CN210132510U - All-terrain environment exploration platform - Google Patents
All-terrain environment exploration platform Download PDFInfo
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- CN210132510U CN210132510U CN201920789274.1U CN201920789274U CN210132510U CN 210132510 U CN210132510 U CN 210132510U CN 201920789274 U CN201920789274 U CN 201920789274U CN 210132510 U CN210132510 U CN 210132510U
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- 239000000758 substrate Substances 0.000 claims description 27
- 230000007613 environmental effect Effects 0.000 claims description 18
- 230000009194 climbing Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 206010020649 Hyperkeratosis Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- GBUCDGDROYMOAN-UHFFFAOYSA-N 1,2,5-trichloro-3-phenylbenzene Chemical compound ClC1=CC(Cl)=C(Cl)C(C=2C=CC=CC=2)=C1 GBUCDGDROYMOAN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The utility model discloses an all-terrain environment exploration platform, which comprises a motion module and an environment data acquisition module arranged on the motion module; the motion module comprises a six-foot crawling mechanism and a crawler motion mechanism arranged at the bottom of the six-foot crawling mechanism; the six-foot crawling mechanism comprises a base and six crawling feet uniformly arranged on the side part of the base, and the crawler moving mechanism is arranged at the bottom of the base to drive the moving module to move horizontally. The utility model discloses be applied to dangerous field adventure such as mine cavity fire control, solve under abominable and the relatively poor closed environment of signal, search and rescue personnel are unsuitable for the dangerous and bad condition that directly gets into inside search and rescue. The all-terrain complex environment motion mechanism researched and developed on the platform realizes the stable and rapid crawling motion of the platform adaptive to various complex terrains and has the advantages of flexible and controllable steering.
Description
Technical Field
The utility model relates to an exploration device technical field especially relates to an all-terrain environment exploration platform.
Background
In the life and work of the casualty, the occurrence of dangerous accidents is not intended frequently, the search and rescue is carried out under the conditions of unfamiliar terrain and unknown terrain danger coefficients, much time is wasted, the search and rescue of the searched and rescued people cannot be carried out in time, the searched and rescued people often lose the optimal treatment time, and meanwhile, the life and property safety of the searched and rescued people is seriously threatened. The existing rescue platform has various problems, and purposeful, targeted and correct exploration development work is difficult to realize.
The existing rescue exploration platform has great defects: if the crawler belt (20) type rescue platform is developed on the basis of the traditional wheeled robot in order to meet the needs of military reconnaissance, removal of dangerous objects and the like, the crawler belt type rescue platform has a high moving speed, cannot move in the case of being faced to a rugged environment, is relatively large in size and is inconvenient to enter a narrow space.
In order to meet the requirement of entering a narrow space, a variable rescue platform is produced, and although the rescue volume of the variable rescue platform is as small as possible, the visual field of the variable rescue platform is greatly limited, and the site information of a dangerous area cannot be well acquired.
The conventional exploration device cannot guarantee the stability and rapidness of exploration walking and the integrity of information acquisition, is difficult to enter disaster areas for exploration, cannot improve the search and rescue efficiency, and cannot provide more valuable information for search and rescue work.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an all-terrain environment exploration platform can stably get into under the complicated dangerous environment fast, provides accurate location and environmental information for the search and rescue personnel.
The utility model discloses an above-mentioned technical problem is solved to following technical means:
an all-terrain environment exploration platform comprises a motion module and an environment data acquisition module arranged on the motion module;
the motion module comprises a six-foot crawling mechanism and a crawler motion mechanism arranged at the bottom of the six-foot crawling mechanism; the six-foot crawling mechanism comprises a base and six crawling feet uniformly arranged on the side part of the base, and the crawler moving mechanism is arranged at the bottom of the base to drive the moving module to move horizontally;
the environmental data acquisition module includes camera, environmental data sensor, accelerometer, magnetometer, laser range finding sensor, is used to lead chip, wireless transceiver, data processor and controller, camera, environmental data sensor, accelerometer, magnetometer, laser range finding sensor and be used to lead the chip and all be connected with data processor, wireless transceiver all are connected with the controller, camera, laser range finding sensor and environmental data sensor all set up at the base top.
