fixed interface 142, the tooth-like intelligence engagement machine mouth 5 of an autonomous dynamic engage machine mouth fixed interface with intelligence 144 connections, an autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail 4 and intelligence machine whip tail fixed interface 143 connect It connects；It is middle control main body 1 intelligent power supply system 11 respectively with eight autonomous dynamic intelligence machine legs, 2, two autonomous dynamic intelligent machines Device saw clamps 3, autonomous dynamics, and intelligently the component power of engagement machine mouth 5 and an autonomous dynamic intelligence machine whip tail 4 is electrically connected It connects；It is middle control main body 1 central intelligent control system 12 respectively with eight autonomous dynamic intelligence machine legs, 2, two autonomous dynamic intelligence Energy machine saw clamps the intelligent control that 3, autonomous dynamics intelligently engage machine mouths 5 and an autonomous dynamic intelligence machine whip tail 4 Device is wirelessly connected.The autonomous dynamic intelligence machine leg 2 is the five of included component power, power device and intelligent controlling device Axis legged mobile robot, can be mobile according to control independence in instruction disengaging；The autonomous dynamic attacking and defending intelligence machine saw clamps 3 and is It carries component power, four axis of power device and intelligent controlling device and makees to defend to block function with disk saw, pincers and with sturdy arm The saw jaw type robot of energy, can be mobile according to control independence in instruction disengaging；The tooth-like intelligence engagement machine of autonomous dynamic Mouth 5 is that the extension type of included component power, power device and intelligent controlling device nibbles robot, can be according in instruction disengaging It is mobile to control independence；The autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail 4 is included component power, power dress The six Zhou Bianwei formula robots with intelligent controlling device and ultrasonic laser emitter are set, main body can be controlled according in instruction disengaging It is independent mobile.

Middle control main body further includes air cannon device, throws net capture device, super-pressure electric shock/electric discharge device, infrasound orientation Emitter, electromagnetic pulse aimed launcher, microwave aimed launcher, firearm device, the air cannon device throw net Capture device, super-pressure electric shock/electric discharge device, infrasound aimed launcher, electromagnetic pulse aimed launcher, microwave orientation Emitter, firearm device are fixed in the main frame of the middle control main body and outside main frame.

Cabin 131 and clothing issue room 132 are driven in setting in the main frame 13 of middle control main body 1, drive cabin 131 and are located at middle control main body 1 Front, clothing issue room 132 be located at it is middle control main body 1 middle and back.

Middle control main body 1 further includes device, millimetre-wave radar and Yun Chu at device, laser radar and fortune at image recognition and fortune It is filled at device, Beidou navigation positioning and fortune at device, the building of instant positioning map and fortune at device, infrared distance measurement sensing and fortune It sets, device at gyroscope and fortune；Device is set to the front of Fang Xie robot at image recognition fortune, and device is set at laser radar and fortune In preceding top, millimetre-wave radar and infrared distance sensor are distributed in around middle control main body 1, and device is set to center intelligence at fortune At control system 12, filled at device, Beidou navigation positioning and fortune at device, the building of instant positioning map and fortune at gyroscope and fortune Setting in driving cabin 131.

Middle control main body 1 further includes wired charging device and wireless charging device, wired charging device and wireless charging device It is respectively positioned on middle 1 bottom of control main body.

Central intelligent control system 12 is short range interactive voice control system and hand/automatically semi-autonomous control system combination Control system.

Intelligent power supply system 11 includes main body battery pack and energy monitoring managing device and standby electric power supply unit；Energy monitoring Managing device can monitor eight autonomous dynamic intelligence machine legs, two autonomous dynamic attacking and defending intelligence machines saw pincers, one it is autonomous The battery pack of power ultrasonic laser aggressiveness intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of an autonomous dynamic is filled Discharge condition and temperature, and suspend or enable standby electric power supply unit when abnormal.

Embodiment 2

The difference of the present embodiment and embodiment 1 essentially consists in, and the middle control main body 1 of the present embodiment is additionally provided with life detectors Device, sound wave at device, thermal imaging and fortune at device, infrared perspective and fortune at device, spectrum analyzer and fortune at (instrument) and fortune Detecting/poly- sound monitor and fortune at device, it is device at device, spectrum analyzer and fortune at life detectors (instrument) and fortune, infrared Depending on and fortune at device, at thermal imaging and fortune device, sound wave detecting/poly- sound monitor and fortune at device be located at and drive in cabin 131；This reality The middle control main body 1 for applying example is additionally provided with device of solar generating, strong electromagnetic pulse is converted into electrical energy devices, Qiang Weibo is converted into electric energy Device and high voltage induction are converted into electrical energy devices, and device of solar generating, strong electromagnetic pulse are converted into electrical energy devices, strong microwave turns It turns to electrical energy devices and high voltage induction is converted into electrical energy devices and is distributed in around middle control main body, and connect with energy monitoring managing device It connects；The central intelligent control system 12 and intelligent power supply system 11 of this implementation are equipped with redundancy backup system, realize a preparation and a use Multi-ensuring；Autonomous dynamic bionic machine leg is additionally provided with failure and checks oneself device, judges impaired grade according to failure damaged condition, And give up from the motor pattern of main modulation autonomous dynamic bionic machine leg and the automatic parallel off of failure leg；Middle control main body 1 is additionally provided with It is distributed inflatable bladders device, distributed inflatable bladders device is distributed in middle 1 bottom of control main body, is swimming or hiding in water When overall buoyancy adjusted by air bag.

