CN210377157U - Detection system - Google Patents
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- CN210377157U CN210377157U CN201921678075.XU CN201921678075U CN210377157U CN 210377157 U CN210377157 U CN 210377157U CN 201921678075 U CN201921678075 U CN 201921678075U CN 210377157 U CN210377157 U CN 210377157U
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Abstract
The utility model provides a detection system, this system includes: a detection robot, an unmanned aerial vehicle and a ground detection station; the detection robot is connected with the ground detection station, and in detection operation, the detection robot sends corresponding signals to the ground detection station according to an operation environment, receives instructions sent by the ground detection station, and realizes separation or connection with the unmanned aerial vehicle according to the instructions; the unmanned aerial vehicle is connected with the ground detection station, and in detection operation, the unmanned aerial vehicle receives the instruction sent by the ground detection station and realizes separation or connection with the detection robot according to the instruction; and the ground detection station receives the signal sent by the detection robot and sends instructions to the detection robot and the unmanned aerial vehicle respectively according to the signal.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a detection system.
Background
With the progress and popularization of the robot technology, a plurality of detection operations are participated by the robot. The detection robot has the advantages of small volume, light weight and convenient carrying of personnel, is usually used for danger emergencies such as anti-terrorism detection, danger detection, post-disaster search and rescue, accident disaster and the like, and can replace personnel to enter the site to execute information detection tasks at the first time. Moreover, the detection robot can go deep into a complex, dangerous and uncertain accident disaster site through remote control operation or an autonomous mode, detect information in an unknown environment, and provide sufficient, detailed and accurate information support for personnel to enter the site to carry out operation.
The most typical detection robot in the traditional detection robots is a throwable robot which enters a complex, narrow and dangerous area through manual throwing, ejecting and the like to realize rapid deployment and operation. However, the jettisonable robot is often limited to the environment, especially in urban environment, high-rise buildings and numerous steps are difficult obstacles to surmount; the ground running speed of the throwing robot is low, the throwing arrangement in a wide area is difficult, and the throwing robot is not suitable for a long-distance operation environment, so that the applicability is low. Furthermore, when the user performs a throwing operation or a machine ejection operation, the body of the throwing robot may be damaged by the large-scale movement, and the safety is low.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a detection system to solve traditional formula robot that can jettisoning under complicated operation environment, the lower problem of suitability and security.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model discloses a detection system, include:
a detection robot, an unmanned aerial vehicle and a ground detection station; wherein:
the detection robot is connected with the ground detection station, and in detection operation, the detection robot sends corresponding signals to the ground detection station according to an operation environment, receives instructions sent by the ground detection station, and realizes separation or connection with the unmanned aerial vehicle according to the instructions;
the unmanned aerial vehicle is connected with the ground detection station, and in detection operation, the unmanned aerial vehicle receives the instruction sent by the ground detection station and realizes separation or connection with the detection robot according to the instruction;
and the ground detection station receives the signal sent by the detection robot and sends instructions to the detection robot and the unmanned aerial vehicle respectively according to the signal.
Optionally, the detection robot includes:
the device comprises a body, a signal transceiver, a connecting mechanism and a traveling mechanism, wherein the connecting mechanism and the traveling mechanism are connected with the body; wherein:
the walking mechanism is arranged at the bottom of the body, and the connecting mechanism is used for being separated from or connected with the unmanned aerial vehicle; the body is in surveying the operation, according to the operation environment through signal transceiver to ground surveys the station and sends corresponding signal, through signal transceiver receives the instruction that ground surveyed the station and sent, and according to instruction control coupling mechanism realize with unmanned aerial vehicle's separation or connection.
Optionally, the body of the detection robot includes:
side walls, a top cover and a base; wherein:
the top cover is arranged at the top of the side wall, the base is arranged at the bottom of the side wall, and the side wall, the top and the base enclose a cavity; wherein, the cavity is used for placing the energy module and the control module.
Optionally, the traveling mechanism includes:
the wheels are arranged on the outer edge of the side wall, the outer contours of the wheels are higher than the side wall and the top cover, and the outer contours of the wheels are lower than the base; wherein, the wheel is made of elastic material;
optionally, the traveling mechanism includes:
the upper surfaces of the two symmetrical crawler belts are higher than the top cover, the lower surfaces of the crawler belts are lower than the base, and the front and rear outlines of the crawler belts protrude out of the side wall.
