CN210678723U - Patrol robot - Google Patents
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- CN210678723U CN210678723U CN201920981532.6U CN201920981532U CN210678723U CN 210678723 U CN210678723 U CN 210678723U CN 201920981532 U CN201920981532 U CN 201920981532U CN 210678723 U CN210678723 U CN 210678723U
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Abstract
本实用新型提供了一种巡视机器人,包括移动机构和巡视机构。移动机构能够相对于底面进行移动,该巡视机构包括至少一个位于移动机构前侧的前置摄像头、用于将所述前置摄像头连接至所述移动机构的前置驱动结构、至少一个位于所述移动机构上侧的顶置摄像头以及用于将所述顶置摄像头连接至所述移动机构的顶置驱动结构,本实用新型提供的巡视机器人,通过在移动机构的前侧设置前置摄像头,解决了巡视机器人在巡视过程中的存在巡视死角的问题。
The utility model provides a patrol robot, which includes a moving mechanism and a patrol mechanism. The moving mechanism can move relative to the bottom surface, and the patrol mechanism includes at least one front camera located on the front side of the moving mechanism, a front driving structure for connecting the front camera to the moving mechanism, and at least one front camera located on the front side of the moving mechanism. The overhead camera on the upper side of the moving mechanism and the overhead driving structure for connecting the overhead camera to the moving mechanism, the patrol robot provided by the utility model, by arranging the front camera on the front side of the moving mechanism, solves the problem of solving the problem. It solves the problem of patrolling dead spots in the patrolling process.
Description
技术领域technical field
本实用新型属于机器人技术领域,更具体地说,是涉及一种巡视机器人。The utility model belongs to the technical field of robots, and more specifically relates to a patrol robot.
背景技术Background technique
机器人是自动执行工作的机器装置,它既可以接受人类的指挥,又可以运行预先编排的程序,它的任务是协助或取代人类的工作,其中,巡视机器人在需要无人值守的场景(工厂、校园、仓库)得到了广泛的应用,现有的巡视机器人存在以下缺点:巡视机器人一般只能对较远处的场景进行巡视,而对于巡视机器人前端近处的场景存在巡视死角。A robot is a mechanical device that performs work automatically. It can not only accept the command of humans, but also run pre-programmed programs. Its task is to assist or replace human work. Campuses, warehouses) have been widely used. The existing inspection robots have the following shortcomings: the inspection robots can generally only inspect the distant scenes, and there are inspection dead spots for the scenes near the front end of the inspection robot.
实用新型内容Utility model content
本实用新型的目的在于提供一种巡视机器人,以解决现有技术中存在的巡视机器人在巡视过程中存在巡视死角的问题。The purpose of the present utility model is to provide a patrol robot, so as to solve the problem that the patrol robot in the prior art has a dead angle in the patrol process.
为实现上述目的,本实用新型采用的技术方案是:提供一种巡视机器人,包括:移动机构,能够相对于地面进行移动;In order to achieve the above purpose, the technical solution adopted by the present utility model is to provide a patrol robot, including: a moving mechanism capable of moving relative to the ground;
巡视机构,包括至少一个位于所述移动机构前侧的前置摄像头、用于将所述前置摄像头连接至所述移动机构的前置驱动结构、至少一个位于所述移动机构上侧的顶置摄像头以及用于将所述顶置摄像头连接至所述移动机构的顶置驱动结构,所述前置驱动结构能够驱动各所述前置摄像头绕第一转动轴线转动,所述第一转动轴线的延伸方向沿左右方向延伸,所述顶置驱动结构包括安装于所述移动机构的第一驱动器以及连接于所述第一驱动器并与各所述顶置摄像头连接的第二驱动器,所述第一驱动器用于驱动所述第二驱动器上下往复运动,以及还用于驱动所述第二驱动器绕第二转动轴线转动,所述第二转动轴线的延伸方向沿上下方向,所述第二驱动器用于驱动各所述顶置摄像头绕第三转动轴线转动,所述第三转动轴线的延伸方向平行于水平面。A patrol mechanism, comprising at least one front camera located on the front side of the moving mechanism, a front driving structure for connecting the front camera to the moving mechanism, and at least one overhead camera located on the upper side of the moving mechanism A camera and an overhead driving structure for connecting the overhead camera to the moving mechanism, the front driving structure can drive each of the front cameras to rotate around a first rotation axis, and the first rotation axis The extending direction extends along the left-right direction, and the overhead driving structure includes a first driver mounted on the moving mechanism and a second driver connected to the first driver and connected to each of the overhead cameras. The first driver The driver is used for driving the second driver to reciprocate up and down, and also for driving the second driver to rotate around a second rotation axis, the extension direction of the second rotation axis is in the up-down direction, and the second driver is used for Each of the overhead cameras is driven to rotate around a third rotation axis, and the extension direction of the third rotation axis is parallel to the horizontal plane.
