CN210678723U - Patrol robot - Google Patents

Abstract

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

patrol robot

technical field

The utility model belongs to the technical field of robots, and more specifically relates to a patrol robot.

Background technique

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.

Utility model content

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.

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;

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.

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.

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.

Further, each of the moving wheels includes two Mecanum wheels capable of sliding in multiple directions.

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.

Further, there are at least four drive motors.

Further, the patrol robot further includes a lighting device provided on the front side of the first driver for lighting.

Further, the lighting device includes a lamp body and a distance sensor embedded in the lamp body.

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.

Description of drawings

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.

1 is a schematic diagram of the overall structure of a patrol robot provided by an embodiment of the present invention;

2 is a schematic diagram of an explosion structure of a patrol robot provided by an embodiment of the present utility model;

3 is a schematic structural diagram of a moving mechanism of a patrol robot according to an embodiment of the present invention.

Among them, each reference sign in the figure:

label name label name 10 mobile mechanism 11 moving subject 12 moving wheel 13 mounting slot 20 Inspection agency twenty one Front camera twenty two Front drive structure twenty three top camera twenty four Top drive structure 240 first drive 2400 Lighting cavity 2410 lighting device 2420 distance sensor 241 second drive 30 Powertrain 31 motor

Detailed ways

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.

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.

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.

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.

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 moving mechanism 10 and a patrol mechanism 20 .

Wherein, the mobile mechanism 10 can move relative to the ground. Specifically, the mobile mechanism 10 is used in some unattended scenarios, such as factories, warehouses, campuses, etc., in which the mobile mechanism 10 can move back and forth and Conduct multi-directional inspections instead of manpower.

The patrol mechanism 20 includes at least one front camera 21 located on the front side of the mobile mechanism 10 , a front drive structure 22 for connecting the front camera 21 to the mobile mechanism 10 , and at least one overhead camera 23 located on the upper side of the mobile mechanism 10 . and an overhead driving structure 24 for connecting the overhead camera 23 to the moving mechanism 10, the front driving structure 22 can drive each front camera 21 to rotate around a first rotation axis, and the extension direction of the first rotation axis extends in the left and right direction , the overhead driving structure 24 includes a first driver 240 mounted on the moving mechanism 10 and a second driver 241 connected to the first driver 240 and connected to each overhead camera 23, the first driver 240 is used to drive the second driver 241 up and down The reciprocating motion is also used to drive the second driver 241 to rotate around the second rotation axis, the extension direction of the second rotation axis is in the up-down direction, and the second driver 241 is used to drive each overhead camera to rotate around the third rotation axis. The direction of extension of the axis of rotation is parallel to the horizontal plane.

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 front camera 21 on the front side of the moving mechanism 10, and the camera is connected with a front drive structure 22, and the front drive structure 22 drives the front camera 21 to swing up and down, so as to be close to the front end of the patrol robot. It avoids the problem of patrolling dead spots in the patrol robot. During the patrolling process, the patrolling robot has a larger patrol range.

Referring to FIG. 1 and FIG. 2 , in this embodiment, the moving mechanism 10 includes a moving body 11 , a moving wheel 12 mounted on the outside of the moving body 11 and supporting the moving body 11 , and a power mechanism 30 for driving each moving wheel 12 to rotate. , wherein, there are at least three moving wheels 12 , and each moving wheel 12 is jointly used to drive the moving body 11 to move on the ground. Specifically, the moving body 11 is used to carry the patrol mechanism 20 . The front camera 21 , the front driving structure 22 , the top camera 23 , and the top driving structure 24 are all installed on the moving body 11 . The cross section of the moving body 11 Rectangular or other shapes that satisfy people's normal aesthetics for robots are all within the scope of consideration. Each moving wheel 12 has the function of driving the patrol robot, and the effect is that the patrol robot can run faster during the mobile patrol process, and when the mobile wheel 12 encounters an obstacle or the patrol robot encounters a need to perform When there is enough power to complete the inspection of the road section set in advance, the inspection robot has a higher inspection efficiency and a higher degree of completion of inspection tasks.