Optionally, the detection robot further includes:
and the other end of the overturning swing arm can freely stretch and rotate and is used for adjusting the posture of the detection robot.
Optionally, the unmanned aerial vehicle includes:
the device comprises a body, a connecting mechanism and a signal transceiver; wherein:
the connecting mechanism is arranged at the bottom of the body and used for being connected with or separated from the detection robot;
and the signal transceiver is in communication connection with the ground detection station and is used for receiving the instruction sent by the ground detection station.
Optionally, the unmanned aerial vehicle adopts a ducted aircraft, and is provided with six ducts; the advancing direction of the ducted aircraft is set to be the front-back direction, two rows of ducts are arranged on the support of the unmanned aerial vehicle along the left-right direction, three ducts are arranged on each row of ducts along the front-back direction, and the six ducts are connected to the support.
Optionally, the ground detection station includes:
a signal transceiver and a controller; wherein:
the signal transceiver respectively with the signal receiver of exploration robot reaches unmanned aerial vehicle's signal receiver establishes communication connection for receive the signal that exploration robot sent in the operation of surveying, and based on the signal respectively to exploration robot with unmanned aerial vehicle feedback instruction.
And the controller is used for generating a corresponding instruction according to the signal after the signal transceiver receives the signal sent by the detection robot in the detection operation.
Optionally, the signal received by the signal transceiver includes: the detection robot sends a stop signal when encountering an obstacle in the detection operation; or when the detection robot is carried by the unmanned aerial vehicle to fly in the air, a driving signal sent out when no obstacle exists below the detection robot is monitored;
the controller generates corresponding instructions according to the signals, and the instructions comprise: stopping the detection robot, and controlling the unmanned aerial vehicle to carry the detection robot to fly; or after the unmanned aerial vehicle carrying the detection robot lands, stopping the unmanned aerial vehicle, and starting the detection robot carrying the command that the unmanned aerial vehicle runs on the land.
The utility model provides an among the detecting system, the signal that the detection robot sent in the exploration operation is received to ground detection station, send with signal corresponding instruction to detection robot and unmanned aerial vehicle according to received signal, trigger detection robot and unmanned aerial vehicle and make corresponding action according to the instruction, thereby can realize independently crossing the obstacle when meetting the barrier, solve the suitability and the lower problem of security that detection robot met in independently surveying the operation, and optimized the short slab that detection robot exposed in surveying the operation at present.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a detection system according to an embodiment of the present invention;
fig. 2a to fig. 2c are display diagrams of working processes of the detection robot and the unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3a and fig. 3b are schematic structural diagrams of a detection robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ground detection station according to an embodiment of the present invention;
fig. 6 is a display diagram of a working process of the detection system provided by the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
An embodiment of the utility model provides a detection system, as shown in FIG. 1, include:
a survey robot 101, a drone 102 and a ground survey station 103.
The detection robot 101 is connected with the ground detection station 103, and during detection operation, the detection robot 101 sends corresponding signals to the ground detection station 103 according to an operation environment, receives an instruction sent by the ground detection station 103, and realizes separation or connection with the unmanned aerial vehicle 102 according to the instruction.
The unmanned aerial vehicle 102 is connected with the ground detection station 103, and in the detection operation, the unmanned aerial vehicle 102 receives the instruction sent by the ground detection station 103 and realizes the separation or connection with the detection robot 101 according to the instruction.
The ground detection station 103 receives the signal transmitted by the detection robot 101, and transmits an instruction to the detection robot 101 and the unmanned aerial vehicle 102 according to the signal.
The utility model provides an embodiment, the detection system comprises ground detection station 103 and at least one set of detection robot 101 and unmanned aerial vehicle 102; the ground probe station 103 integrally manages probe operations, and the probe robot 101 and the drone 102 are connectable or disconnectable to perform probe operations in different environments.
The ground detection station 103 is in communication connection with at least one detection robot 101 and is used for receiving corresponding signals sent by the detection robot 101 according to the working environment in real time; generating a corresponding instruction according to the received signal; the command includes an operation of separating or connecting the probe robot 101 and the drone 102.