进一步地,所述移动机构包括移动主体、安装于所述移动主体外侧并且承载所述移动主体的移动轮以及用于驱动各所述移动轮转动的动力机构,其中,所述移动轮至少具有三个,并且各所述移动轮共同用于带动所述移动主体在地面进行移动。Further, the moving mechanism includes a moving body, a moving wheel mounted on the outside of the moving body and supporting the moving body, and a power mechanism for driving each of the moving wheels to rotate, wherein the moving wheel has at least three Each of the moving wheels is jointly used to drive the moving body to move on the ground.
进一步地,所述移动主体于其前侧开设有安装槽,所述安装槽的延伸方向为上下方向,且贯通设置,所述前置摄像头安装于所述安装槽中。Further, an installation groove is formed on the front side of the movable body, the extension direction of the installation groove is an up-down direction, and is disposed through, and the front camera is installed in the installation groove.
进一步地,各所述移动轮均包括两个能够实现多个方向上滑移的麦克纳姆轮。Further, each of the moving wheels includes two Mecanum wheels capable of sliding in multiple directions.
进一步地,所述动力机构至少包括三个设于所述移动主体内并分别用于驱动一所述移动轮进行转动的驱动电机。Further, the power mechanism includes at least three driving motors arranged in the moving body and respectively used for driving one of the moving wheels to rotate.
进一步地,所述驱动电机至少具有四个。Further, there are at least four drive motors.
进一步地,所述巡视机器人还包括开设于所述第一驱动器前侧进行照明的照明装置。Further, the patrol robot further includes a lighting device provided on the front side of the first driver for lighting.
进一步地,所述照明装置包括灯体主体和嵌于所述灯体主体内部的距离感应器。Further, the lighting device includes a lamp body and a distance sensor embedded in the lamp body.
本实用新型提供的巡视机器人的有益效果在于:与现有技术相比,本实用新型提供的巡视机器人通过在移动机构的前侧设置前置摄像头,并且该摄像头连接有前置驱动结构,通过该前置驱动结构驱动前置摄像头上下摆动从而对巡视机器人前端面近处的场景进行探测,避免了巡视机器人存在巡视死角的问题,巡视机器人在巡视过程中,巡视的范围更大。The beneficial effect of the patrol robot provided by the utility model is that compared with the prior art, the patrol robot provided by the present utility model is provided with a front camera on the front side of the moving mechanism, and the camera is connected with a front drive structure, and through the The front drive structure drives the front camera to swing up and down to detect the scene near the front end of the patrol robot, which avoids the problem of the patrol robot's patrol dead angle. During the patrol process, the patrol robot has a larger patrol range.
附图说明Description of drawings
为了更清楚地说明本实用新型实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本实用新型的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present utility model. For some novel embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1为本实用新型实施例提供的巡视机器人的整体结构示意图;1 is a schematic diagram of the overall structure of a patrol robot provided by an embodiment of the present invention;
图2为本实用新型实施例提供的巡视机器人的爆炸结构示意图;2 is a schematic diagram of an explosion structure of a patrol robot provided by an embodiment of the present utility model;
图3为本实用新型实施例提供的巡视机器人的移动机构的结构示意图。3 is a schematic structural diagram of a moving mechanism of a patrol robot according to an embodiment of the present invention.
其中,图中各附图标记:Among them, each reference sign in the figure:
具体实施方式Detailed ways
为了使本实用新型所要解决的技术问题、技术方案及有益效果更加清楚明白,以下结合附图及实施例,对本实用新型进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本实用新型,并不用于限定本实用新型。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件,它可以是直接连接到另一个元件或间接连接至该另一个元件上。It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
需要理解的是,术语““上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本实用新型和简化描述,因此不能理解为对本实用新型的限制。It is to be understood that the terms "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" The orientations or positional relationships indicated by , "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and therefore should not be construed as a limitation on the present invention.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。在本实用新型的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.
