CN211615591U - Wireless detection robot based on AprilTag - Google Patents
Wireless detection robot based on AprilTag Download PDFInfo
- Publication number
- CN211615591U CN211615591U CN201922150018.0U CN201922150018U CN211615591U CN 211615591 U CN211615591 U CN 211615591U CN 201922150018 U CN201922150018 U CN 201922150018U CN 211615591 U CN211615591 U CN 211615591U
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- robot
- apriltag
- chassis
- camera
- hub
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Abstract
The utility model discloses a wireless detection robot based on aprilTag, including removing the chassis, the upper surface that removes the chassis is provided with the fixed box of main part, one side fixed surface of the fixed box of main part installs a plurality of detection light, the last fixed surface of the fixed box of main part installs the stationary mast, the upper end surface movable mounting of stationary mast has the camera roating seat, the surface of camera roating seat is provided with the detection camera, one side fixed position that the upper surface on removing the chassis is located the fixed box of main part installs wireless receiving antenna. Based on aprilTag wireless detection robot, can when the robot removes, cushion the shock attenuation to road surface unevenness's vibrations, make the stable traveling of robot, prevent to survey the picture of time measuring and rock, can be when the positive striking of robot, cushion the earial discharge to the impact force, prevent to strike and produce serious damage.
Description
Technical Field
The utility model relates to a robot. The field, especially relate to and survey the robot based on aprilTag wireless.
Background
The April tag-based wireless detection robot is a wireless detection robot which is used by connection control based on April tag software, when the wireless detection robot is used, people can be replaced to enter a more dangerous and more complex area for detection, so that the wireless detection robot is used in various rescue and explosion-proof processing occasions in a large quantity, has a better use effect, and has gradually increased use requirements along with the increase of the wireless detection robot, but the existing wireless detection robot cannot meet the requirements of people, so the April tag-based wireless detection robot which is more convenient to use is needed; when the aprilTag-based wireless detection robot is used, better shock absorption can not be carried out on the road surface, the picture shaking during the detection of the robot is serious, and meanwhile, the front anti-collision buffer can not be carried out, and the robot is easy to damage during the front collision.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides based on aprilTag wireless detection robot, can effectively solve and can't carry out better shock attenuation to the road surface in the background art, can't carry out the problem of positive anticollision buffering.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
based on April tag wireless detection robot, including moving the chassis, the upper surface on removal chassis is provided with the fixed box of main part, one side external surface fixed mounting of the fixed box of main part has a plurality of detection light, the upper surface fixed mounting of the fixed box of main part has fixed stand, the upper end external surface movable mounting of fixed stand has the camera roating seat, the surface of camera roating seat is provided with the detection camera, one side position fixed mounting that the upper surface of moving the chassis is located the fixed box of main part has wireless receiving antenna, one side external surface fixed mounting of moving the chassis has the connection fixed plate, one side external surface fixed mounting of connection fixed plate has the anticollision gluey piece, the internal surface of anticollision gluey piece is provided with buffering gasbag, the lower fixed surface of moving the chassis is installed and is connected the dead lever, the lower extreme external surface movable mounting of connection dead lever has the rotation, the outer fixed surface of rotation axis installs a plurality of wheel hub dead levers, the one end that the rotation axis was kept away from to the wheel hub dead lever is rotated and is installed and rotate wheel hub, the outer fixed surface who rotates wheel hub installs the wheel hub cover tire, the upper surface movable mounting of wheel hub dead lever has damping spring.
Preferably, the movable chassis is fixedly connected with the main body fixing box through integral forming, and the height of the main body fixing box is slightly larger than that of the movable chassis.
Preferably, the fixed upright post and the camera rotating seat are both cylinders, and the detection camera is movably connected with the fixed upright post through the camera rotating seat.
Preferably, the length of the anti-collision rubber block is the same as that of the connecting and fixing plate, and the buffering air bag is located on one side of the connecting and fixing plate.
Preferably, the number of the rotating hubs and the hub cover tires is four, the rotating hubs and the hub cover tires are arranged in parallel, and the rotating hubs and the hub cover tires are respectively positioned at the outer side positions of the movable chassis.
Preferably, the upper surface of the damping spring is attached to the movable chassis, and the damping spring is located on one side of the rotating hub.