Alternatively, as shown in fig. 2a, the detection robot 101 sends a stop signal when encountering an obstacle during the detection operation, and the ground detection station 103 acquires the stop signal sent when the detection robot 101 encounters an obstacle during the detection operation. The obstacle may be a step, a pool, an animal group, or the like that is difficult to cross, and the obstacle affects the normal detection operation of the detection robot 101, and therefore the detection robot 101 sends a stop signal to the ground detection station 103. The ground detection station 103 generates a command corresponding to the stop signal according to the acquired stop signal; the command at least includes actions of stopping the detection robot 101, starting the unmanned aerial vehicle 102, connecting the detection robot 101 and the unmanned aerial vehicle 102, and the like. When the detection robot 101 and the drone 102 execute the command at the same time, the drone 102 will fly and cross the obstacle with the detection robot 101.
Optionally, as shown in fig. 2b, the detection robot 101 and the drone 102 are in a connected state, and when the drone 102 carries the detection robot 101 in a flying obstacle crossing process and detects that no obstacle exists in the environment below, a driving signal sent by the detection robot 101 is detected. The ground detection station 103 generates a command corresponding to the travel signal according to the received travel signal transmitted by the detection robot 101; wherein, the instruction at least comprises: after the unmanned aerial vehicle 102 with the detection robot 101 successfully lands, stopping the unmanned aerial vehicle 102, starting the detection robot 101 and the like; the detection robot 101 and the unmanned aerial vehicle 102 execute the instruction at the same time, so that the detection robot 101 carrying the stopped unmanned aerial vehicle 102 can normally perform ground detection operation.
The utility model provides an in the embodiment, the sensitive scope of target detection thing has still been set up in advance. As shown in fig. 2c, when the detection work is performed on the ground, if the unmanned aerial vehicle 102 enters the sensitive range of the target detection object, the unmanned aerial vehicle 102 is started and physically separated from the detection robot 101, the unmanned aerial vehicle 102 maintains a hovering or low-altitude flight state, and the detection robot 101 alone approaches the target detection object to perform the detection work.
It should be further noted that if the detection robot meets the obstacle which cannot be overcome again in the sensitive range, the detection robot sends out a stop signal again, the unmanned aerial vehicle approaches and is connected to the detection robot again, and the detection robot is carried to achieve obstacle crossing work in a flying mode. Different from the above, the detection robot detects that no barrier exists in the environment below and is suitable for sending a driving signal when the ground detection works; when a driving instruction fed back by the ground detection station to the driving signal is received, the unmanned aerial vehicle is separated from the detection robot, the detection robot is sent to the ground in a throwing mode, and then the unmanned aerial vehicle exits from the sensitive range to continuously keep the hovering or low-altitude flying state.
The utility model provides an in the embodiment, communication connection is established with ground detection station 103 to detection robot 101. Optionally, the ground detection station 103 corresponds to the detection robots 101 in a one-to-many manner, and the ground detection station may collectively manage detection operations of the plurality of detection robots 101 at the same time, that is, has an independent communication connection with each detection robot 101. Each detection robot 101 has an unmanned aerial vehicle 102 with one-to-one operation corresponding relation, and the detection robot 101 and the unmanned aerial vehicle 102 are separated or connected in a reconfigurable mode in different operation environments, so that detection operation is completed in a matched mode.
Optionally, the detection robot 101 may be connected to a plurality of drones 102; for example, in one probe operation, when the drone 102 corresponding to the probe robot 101 is broken or damaged, another drone may be dispatched to replace the position of the first drone 102, and the probe operation may be continuously performed with the probe robot 101.
The specific implementation of the probing operation is: the detection robot 101 sends a signal, receives an instruction fed back by the ground detection station 103 according to the signal, and realizes separation or connection with the unmanned aerial vehicle 102 according to the instruction.
Different signals can respectively obtain different feedback instructions through a preset rule; obviously, the trigger generation rule of the instruction is based on the problem of the work environment to be solved, and optionally, for more complex work environments, the instruction information can be completely written independently to meet the requirement of the detection work.
The utility model provides an in the embodiment, unmanned aerial vehicle 102 and relevant connected mode of surveying robot 101 and ground detecting station 103, the aforesaid has mentioned in detail, and the here is just no longer described repeatedly.