Further, the base includes relative upper substrate and the infrabasal plate that sets up from top to bottom, the one end setting of foot of crawling is between upper substrate and infrabasal plate.
Further, still be provided with the angle adjustment unit on the base, the angle adjustment unit includes step motor, sets up and is used for measuring step motor pivot turned angle's angle sensor and level setting at step motor epaxial carousel in step motor bottom, step motor and angle sensor set up between last base plate and infrabasal plate, the carousel is located the base plate top, camera and environmental data sensor all set up on the carousel, angle sensor passes through data processor and is connected with the controller, step motor is connected with the controller.
Further, the crawling foot comprises a first steering engine, a second steering engine, a joint connecting piece hinged between the first steering engine and the second steering engine, and an outer frame arranged on the second steering engine, one end of the first steering engine is fixed between the upper base plate and the lower base plate through bolts, the joint connecting piece is formed by vertically turning the upper end and the lower end and the left end and the right end of a cross-shaped plate in two opposite directions respectively, the upper end and the lower end of the cross-shaped plate are folded and then form U-shaped structures, the two U-shaped structures are respectively positioned at the two sides of the cross-shaped plate, the directions of the openings of the two U-shaped structures are opposite, the first steering engine and the second steering engine are respectively positioned in the two U-shaped structures of the joint connecting piece, the outer frame sets up on the second steering wheel keeps away from one end of joint connecting piece, first steering wheel, second steering wheel all are connected with the controller.
Further, outer frame is the U-shaped, and both ends are installed on the second steering wheel, and the bottom is provided with the callus on the sole, be provided with pressure sensor in the callus on the sole, pressure sensor passes through data processor and is connected with the controller.
Further, crawler motion includes the crawler motion unit that two symmetries set up, crawler motion unit includes the extension board of vertical setting, the one end of extension board is rotated and is installed the driving gear, the other end is rotated and is installed driven gear, evenly distributed has the backup pad between driving gear and the driven gear, also rotate on the bottom of backup pad and install driven gear, the cover is equipped with the track between driving gear and the driven gear, still be provided with the track motor on the extension board, the pivot and the driving gear connection of track motor, track motor and controller signal connection, the extension board is installed on the infrabasal surface of substrate.
Further, the environmental data sensors include a temperature sensor, a humidity sensor, a flame sensor, and a wind speed sensor.
Further, a power supply is arranged between the upper substrate and the lower substrate, and the power supply is a storage battery.
Furthermore, the accelerometer, the magnetometer, the inertial navigation chip, the wireless transmitting and receiving device, the data processor and the controller are integrated on a PCB circuit board, and the PCB circuit board is arranged between the upper substrate and the lower substrate.
The utility model has the advantages that: the all-terrain environment exploration platform is applied to exploration in dangerous fields such as mine tunnel fire fighting and the like, and solves the dangerous and dangerous situation that search and rescue personnel are not suitable for directly entering internal search and rescue under severe and poor signal closed environments. The all-terrain complex environment motion mechanism researched and developed on the platform realizes the stable and rapid crawling motion of the platform adaptive to various complex terrains and has the advantages of flexible and controllable steering. Meanwhile, a set of information acquisition device which is formed by fusing an MEMS inertial navigation chip with low cost, low power consumption and small size, a camera and various sensors is arranged to form an autonomous navigation information accurate acquisition system, and search and rescue positions and environmental conditions of dangerous environments are provided for workers through remote control and data acquisition of a PC end upper computer, so that expected preparation is made for the development of search and rescue work.