Please refer to FIG. 1 and FIG. 2 , in the embodiment of the present invention, the moving main body 11 is provided with an installation slot 13 on the front side thereof, the extension direction of the installation slot 13 is the up-down direction, and is arranged through, and the front camera 21 is installed in the installation slot 13. By arranging the installation slot 13 at the front end of the mobile body 11, when the patrol robot performs a patrol, since the front camera 21 is installed in the installation slot 13, the following situation is avoided: the patrol robot is on a preset route. During patrolling, when an obstacle appears on the front side of the patrol robot and the patrol robot does not detect the obstacle and continues to move forward, the obstacle may touch and damage the front camera 21, affecting the normal patrol work of the patrol robot.

Please refer to FIG. 1 to FIG. 3 , each moving wheel 12 adopts two Mecanum wheels capable of sliding in multiple directions. Many small rollers are distributed on the rim of the Mecanum wheel, and based on the Mecanum wheel Wheel technology, the patrol robot can realize various motion modes such as forward, lateral slip, and oblique motion. The Mecanum wheel has a compact structure and flexible movement. The patrol robot has multiple combinations of this new type of wheels, which can be more flexible and convenient. The realization of the omnidirectional movement function improves the flexibility of the patrolling direction of the patrol robot.

Please refer to FIG. 3 , the power mechanism 30 includes at least three drive motors 31 disposed in the moving body 11 and used to drive a moving wheel 12 to rotate, so that the moving wheel 12 of the patrol robot is in a four-wheel drive mode, and each moving wheel 12 is in a four-wheel drive mode. All 12 have active driving force, and the patrol robot has more mobile power and higher flexibility.

Further, the driving motor 31 has four, and each driving motor 31 is connected with a moving wheel 12, which ensures that the patrol robot is in a four-wheel drive and four-rotation power mode, and further enhances the mobile efficiency and stability of the patrol robot. .

Please refer to FIG. 1 to FIG. 2 , the first driver 240 further includes a lighting cavity 2400 opened on the front of the first driver 240 . The lighting cavity 2400 is installed with a lighting device 2410 for the patrol robot to illuminate at night. The lighting device 2410 is installed in 2400 to provide a light source for the camera of the patrol robot, so that the patrol robot not only has the function of night lighting, but also can patrol at night, so that the patrol robot is also suitable for some scenes that require night patrol.

The lighting device 2410 includes a lamp body and a distance sensor 2420 embedded in the lamp body. The distance sensor 2420 can sense the distance from an obstacle to the lighting device 2410 to ensure the operation safety of the inspection robot during the inspection process.

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.

Claims (8)

1. a patrol robot, is characterized in that, comprises: A moving mechanism, capable of moving relative to the ground; 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. 2 . The patrol robot according to claim 1 , wherein the moving mechanism comprises a moving body, a moving wheel mounted on the outside of the moving body and supporting the moving body, and a moving wheel for driving each of the moving wheels to rotate. 3 . The power mechanism, wherein there are at least three moving wheels, and each of the moving wheels is jointly used to drive the moving body to move on the ground. 3 . The patrol robot according to claim 2 , wherein the mobile body is provided with an installation groove on its front side, the extension direction of the installation groove is an up-down direction, and is arranged through the front camera. 3 . in the mounting slot. 4 . The patrol robot according to claim 2 , wherein each of the moving wheels includes two Mecanum wheels capable of sliding in multiple directions. 5 . 5 . The patrol robot according to claim 2 , wherein the power mechanism comprises at least three driving motors arranged in the moving body and respectively used for driving one of the moving wheels to rotate. 6 . 6 . The patrol robot according to claim 5 , wherein there are at least four driving motors. 7 . 7. The patrol robot according to any one of claims 1 to 6, characterized in that, the patrol robot further comprises an illuminating device provided on the front side of the first driver for illuminating. 8 . The patrol robot according to claim 7 , wherein the lighting device comprises a lamp body and a distance sensor embedded in the lamp body. 9 .

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