The utility model provides a detection system, which comprises a detection robot, an unmanned aerial vehicle and a ground detection station; the detection robot is connected with the ground detection station, and in detection operation, the detection robot sends corresponding signals to the ground detection station according to an operation environment, receives instructions sent by the ground detection station, and realizes separation or connection with the unmanned aerial vehicle according to the instructions; the unmanned aerial vehicle is connected with the ground detection station, and in detection operation, the unmanned aerial vehicle receives the instruction sent by the ground detection station and realizes separation or connection with the detection robot according to the instruction; and the ground detection station receives the signal sent by the detection robot and sends instructions to the detection robot and the unmanned aerial vehicle respectively according to the signal. Through the coordinated and matched work of the detection robot, the unmanned aerial vehicle and the ground detection station, the detection robot can realize autonomous obstacle crossing when encountering obstacles, the problem that the detection robot is low in applicability and safety during autonomous detection operation is solved, and a short plate exposed during current detection operation of the detection robot is optimized.
In another embodiment provided by the present invention, the detecting robot 101, as shown in fig. 3a and 3b, specifically includes:
a body 301, a connecting mechanism 302 and a traveling mechanism 303 connected to the body 301, and a signal transceiver 304.
Wherein, running gear 303 sets up in the bottom of body 301, and coupling mechanism 302 is used for separating or being connected with unmanned aerial vehicle 102.
Optionally, in another embodiment of the present invention, the traveling mechanism 303 includes:
the wheels are arranged on the outer edge of the side wall, the outer contours of the wheels are higher than the side wall and the top cover, and the outer contours of the wheels are lower than the base; the wheel may be made of an elastic material, such as a rubber material.
When the wheel type travelling mechanism is adopted, optionally, the hub support of the wheel is designed to be a telescopic structure, and two ends of the hub support can be respectively connected with the body and the corresponding wheel in a rotating manner. And when the wheels are used as traveling mechanisms to travel on the ground, the operation speed of the detection robot 101 is high, the oil consumption is low, the wheels cannot damage the road surface, the maneuvering is flexible, and the cost is low.
Optionally, in another embodiment of the present invention, the traveling mechanism 303 includes: the upper surfaces of the two symmetrical crawler belts are higher than the top cover, the lower surfaces of the crawler belts are lower than the base, and the front and rear outlines of the crawler belts protrude out of the side wall.
When the crawler-type travelling mechanism is adopted, optionally, two ends of the arranged overturning swing arm can be respectively and rotatably connected with the body and crawler wheels on the front side and the rear side. When the crawler-type traveling mechanism is adopted to travel on the ground, the cross-country performance is good, and the crawler-type traveling mechanism can adapt to various terrains and grounds, particularly to earth or gravel pavements.
It should be further explained that the outer contour of the walking mechanism, whether the walking mechanism is of a wheel type or a crawler type, is more protruded than the outer contour of the body, so that the walking mechanism is ensured to be firstly contacted with the ground no matter what posture the detection robot lands on the ground, and the walking mechanism is used for protecting the body from being collided.
In this embodiment, the connection mechanism 302 is disposed on the top cover of the detection robot, and is structurally buckled with the connection mechanism of the unmanned aerial vehicle; optionally, the connection mechanism 302 may adopt a hook slot, an electromagnetic absorption, or other connection modes.
As mentioned in the foregoing, in the detection operation, the detection robot 101 sends a corresponding signal to the ground detection station 103 according to the operation environment, receives the instruction sent by the ground detection station 103, and according to the instruction, realizes the separation or connection with the unmanned aerial vehicle 102. The manner of achieving the separation and connection is accomplished, in particular, by controlling the connection mechanism 302.
During detection operation, the body 301 sends a corresponding signal to the ground detection station 103 through the signal transceiver 302 according to an operation environment, receives an instruction sent by the ground detection station 103 through the signal transceiver 302, and controls the connecting mechanism 302 to realize separation or connection with the unmanned aerial vehicle 102 according to the instruction.
Optionally, a sensor and a controller are disposed in the body 301 of the detection robot 101, and the sensor is configured to detect whether an obstacle exists in the working environment. When the sensors detect that an obstacle exists in the current working environment, the controller generates a stop signal and transmits the stop signal to the ground detection station 103 through the signal transceiver 302. When the unmanned aerial vehicle 102 carries the detection robot 101 during the process of flying over obstacles, and the sensor detects that no obstacle exists in the environment below, the controller generates a driving signal and sends the driving signal to the ground detection station 103 through the signal transceiver 302.