Drawings
Fig. 1 is a schematic structural diagram of an all-terrain environment exploration platform of the present invention;
fig. 2 is a schematic structural diagram of an all-terrain environment exploration platform of the present invention;
fig. 3 is a third schematic structural view of the all-terrain environment exploration platform of the present invention;
fig. 4 is a schematic structural diagram of a track moving unit of the all-terrain environment exploration platform of the present invention;
fig. 5 is a schematic structural diagram of a circuit system of the all-terrain environment exploration platform of the present invention;
the device comprises crawling feet 1, a crawler movement mechanism 2, a camera 3, a laser ranging sensor 5, an upper substrate 6, a lower substrate 7, a stepping motor 8, an angle sensor 9, a rotary table 10, a first steering engine 11, a second steering engine 12, a joint connecting piece 13, an outer frame 14, a foot pad 15, a support plate 16, a driving gear 17, a driven gear 18, a support plate 19, a crawler 20, a crawler motor 21, a power supply 22 and a PCB circuit board 23.
Detailed Description
The invention will be described in detail with reference to the following drawings and specific embodiments:
as shown in fig. 1-5, the all-terrain environment exploration platform of the present invention comprises a motion module and an environment data acquisition module disposed on the motion module; the motion module comprises a six-foot crawling mechanism and a crawler motion mechanism 2 arranged at the bottom of the six-foot crawling mechanism; the six-foot crawling mechanism comprises a base and six crawling feet 1 uniformly arranged on the side part of the base, and the crawler motion mechanism 2 is arranged at the bottom of the base to drive the motion module to move horizontally; the environmental data acquisition module includes camera 3, the environmental data sensor, the accelerometer, magnetometer, laser range finding sensor 5, be used to the chip of leading, wireless transceiver, data processor and controller, camera 3, the environmental data sensor, the accelerometer, magnetometer, laser range finding sensor 5 and be used to the chip of leading and all be connected with data processor, wireless transceiver all is connected with the controller, camera 3, laser range finding sensor 5 and environmental data sensor all set up at the base top. It is used to lead the chip to be used to lead the chip for MEMS, is used for doing the utility model discloses an exploration platform provides navigation and locating information, and camera 3 is wide angle camera for gather external environment picture. Data collected by the camera 3, the environmental data sensor, the accelerometer, the magnetometer, the laser ranging sensor 5 and the inertial navigation chip are transmitted to the data processor for processing, and then are input into the controller, the controller sends the data to the control end through the wireless transmitting and receiving device to provide data support for expedition rescue, and meanwhile, the controller receives an instruction of the control end through the wireless transmitting and receiving device to control the working state of the expedition platform.
Specifically, the base comprises an upper substrate 6 and a lower substrate 7 which are arranged oppositely up and down, and one end of the crawling foot 1 is arranged between the upper substrate 6 and the lower substrate 7.
Still be provided with angle adjustment unit on the base, angle adjustment unit includes step motor 8, the setting is used for 8 pivot turned angle's of measuring step motor angle sensor 9 in step motor 8 bottom, and the level sets up at 8 epaxial carousels 10 of step motor, step motor 8 and angle sensor 9 set up between last base plate 6 and infrabasal plate 7, carousel 10 is located 6 tops of upper substrate, camera 3 and environmental data sensor all set up on carousel 10, angle sensor 9 passes through data processor and is connected with the controller, 8 movements of controller control step motor. The angle adjustment unit is used for adjusting the camera shooting rotation angle of the camera 3, and the stepping motor 8 rotates 3-6 degrees at each time, so that the camera 3 is focused more accurately, and the collected pictures are clearer and more comprehensive.
Climbing foot 1 includes first steering wheel 11, second steering wheel 12, articulate joint connecting piece 13 between first steering wheel 11 and second steering wheel 12, and set up outer frame 14 on second steering wheel 12, the one end of first steering wheel 11 is passed through the bolt fastening and is formed at upper substrate 6 and infrabasal plate 7 between, joint connecting piece 13 is turned over to two relative directions respectively by the upper and lower both ends of a cross shaped plate and is rolled over perpendicularly to controlling both ends and form the U-shaped structure, both ends are turned over after turning over to turn over about and all form the U-shaped structure about the cross shaped plate, two U-shaped structures are located the both sides of cross shaped plate respectively and the opening opposite direction, first steering wheel 11 and second steering wheel 12 are located two U-shaped structures of joint connecting piece 13 respectively, outer frame 14 sets up on the one end of joint connecting piece 13 is kept away from at second steering wheel 12, first steering wheel 11, second steering wheel 12 all is connected with the controller. First steering wheel 11 and second steering wheel 12 receive the control of controller, and first steering wheel 11 and the cooperation motion of second steering wheel 12 make the exploration platform can be strideing across the obstacle, realize the walking of all topography.