Those skilled in the art can carry out various modifications to the utility model embodiment and modification, if these are modified With modification within the scope of the claims of the present invention and its equivalent technology, then these modifications and variations are also still practical at this Within the protection scope of new patent.

The prior art that the content being not described in detail in specification is known to the skilled person.

Claims (10)

1. the Fang Xie robot of all-terrain adaptable movement inspection security protection, which is characterized in that including middle control main body and be fixed on described Autonomous dynamic intelligence machine leg, autonomous dynamic attacking and defending intelligence machine saw pincers, autonomous dynamic ultrasonic laser in middle control main body Aggressive intelligence machine whip tail and the tooth-like intelligence engagement machine mouth of autonomous dynamic；

The middle control main body includes intelligent power supply system, central intelligent control system, main frame and is symmetrically distributed in main frame two The intelligence machine leg fixed interface of side or down either side, the intelligence machine saw pincers fixed interface for being distributed in top in main frame front The intelligence machine whip tail fixed interface of machine mouth fixed interface, main frame rear portion, the intelligence are engaged with the intelligence of lower front Power supply system and central intelligent control system are electrically connected and secured in main frame；

The autonomous dynamic intelligence machine leg is connect with intelligence machine leg fixed interface, the autonomous dynamic attacking and defending intelligence machine Saw pincers are sawed pincers fixed interface with intelligence machine and are connect, and the tooth-like intelligence engagement machine mouth of autonomous dynamic engages machine mouth with intelligence Fixed interface connection, the autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail and intelligence machine whip tail fixed interface connect It connects；

The intelligent power supply system saws pincers, autonomous dynamic intelligence with autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine respectively The power device or component power electrical connection of machine mouth and autonomous dynamic intelligence machine whip tail can be engaged；The central intelligence control System is clamped with autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine saw respectively, autonomous dynamic is intelligent engages machine mouth and oneself The intelligent controlling device of active force intelligence machine whip tail is electrically connected and/or is wirelessly connected.

2. it is according to claim 1 it is all-terrain adaptable movement inspection security protection Fang Xie robot, which is characterized in that it is described from Active force intelligence machine leg and the intelligence machine leg fixed interface are equipped with eight, the autonomous dynamic attacking and defending intelligence machine Saw pincers and intelligence machine saw pincers fixed interface are equipped with two.

3. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State three to the six axis leg formula machines that autonomous dynamic intelligence machine leg is included component power, power device and intelligent controlling device People, can or self contained function mobile according to control independence in instruction disengaging.

4. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute Autonomous dynamic attacking and defending intelligence machine saw pincers are stated as two axis to five axis of included component power, power device and intelligent controlling device And there are saw and/or pincers and defence to block the saw jaw type robot of function, can be detached from according to instruction in control independence it is mobile or Self contained function.

5. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State the engagement robot that the tooth-like intelligence engagement machine mouth of autonomous dynamic is included component power, power device and intelligent controlling device Or extension type nibbles robot, it can or self contained function mobile according to control independence in instruction disengaging.

6. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute State autonomous dynamic ultrasonic laser aggressiveness intelligence machine whip tail be included component power, power device and intelligent controlling device and Three axis of ultrasonic laser emitter to eight Zhou Bianwei formula robots, can be detached from according to instruction in control independence it is mobile and/ Or self contained function.

7. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further include air cannon device, and/or throw net capture device, and/or super-pressure electric shock/electric discharge device, and/or Infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave aimed launcher, and/or firearm Device, the air cannon device throw net capture device, super-pressure electric shock/electric discharge device, infrasound aimed launcher, electricity Magnetic field impulse aimed launcher, microwave aimed launcher, firearm device are fixed in the main frame of the middle control main body or main Outside body frame.

8. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute It is additionally provided in the main frame for the middle control main body stated and drives cabin, clothing issue room.

9. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further includes wired charging device and wireless charging device, and/or device of solar generating, and/or strong electromagnetic Pulse is converted into electrical energy devices, and/or strong microwave is converted into electrical energy devices, and/or high voltage induction is converted into electrical energy devices.

10. the Fang Xie robot of all-terrain adaptable movement inspection security protection according to claim 1 or 2, which is characterized in that institute The middle control main body stated further includes device, and/or millimetre-wave radar at device, and/or laser radar and fortune at image recognition and fortune And device, Beidou are led at device, and/or the building of instant positioning map and fortune at device, and/or infrared distance measurement sensing and fortune at fortune Device, and/or frequency at device, and/or life detectors (instrument) and fortune at device, and/or gyroscope and fortune at boat positioning and fortune Device and/or sound wave are detectd at device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at spectrum analysis instrument and fortune Device at survey/poly- sound monitoring and fortune；Device, and/or milli at device, and/or laser radar and fortune at described image identification and fortune At metre wave radar and fortune device, and/or infrared distance measurement sensing and fortune at device, and/or instant positioning map building and fortune at fill It sets, device, frequency at device, and/or life-detection instrument and fortune at device, and/or gyroscope and fortune at Beidou navigation positioning and fortune Device, and/or sound wave are detectd at device, and/or thermal imaging and fortune at device, and/or infrared perspective and fortune at spectrum analysis instrument and fortune Device can be optionally fixed in the main frame of middle control main body or outside main frame at survey/poly- sound monitoring and fortune.