The ground detection station 103 generates a command corresponding to the received signal according to the signal, and feeds back the command to the detection robot 101 and the unmanned aerial vehicle 102. Specifically, through signal transceiver 302 receives the instruction of ground detection station 103 to the feedback of signals, alright in order according to the instruction, control coupling mechanism 302 realizes unmanned aerial vehicle 101 with unmanned aerial vehicle 102 separation or connection.
Specifically, the ground detection station 103 sends a stop signal when the detection robot 101 encounters an obstacle during the detection operation; generating a corresponding flight instruction; or, the ground detection station 103 monitors a running signal sent out when no obstacle exists below the ground detection station according to the detection robot 101 when the unmanned aerial vehicle 102 is carried in the air for flight; and generating a corresponding running instruction. The flight instructions may include: stopping the detection robot 101, and controlling the unmanned aerial vehicle 102 to carry instruction information of the detection robot 101 for flying; the driving command may include: after the unmanned aerial vehicle 102 with the detection robot 101 lands, the unmanned aerial vehicle 102 is stopped, and an instruction that the detection robot 101 with the unmanned aerial vehicle 102 runs on the land is started.
Optionally, in another embodiment of the present invention, the body 301 includes:
side walls, a top cover and a base; wherein:
the top cover is arranged at the top of the side wall, the base is arranged at the bottom of the side wall, and the side wall, the top and the base enclose a cavity.
Optionally, the cavity is used for placing an energy module and a controller, a sensor and other basic component modules.
Optionally, in another embodiment of the present invention, the detection robot 101, as also shown in fig. 3a and 3b, further includes:
and the overturning swing arm 305 is fixedly connected with the body or 301 on the walking mechanism 303 at one end of the overturning swing arm 305, and the other end of the overturning swing arm 305 can freely stretch and rotate and is used for adjusting the posture of the detection robot 101.
Alternatively, the number of the turnover swing arms 305 may be one or more. When only one turning swing arm 305 is provided, for example, one end of the turning swing arm 305 is rotatably connected to a hub of the crawler wheel traveling mechanism, and the turning swing arm 305 may not have a telescopic function, and the posture of the probe robot 101 is adjusted by rotating the turning swing arm 305 with respect to the body 301 in accordance with the rotation of the crawler.
The utility model provides a further embodiment, unmanned aerial vehicle 102, as shown in fig. 4, specifically includes:
a body 401, a connection mechanism (not shown), and a signal transceiver (not shown).
The connecting mechanism is arranged at the bottom of the body 401 and used for being connected with or separated from the detection robot;
the above-mentioned connecting mechanism of the detection robot is engaged with the connecting mechanism of the unmanned aerial vehicle 102. Similarly, the connection mechanism can be selected from a hook slot, an electromagnetic adsorption and other connection modes, and corresponds to the connection mechanism of the detection robot. Wherein, the connection mechanism is arranged at the bottom of the body 401 and used for being connected with or separated from the detection robot.
It should be further explained that, in the connected state, the detection robot carrying the unmanned aerial vehicle runs on the ground, or the unmanned aerial vehicle carrying the detection robot performs obstacle crossing flight in the air; under the separation state, the detection robot is close to the target detection object alone to perform detection operation, and the unmanned aerial vehicle maintains a hovering or low-speed flight state.
Optionally, the unmanned aerial vehicle can be located between the ground station and the robot in the horizontal direction, still can be located higher position in the direction of height, plays the effect of acting as the communication relay station between ground detection station and the detection robot.
And a signal transceiver of the unmanned aerial vehicle is in communication connection with the ground detection station and is used for receiving the instruction sent by the ground detection station.
The signal transceiver of the detection robot is used for receiving the feedback instruction of the ground detection station for sending the signal, and then controlling the connecting mechanism according to the instruction, so as to realize separation or connection with the unmanned aerial vehicle. In the same way, the signal transceiver of the unmanned aerial vehicle receives the instruction fed back by the ground detection station, and then controls the connecting mechanism according to the instruction, so that the unmanned aerial vehicle is separated from or connected with the connecting mechanism of the detection robot.
Optionally, the utility model provides a further embodiment, unmanned aerial vehicle 102 adopts the duct aircraft, and is provided with two at least ducts.
Wherein, in order to realize the redundant design, the number of the ducts can be set to be six. When the number of ducts sets up to six, can adopt the advancing direction of duct aircraft sets up to the fore-and-aft direction, is in along left right direction arrange two ducts on unmanned aerial vehicle's the support, every duct of arranging is followed three duct is arranged to the fore-and-aft direction, six ducts all connect on the support.
It should be further noted that the unmanned aerial vehicle 102 provided with a plurality of ducts can provide sufficient lift, and when the unmanned aerial vehicle operates in an outdoor complex environment, if some ducts are damaged, other ducts can continue to fly, and certain fault tolerance is achieved.
In another embodiment, the ground detecting station 103, as shown in fig. 5, specifically includes:
a signal transceiver 501 and a controller 502; wherein:
the signal transceiver 501 is in communication connection with the signal receiver 302 of the detection robot 101 and the signal receiver of the unmanned aerial vehicle 102, and is configured to receive a signal sent by the detection robot 101 during detection operation, and feed back an instruction to the detection robot 101 and the unmanned aerial vehicle 102 based on the signal.
Since the foregoing explanation of the working mechanisms of the signal receiver 302 of the detection robot 101 and the signal receiver of the drone 102 have already disclosed the connection and working process with the signal transceiver 501, it is not repeated here. It should be further noted that the signal receiver 302, the signal receiver of the drone 102, and the signal transceiver 501 all have their intended functions in the present detection system, and the functions embodied in different connection relationships are the same.
The signal receiver 601 feeds back instructions to the detecting robot 101 and the drone 102 based on the signals, and optionally, the instructions fed back to the detecting robot 101 and the drone 102 are different, because the action information included in the instructions is generally used for coordination, for example, when the detecting robot 101 is started, the drone 102 may be stopped correspondingly; the method is used for saving energy and optimizing working details.
And the controller 502 is configured to generate a corresponding instruction according to the signal sent by the detection robot 101 during the detection operation after the signal transceiver 501 receives the signal.
The controller 502 generates corresponding instructions according to the received different signals; the process is executed according to a preset program rule, and different signals can respectively obtain different instructions fed back.
Alternatively, when the signal receiver 601 receives a stop signal sent by the detection robot 101 when encountering an obstacle, the controller 502 generates a flight instruction corresponding to the stop signal according to the stop signal. Or in the process that the unmanned aerial vehicle 102 carries the detection robot 101 to cross the obstacle during flying, when the signal receiver 601 receives the detection robot 101 and detects that no obstacle exists in the lower environment, the signal receiver sends out a driving signal, and the controller 502 generates a driving instruction corresponding to the driving signal according to the driving signal. The flight command and the travel command are mentioned in detail in the foregoing, and are not described in detail herein.
Further, the instruction is used for realizing reconfigurable separation or connection between the detection robot 101 and the unmanned aerial vehicle 102, the robot 101 is connected with the unmanned aerial vehicle 102 when encountering an obstacle, the unmanned aerial vehicle 102 carries the detection robot 101 to cross the obstacle in flight, and the detection robot is helped to complete the obstacle crossing task, so that the problem that the detection robot is low in applicability and safety when autonomously detecting operation is carried out is solved, and the short plate exposed when the detection robot is in current detection operation is optimized.
In an actual application process of the scene, referring to fig. 6, in the detection system, the detection robot and the unmanned aerial vehicle may be in a connected state first, and may run on a flat ground in a silent manner, and after encountering an obstacle such as an enclosure, a water area, etc., the unmanned aerial vehicle may fly away from the obstacle with the detection robot under the action of a control command output by the ground detection station. After determining successful departure from the obstacle, the drone and the detection robot are separated, also under the action of the ground detection station. When being close to the target object, the unmanned aerial vehicle can fly back, and the detection robot is close to the target object alone to carry out ground short-range detection. After the detection work of the detection robot is finished, the detection robot can be communicated with the unmanned aerial vehicle through a detection ground station or independently, the unmanned aerial vehicle is driven to be close to the detection robot, the unmanned aerial vehicle is connected with the detection robot, and the detection robot is carried by the unmanned aerial vehicle to realize rapid evacuation.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A detection system, comprising:
a detection robot, an unmanned aerial vehicle and a ground detection station; wherein:
the detection robot is connected with the ground detection station, and in detection operation, the detection robot sends corresponding signals to the ground detection station according to an operation environment, receives instructions sent by the ground detection station, and realizes separation or connection with the unmanned aerial vehicle according to the instructions;
the unmanned aerial vehicle is connected with the ground detection station, and in detection operation, the unmanned aerial vehicle receives the instruction sent by the ground detection station and realizes separation or connection with the detection robot according to the instruction;
and the ground detection station receives the signal sent by the detection robot and sends instructions to the detection robot and the unmanned aerial vehicle respectively according to the signal.
2. The probing system of claim 1, wherein said probing robot comprises:
the device comprises a body, a signal transceiver, a connecting mechanism and a traveling mechanism, wherein the connecting mechanism and the traveling mechanism are connected with the body; wherein:
the walking mechanism is arranged at the bottom of the body, and the connecting mechanism is used for being separated from or connected with the unmanned aerial vehicle; the body is in surveying the operation, according to the operation environment through signal transceiver to ground surveys the station and sends corresponding signal, through signal transceiver receives the instruction that ground surveyed the station and sent, and according to instruction control coupling mechanism realize with unmanned aerial vehicle's separation or connection.
3. The detection system of claim 2, wherein the body comprises:
side walls, a top cover and a base; wherein:
the top cover is arranged at the top of the side wall, the base is arranged at the bottom of the side wall, and the side wall, the top and the base enclose a cavity; wherein, the cavity is used for placing the energy module and the control module.
4. The detection system of claim 3, wherein the walking mechanism comprises:
the wheels are arranged on the outer edge of the side wall, the outer contours of the wheels are higher than the side wall and the top cover, and the outer contours of the wheels are lower than the base; wherein, the wheel is made by elastic material.
5. The detection system of claim 3, wherein the walking mechanism comprises:
the upper surfaces of the two symmetrical crawler belts are higher than the top cover, the lower surfaces of the crawler belts are lower than the base, and the front and rear outlines of the crawler belts protrude out of the side wall.
6. The probing system of claim 2, wherein said probing robot further comprises:
and the other end of the overturning swing arm can freely stretch and rotate and is used for adjusting the posture of the detection robot.
7. The detection system of claim 1, wherein the drone comprises:
the device comprises a body, a connecting mechanism and a signal transceiver; wherein:
the connecting mechanism is arranged at the bottom of the body and used for being connected with or separated from the detection robot;
and the signal transceiver is in communication connection with the ground detection station and is used for receiving the instruction sent by the ground detection station.
8. The detection system according to any one of claims 1 to 7, wherein the unmanned aerial vehicle is a ducted aircraft and is provided with at least two ducts;
when the number of the ducts is six, the advancing direction of the duct aircraft is set to be the front-back direction, two rows of ducts are arranged on the support of the unmanned aerial vehicle along the left-right direction, each row of ducts are arranged along the front-back direction, and the six ducts are connected to the support.
9. The detection system according to any one of claims 1 to 7, wherein the ground detection station comprises:
a signal transceiver and a controller; wherein:
the signal transceiver is respectively in communication connection with the detection robot and the unmanned aerial vehicle, and is used for receiving signals sent by the detection robot in detection operation and feeding back instructions to the detection robot and the unmanned aerial vehicle respectively based on the signals;
and the controller is used for generating a corresponding instruction according to the signal after the signal transceiver receives the signal sent by the detection robot in the detection operation.
10. The detection system of claim 9, wherein the signal received by the signal transceiver comprises: the detection robot sends a stop signal when encountering an obstacle in the detection operation; or when the detection robot is carried by the unmanned aerial vehicle to fly in the air, a driving signal sent out when no obstacle exists below the detection robot is monitored;
the controller generates corresponding instructions according to the signals, and the instructions comprise: stopping the detection robot, and controlling the unmanned aerial vehicle to carry the detection robot to fly; or after the unmanned aerial vehicle carrying the detection robot lands, stopping the unmanned aerial vehicle, and starting the detection robot carrying the command that the unmanned aerial vehicle runs on the land.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
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2019
- 2019-10-09 CN CN201921678075.XU patent/CN210377157U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
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