The crawler movement mechanism 2 comprises two crawler movement units symmetrically arranged, each crawler movement unit comprises a support plate 16 longitudinally arranged, one end of each support plate 16 is rotatably provided with a driving gear 17, the other end of each support plate 16 is rotatably provided with a driven gear 18, support plates 19 are uniformly distributed between the driving gear 17 and the driven gear 18, the support plates 19 are downwards extended, the driven gear 18 is also rotatably arranged at the bottom end, a crawler 20 is sleeved between the driving gear 17 and the driven gear 18, a crawler motor 21 is further arranged on each support plate 16, a rotating shaft of the crawler motor 21 is connected with the driving gear 17, the crawler motor 21 is in signal connection with a controller, and the support plates 16 are arranged on the bottom surface of the lower substrate 7. The track motor 21 drives the driving gear 17 to rotate, so as to drive the track 20 to move, and the track 20 drives the exploration platform to move in a place with a relatively flat terrain.
The environment data sensor comprises a temperature sensor, a humidity sensor, a flame sensor and a wind speed sensor, is used for collecting and monitoring the environment state, is convenient for expedition personnel to intuitively and obviously know the environment condition,
a power supply 22 is provided between the upper substrate 6 and the lower substrate 7, and the power supply 22 is a battery. The storage battery is
The accelerometer, the magnetometer, the inertial navigation chip, the wireless transmitter-receiver, the data processor and the controller are all integrated on a PCB circuit board 23, and the PCB circuit board 23 is installed between the upper substrate 6 and the lower substrate 7. The electronic devices are integrated on the PCB 23, so that the exploration platform is more compact in structure, lighter in weight and more beneficial to walking in the field.
Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will understand that the present invention can be modified or replaced with other embodiments without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims. The technology, shape and construction parts which are not described in detail in the present invention are all known technology.
Claims (9)
1. An all-terrain environment exploration platform is characterized in that: the device comprises a motion module and an environment data acquisition module arranged on the motion module;
the motion module comprises a six-foot crawling mechanism and a crawler motion mechanism (2) arranged at the bottom of the six-foot crawling mechanism; the six-foot crawling mechanism comprises a base and six crawling feet (1) uniformly arranged on the side part of the base, and the crawler movement mechanism (2) is arranged at the bottom of the base to drive the movement module to horizontally move;
the environment data acquisition module includes camera (3), environmental data sensor, accelerometer, magnetometer, laser range finding sensor (5), is used to lead chip, wireless transceiver, data processor and controller, camera (3), environmental data sensor, accelerometer, magnetometer, laser range finding sensor (5) and be used to lead the chip and all be connected with data processor, wireless transceiver all are connected with the controller, camera (3), laser range finding sensor (5) and environmental data sensor all set up at the base top.
2. An all-terrain environment exploration platform according to claim 1, characterized in that said base comprises an upper base plate (6) and a lower base plate (7) which are oppositely arranged up and down, and one end of said climbing foot (1) is arranged between the upper base plate (6) and the lower base plate (7).
3. The all-terrain environment exploration platform according to claim 2, wherein an angle adjustment unit is further arranged on the base, the angle adjustment unit comprises a stepping motor (8), an angle sensor (9) arranged at the bottom of the stepping motor (8) and used for measuring the rotation angle of the rotating shaft of the stepping motor (8), and a turntable (10) horizontally arranged on the rotating shaft of the stepping motor (8), the stepping motor (8) and the angle sensor (9) are arranged between an upper substrate (6) and a lower substrate (7), the turntable (10) is positioned above the upper substrate (6), the camera (3) and the environment data sensor are both arranged on the turntable (10), the angle sensor (9) is connected with a controller through a data processor, and the stepping motor (8) is connected with the controller.