请一并参阅图1至图3,现对本实用新型提供的巡视机器人进行说明。巡视机器人,包括移动机构10和巡视机构20。Please refer to FIG. 1 to FIG. 3 together, and now the patrol robot provided by the present invention will be described. The patrol robot includes a
其中,该移动机构10能够相对于地面进行移动,具体地,该移动机构10 应用于一些无人值守的场景中,例如工厂、仓库、校园等等,移动机构10在上述场景中能够来回移动并且进行多方位的巡视,取代了人力。Wherein, the
巡视机构20包括至少一个位于移动机构10前侧的前置摄像头21、用于将前置摄像头21连接至移动机构10的前置驱动结构22、至少一个位于移动机构 10上侧的顶置摄像头23以及用于将顶置摄像头23连接至移动机构10的顶置驱动结构24,前置驱动结构22能够驱动各前置摄像头21绕第一转动轴线转动,第一转动轴线的延伸方向沿左右方向延伸,顶置驱动结构24包括安装于移动机构10的第一驱动器240以及连接于第一驱动器240并与各顶置摄像头23连接的第二驱动器241,第一驱动器240用于驱动第二驱动器241上下往复运动,以及还用于驱动第二驱动器241绕第二转动轴线转动,第二转动轴线的延伸方向沿上下方向,第二驱动器241用于驱动各顶置摄像头绕第三转动轴线转动,第三转动轴线的延伸方向平行于水平面。The patrol mechanism 20 includes at least one
本实用新型提供的巡视机器人,与现有技术相比,现有技术中的巡视机器人一般只在巡视机器人的上端面上设置摄像头,该摄像头只能对于巡视机器人远方前端的场景进行巡视,而对于巡视机器人前端面近处的场景存在巡视死角的问题。该巡视机器人通过在移动机构10的前侧设置前置摄像头21,并且该摄像头连接有前置驱动结构22,通过该前置驱动结构22驱动前置摄像头21上下摆动从而对巡视机器人前端面近处的场景进行探测,避免了巡视机器人存在巡视死角的问题,巡视机器人在巡视过程中,巡视的范围更大。Compared with the prior art, the patrol robot provided by the utility model is generally only provided with a camera on the upper end surface of the patrol robot. The scene near the front end of the patrol robot has the problem of patrolling blind spots. The patrol robot is provided with a
请参阅图1以及图2,在本实施例中,移动机构10包括移动主体11、安装于移动主体11外侧并且承载移动主体11的移动轮12以及用于驱动各移动轮 12转动的动力机构30,其中,移动轮12至少具有三个,并且各移动轮12共同用于带动移动主体11在地面进行移动。具体地,该移动主体11用于承载巡视机构20,前置摄像头21、前置驱动结构22、顶置摄像头23、顶置驱动结构24 均安装于该移动主体11,该移动主体11的横截面为矩形或者是其它满足人们对机器人正常审美的形状都在考虑的范围之内。通过每个移动轮12都具有驱动该巡视机器人的功能,所带来的效果为:使得巡视机器人在移动巡视过程中运行速度更快,在移动轮12碰到障碍物或者巡视机器人遇到需要进行爬坡的路段时有足够的动力完成对提前设定好的路段的巡视,该巡视机器人的巡视效率更高,巡视任务的完成度更高。Referring to FIG. 1 and FIG. 2 , in this embodiment, the
请参阅图1以及图2,在本实用新型实施例中,该移动主体11于其前侧开设有安装槽13,该安装槽13的延伸方向为上下方向,并且贯通设置,前置摄像头21安装于安装槽13中。通过在该移动主体11的前端设置安装槽13,在该巡视机器人进行巡视时,由于前置摄像头21安装于安装槽13中,避免了以下情况的发生:巡视机器人在预先设定好的路线上进行巡视时,巡视机器人的前侧出现障碍物并且巡视机器人未检测到该障碍物从而继续向前移动时,障碍物可能会触碰并损坏前置摄像头21,影响巡视机器人的正常巡视工作。Please refer to FIG. 1 and FIG. 2 , in the embodiment of the present invention, the moving
请参阅图1至图3,各移动轮12均采用两个能够实现多个方向上滑移的麦克纳姆轮,麦克纳姆轮的轮缘上分布着许多小滚子,并且基于麦克纳姆轮技术,该巡视机器人可以实现前行、横向滑移、斜行等多种运动方式,麦克纳姆轮结构紧凑,运动灵活,该巡视机器人具有多个这种新型轮子进行组合,可以更灵活方便的实现全方位移动功能,提高了巡视机器人的巡视方向的灵活性。Please refer to FIG. 1 to FIG. 3 , each moving
请参阅图3,该动力机构30至少包括三个设于移动主体11内并分别用于驱动一移动轮12进行转动的驱动电机31,使得巡视机器人的移动轮12为四驱模式,各个移动轮12都具有主动驱动力,巡视机器人的移动动力更足并且具有更高的灵活性。Please refer to FIG. 3 , the
进一步地,该驱动电机31具有四个,每个驱动电机31都与一个移动轮12 相连接,保证了该巡视机器人为四驱四转的动力模式,进一步加强了巡视机器人的移动效率和稳定性。Further, the driving motor 31 has four, and each driving motor 31 is connected with a moving
请参阅图1至图2,第一驱动器240还包括开设于第一驱动器240正面的照明腔体2400,照明腔体2400中安装有供巡视机器人进行夜间照明的照明装置2410,通过在照明腔体2400中安装照明装置2410,为该巡视机器人的摄像头提供了光源,使得该巡视机器人不仅具有夜间照明功能,还能够在夜间进行巡视,使得该巡视机器人也适用于一些需要进行夜间巡视的场景。Please refer to FIG. 1 to FIG. 2 , the
该照明装置2410包括灯体主体和嵌于灯体主体内部的距离感应器2420,该距离感应器2420能够感应障碍物到该照明装置2410的距离,保证了巡视机器人巡视过程中的作业安全性。The
以上仅为本实用新型的较佳实施例而已,并不用以限制本实用新型,凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本实用新型的保护范围之内。The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in the present utility model. within the scope of protection.
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CN112128512B (en) * | 2020-09-30 | 2021-12-21 | 深圳信息职业技术学院 | Pipeline robots and pipeline inspection equipment |
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