Compared with the prior art, the utility model discloses following beneficial effect has: this based on aprilTag wireless detection robot, through the connection dead lever that sets up, the rotation axis, the wheel hub dead lever, rotate wheel hub, wheel hub cover tire and damping spring, can be when the robot removes, cushion the shock attenuation to the vibrations of road surface unevenness, make the stable traveling of robot, the picture that prevents to survey time measuring rocks, through the connection fixed plate that sets up, anti-collision rubber block and buffering gasbag, can be when the positive striking of robot, cushion the power of letting out to the impact, prevent that the striking from producing serious damage.
Drawings
Fig. 1 is a schematic view of the overall structure of an april tag-based wireless detection robot according to the present invention;
fig. 2 is a partial structure view of a mobile chassis of the aprilat-based wireless detection robot of the present invention;
fig. 3 is the utility model discloses profile of piece is glued in anticollision based on AprilTag wireless detection robot.
In the figure: 1. moving the chassis; 2. a main body fixing box; 3. detecting an illuminating lamp; 4. fixing the upright post; 5. a camera rotating base; 6. detecting a camera; 7. a wireless receiving antenna; 8. connecting the fixed plate; 9. an anti-collision rubber block; 10. a buffer air bag; 11. connecting a fixed rod; 12. a rotating shaft; 13. a hub fixing rod; 14. rotating the hub; 15. a hub outer tire; 16. a shock absorbing spring.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-3, the AprilTag-based wireless detection robot includes a mobile chassis 1, a main body fixing box 2 is disposed on the upper surface of the mobile chassis 1, a plurality of detection illuminating lamps 3 are fixedly mounted on the outer surface of one side of the main body fixing box 2, a fixing upright post 4 is fixedly mounted on the upper surface of the main body fixing box 2, a camera rotating seat 5 is movably mounted on the outer surface of the upper end of the fixing upright post 4, a detection camera 6 is disposed on the outer surface of the camera rotating seat 5, a wireless receiving antenna 7 is fixedly mounted on the upper surface of the mobile chassis 1 at one side of the main body fixing box 2, a connecting fixing plate 8 is fixedly mounted on the outer surface of one side of the mobile chassis 1, an anti-collision rubber block 9 is fixedly mounted on the outer surface of one side of the connecting fixing plate 8, a buffer air bag 10 is disposed on the inner surface, a rotating shaft 12 is movably mounted on the outer surface of the lower end of the connecting fixing rod 11, a plurality of hub fixing rods 13 are fixedly mounted on the outer surface of the rotating shaft 12, a rotating hub 14 is rotatably mounted at one end of each hub fixing rod 13 far away from the rotating shaft 12, a hub outer tire 15 is fixedly mounted on the outer surface of the rotating hub 14, and a damping spring 16 is movably mounted on the upper surface of each hub fixing rod 13;
the movable chassis 1 is fixedly connected with the main body fixing box 2 through integral forming, and the height of the main body fixing box 2 is slightly larger than that of the movable chassis 1; the fixed upright post 4 and the camera rotating seat 5 are both cylinders, and the detection camera 6 is movably connected with the fixed upright post 4 through the camera rotating seat 5; the length of the anti-collision rubber block 9 is the same as that of the connecting and fixing plate 8, and the buffering air bag 10 is positioned at one side of the connecting and fixing plate 8; the number of the rotating hubs 14 and the hub outer tires 15 is four, the four rotating hubs 14 and the hub outer tires 15 are arranged in parallel, and the four rotating hubs 14 and the hub outer tires 15 are respectively positioned at the outer side positions of the moving chassis 1; the upper surface of the damping spring 16 is attached to the moving chassis 1, and the damping spring 16 is located at one side of the rotating hub 14.