4. The all-terrain environment exploration platform according to claim 3, wherein the crawling foot (1) comprises a first steering engine (11), a second steering engine (12), a joint connecting piece (13) hinged between the first steering engine (11) and the second steering engine (12) and an outer frame (14) arranged on the second steering engine (12), one end of the first steering engine (11) is fixed between the upper base plate (6) and the lower base plate (7) through bolts, the joint connecting piece (13) is formed by vertically turning the upper end and the lower end of a cross-shaped plate and the left end and the right end of the cross-shaped plate in opposite directions respectively, the upper end and the lower end of the cross-shaped plate are turned over and then form U-shaped structures, the two U-shaped structures are located on two sides of the cross-shaped plate respectively and have opposite opening directions, the first steering engine (11) and the second steering engine (12) are located in the two U-shaped structures of the joint connecting piece (13) respectively, the outer frame (14) is arranged at one end, far away from the joint connecting piece (13), of the second steering engine (12), and the first steering engine (11) and the second steering engine (12) are connected with the controller.
5. An all-terrain environment exploration platform according to claim 4, characterized in that outer frame (14) is U-shaped, two ends of the outer frame are mounted on second steering engine (12), a foot pad (15) is arranged at the bottom of the outer frame, a pressure sensor is arranged in the foot pad (15), and the pressure sensor is connected with a controller through a data processor.
6. The all-terrain environment exploration platform according to claim 5, wherein the track movement mechanism (2) comprises two symmetrically arranged track movement units, each track movement unit comprises a support plate (16) which is longitudinally arranged, one end of each support plate (16) is rotatably provided with a driving gear (17), the other end of each support plate (16) is rotatably provided with a driven gear (18), supporting plates (19) are uniformly distributed between the driving gear (17) and the driven gear (18), the bottom ends of the supporting plates (19) are also rotatably provided with the driven gear (18), a track (20) is sleeved between the driving gear (17) and the driven gear (18), the support plates (16) are further provided with track motors (21), rotating shafts of the track motors (21) are connected with the driving gears (17), and the track motors (21) are in signal connection with a controller, the support plate (16) is arranged on the bottom surface of the lower base plate (7).
7. An all-terrain environment exploration platform according to claim 6, wherein: the environmental data sensors include a temperature sensor, a humidity sensor, a flame sensor, and a wind speed sensor.
8. An all-terrain environment exploration platform according to claim 7, wherein: a power supply (22) is arranged between the upper substrate (6) and the lower substrate (7), and the power supply (22) is a storage battery.
9. An all-terrain environment exploration platform according to claim 7, wherein: the accelerometer, the magnetometer, the inertial navigation chip, the wireless transmitting and receiving device, the data processor and the controller are all integrated on a PCB circuit board (23), and the PCB circuit board (23) is installed between the upper substrate (6) and the lower substrate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920789274.1U CN210132510U (en) | 2019-05-29 | 2019-05-29 | All-terrain environment exploration platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920789274.1U CN210132510U (en) | 2019-05-29 | 2019-05-29 | All-terrain environment exploration platform |
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| Publication Number | Publication Date |
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| CN210132510U true CN210132510U (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920789274.1U Expired - Fee Related CN210132510U (en) | 2019-05-29 | 2019-05-29 | All-terrain environment exploration platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076801A (en) * | 2019-05-29 | 2019-08-02 | 桂林电子科技大学 | A kind of full terrain environment exploration platform |
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2019
- 2019-05-29 CN CN201920789274.1U patent/CN210132510U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076801A (en) * | 2019-05-29 | 2019-08-02 | 桂林电子科技大学 | A kind of full terrain environment exploration platform |
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Granted publication date: 20200310 |