It should be noted that, the utility model is based on AprilTag wireless detection robot, the mobile chassis 1 and the main body fixing box 2 form the main body fixing part, the fixing upright column 4 is used to connect the camera rotating seat 5, the detection camera 6 on the camera rotating seat 5 is used to detect and shoot the picture, the detection illumination lamp 3 is used to detect and illuminate, the hub cover tyre 15 is driven to rotate by the rotating hub 14, the robot is moved integrally, the wireless receiving antenna 7 is used to receive the wireless control signal, when the robot moves by the rotating hub 14 and the hub cover tyre 15, the rotating hub 14 receives the impact of the uneven road surface to drive the hub fixing rod 13 to rotate and rise around the rotating shaft 12, the damping spring 16 is pressed while the hub fixing rod 13 rises, the elastic buffering of the damping spring 16 is performed to buffer the uneven road surface vibration received by the rotating hub 14, make and rotate wheel hub 14 and wheel hub cover tire 15 and keep the stability to removing chassis 1 when rotating, when the positive striking of robot, through the crashproof rubber block 9 contact striking in connection fixed plate 8 the place ahead, crashproof rubber block 9 can carry out deformation buffering through inside buffering gasbag 10, carries out the discharge to the impact force, the damage that takes place when reducing the striking.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Based on aprilTag wireless detection robot, its characterized in that: comprises a movable chassis (1), the upper surface of the movable chassis (1) is provided with a main body fixing box (2), the outer surface of one side of the main body fixing box (2) is fixedly provided with a plurality of detection illuminating lamps (3), the upper surface of the main body fixing box (2) is fixedly provided with a fixing upright post (4), the outer surface of the upper end of the fixing upright post (4) is movably provided with a camera rotating seat (5), the outer surface of the camera rotating seat (5) is provided with a detection camera (6), the position of one side of the upper surface of the movable chassis (1) which is positioned on the main body fixing box (2) is fixedly provided with a wireless receiving antenna (7), the outer surface of one side of the movable chassis (1) is fixedly provided with a connecting fixing plate (8), the outer surface of one side of the connecting fixing plate (8) is fixedly provided with an anti-collision rubber block (9), the inner surface of the, the utility model discloses a wheel hub, including removal chassis (1), the lower fixed surface of removal chassis (1) installs and connects dead lever (11), the lower extreme surface movable mounting who connects dead lever (11) has rotation axis (12), the surface fixed mounting of rotation axis (12) has a plurality of wheel hub dead levers (13), the one end that rotation axis (12) were kept away from in wheel hub dead lever (13) is rotated and is installed and rotate wheel hub (14), the surface fixed mounting who rotates wheel hub (14) has wheel hub cover tire (15), the last surface movable mounting of wheel hub dead lever (13) has damping spring (16).
2. The AprilTag-based wireless probing robot of claim 1, wherein: the movable chassis (1) is fixedly connected with the main body fixing box (2) through integral forming, and the height of the main body fixing box (2) is slightly larger than that of the movable chassis (1).
3. The AprilTag-based wireless probing robot of claim 1, wherein: the fixed stand column (4) and the camera rotating seat (5) are both cylinders in shape, and the detection camera (6) is movably connected with the fixed stand column (4) through the camera rotating seat (5).
4. The AprilTag-based wireless probing robot of claim 1, wherein: the length of the anti-collision rubber block (9) is the same as that of the connecting and fixing plate (8), and the buffering air bag (10) is located on one side of the connecting and fixing plate (8).
5. The AprilTag-based wireless probing robot of claim 1, wherein: the number of the rotating hubs (14) and the hub outer tires (15) is four, the rotating hubs (14) and the hub outer tires (15) are arranged in parallel, and the rotating hubs (14) and the hub outer tires (15) are respectively located at the outer side positions of the movable chassis (1).
6. The AprilTag-based wireless probing robot of claim 1, wherein: the upper surface of the damping spring (16) is attached to the movable chassis (1), and the damping spring (16) is located on one side of the rotating hub (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150018.0U CN211615591U (en) | 2019-12-05 | 2019-12-05 | Wireless detection robot based on AprilTag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150018.0U CN211615591U (en) | 2019-12-05 | 2019-12-05 | Wireless detection robot based on AprilTag |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211615591U true CN211615591U (en) | 2020-10-02 |
Family
ID=72627800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922150018.0U Expired - Fee Related CN211615591U (en) | 2019-12-05 | 2019-12-05 | Wireless detection robot based on AprilTag |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211615591U (en) |
-
2019
- 2019-12-05 CN CN201922150018.0U patent/CN211615591U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201002 Termination date: 20211205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |