CN215093615U - FPV wall climbing robot applied to emergency rescue - Google Patents
FPV wall climbing robot applied to emergency rescue Download PDFInfo
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- CN215093615U CN215093615U CN202120524206.XU CN202120524206U CN215093615U CN 215093615 U CN215093615 U CN 215093615U CN 202120524206 U CN202120524206 U CN 202120524206U CN 215093615 U CN215093615 U CN 215093615U
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Abstract
The utility model relates to a be applied to FPV wall climbing robot of rescue, its structure includes the chassis both ends are provided with front wheel and rear wheel respectively around the chassis the top on chassis is provided with the support frame the top of support frame is provided with the roof with be provided with the duct fan between the chassis, the last port of duct fan stretches out the upper surface of roof the chassis below is provided with flexible sucking disc, flexible sucking disc the top with the duct fan is linked together, flexible sucking disc's lower extreme is higher than the front wheel with the lower extreme of rear wheel be provided with two-dimentional cloud platform on the roof be provided with the camera on the two-dimentional cloud platform, still including being used for receiving the FPV glasses of picture are shot to the camera. The utility model discloses simple structure, the entering accident scene that can be nimble can realize the real-time control of image real-time transmission and operation.
Description
Technical Field
The utility model relates to a wall climbing robot, specifically speaking are FPV wall climbing robot who is applied to rescue emergency.
Background
In recent years, indoor fire accidents frequently occur, and accidents that fire fighters are injured or even sacrificed due to the fact that fire scene conditions are unknown and fire information in the fire scene is not comprehensively grasped occur. Therefore, it is highly desirable to design a robot for reconnaissance of fire scene environment.
The air flow in the fire scene is complex and changeable, great interference is generated on the unmanned aerial vehicle, the fire scene is difficult to enter from a conventional route, a general robot is difficult to enter smoothly, the robot needs to transmit the scene situation to a command center in real time through images or videos after entering the fire scene, and the robot is controlled in real time according to the images or videos, but the current robot is difficult to realize real-time output of the images or videos and simultaneously control the robot in real time.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a be applied to the FPV wall climbing robot of rescue work to solve the problem that present robot can't get into the scene of disaster relief smoothly and real-time output image video and control it simultaneously.
The utility model discloses a realize like this: the utility model provides a be applied to FPV wall climbing robot of rescue, includes the chassis both ends are provided with front wheel and rear wheel respectively around the chassis the top on chassis is provided with the support frame the top of support frame is provided with the roof with be provided with the duct fan between the chassis, the last port of duct fan stretches out the upper surface of roof the chassis below is provided with flexible sucking disc, flexible sucking disc the top with the duct fan is linked together, flexible sucking disc's lower extreme is higher than the front wheel with the lower extreme of rear wheel be provided with the two-dimensional cloud platform on the roof be provided with the camera on the two-dimensional cloud platform, still including being used for receiving the FPV glasses of camera shooting picture.
The steering mechanism is characterized by further comprising a motor and a steering engine, wherein the motor is used for driving the rear wheels to rotate, and the steering engine is used for driving the front wheels to steer.
Still include the controller unit, controller unit electricity is connected with motor drive module, duct fan drive module, storage module, image transmission module and camera module, image transmission module with signal connection between the FPV glasses, the two-dimentional cloud platform with electricity is connected between the controller unit, the controller unit is connected with the remote controller through wireless transmission module.
The power supply system is a rechargeable battery or a battery pack.
The utility model discloses install the duct fan on the robot, the duct fan can produce powerful air current, makes and forms the negative pressure between flexible sucking disc and the wall of chassis below, makes the robot can realize climbing the wall function, and certain deformation can take place for flexible sucking disc when meetting the barrier to guarantee the trafficability characteristic and the absorbent stability of robot. Negative pressure adsorption is realized through ducted fan and flexible sucking disc, and the rotation or the swing that front wheel and rear wheel can be free makes the walking of robot divide into two solitary parts with the absorption, makes the robot move about freely on the one hand, and on the other hand ducted fan provides lasting negative pressure when adsorbing, has simplified mechanical structure and circuit control part greatly for the form that a plurality of sucking discs produced the negative pressure in proper order. And can transmit the picture of scene to the FPV glasses through the camera, be convenient for operating personnel's real time control.
The utility model discloses simple structure, the entering accident scene that can be nimble can realize the real-time control of image real-time transmission and operation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 shows a schematic diagram of a control system of the present invention.
Fig. 3 is a schematic diagram of the remote controller of the present invention.
In the figure: 1. a chassis; 2. a support frame; 3. a top plate; 4. a ducted fan; 5. a flexible suction cup; 6. a front wheel; 7. a rear wheel; 8. a motor; 9. a two-dimensional pan-tilt; 10. a camera; 11. a steering engine; 12. a controller unit; 13. an image transmission module; 14. FPV glasses; 15. a storage module; 16. a two-dimensional pan-tilt; 17. a drive circuit; 18. a motor drive module; 19. a ducted fan drive module; 20. a camera module; 21. a wireless transmission module; 22. and a remote controller.
Detailed Description
As shown in fig. 1, the utility model discloses a chassis 1, front wheel 6 and rear wheel 7 are installed respectively at both ends around chassis 1, support frame 2 is installed to top on chassis 1, roof 3 is installed to top at support frame 2, install duct fan 4 between roof 3 and chassis 1, the upper end mouth of duct fan 4 stretches out the upper surface of roof 3, in the entering duct fan 4 that the air can be smooth, install flexible sucking disc 5 below chassis 1, the top of flexible sucking disc 5 and duct fan 4 are linked together, the lower extreme of flexible sucking disc 5 is higher than the lower extreme of front wheel 6 and rear wheel 7, make the lower port of flexible sucking disc 5 and robot place plane keep certain interval. The two-dimensional pan-tilt 169 is arranged on the top plate 3, the camera 10 is arranged on the two-dimensional pan-tilt 169, and the FPV glasses 14 are used for receiving pictures shot by the camera 10.
Further, the steering device comprises a motor 8 and a steering engine 11, wherein the motor 8 is used for driving the rear wheels 7 to rotate, and the steering engine 11 is used for driving the front wheels 6 to steer. The motor 8 is arranged on the chassis 1, is connected with the rotating shaft of the rear wheel 7 through a gear, and transmits power to the rear wheel 7 through gear transmission, so that the robot is driven to move by the rear wheel 7. The steering engine 11 is connected with the front wheels 6 through a steering mechanism, and the steering of the front wheels 6 is controlled through the steering engine 11.
As shown in fig. 2, the multifunctional glasses frame further comprises a controller unit 12, the controller unit 12 is electrically connected with a motor driving module 18, a ducted fan driving module 19, a storage module 15, an image transmission module 13 and a camera module 20, the image transmission module 13 is in signal connection with the FPV glasses 14, the two-dimensional pan-tilt 169 is electrically connected with the controller unit 12, and the controller unit 12 is further connected with a remote controller 22 through a wireless transmission module 21.
The controller unit 12 is an Arduino nano, and the camera module 20, the image transmission module 13, the storage module 15, the wireless transmission module 21, the two-dimensional pan-tilt 169, the motor driving module 18 and the ducted fan driving module 19 are all connected with the controller unit 12.
Wherein, image transmission module 13 adopts CC2500 wireless module, links to each other with the controller through Serial Peripheral Interface (SPI), and this wireless module supports 2.4 GHz wireless picture biography, and this wireless module has better penetrability and image stability, is applicable to the indoor space that the condition is unclear and the inconvenient direct entering of rescue personnel.
The FPV glasses 14 can directly adopt products supporting 2.4G image transmission on the market, such as DJI V2 FPV gougles, and for the FPV glasses 14 not supporting 2.4G, a 2.4G image transmission module 13 receiver can be installed on the basis of the FPV glasses 14, so as to complete the transformation of the glasses.
The storage module 15 adopts an SD card storage mode and is responsible for recording the pictures shot by the camera 10 during each task execution.
The receiver and the transmitter of the wireless transmission module 21 adopt an NRF24L01 module with an antenna, and the controller unit 12 is connected with one of the NRF24L01 modules through a Serial Peripheral Interface (SPI) to form a receiver for receiving signals of the remote controller 22.
As shown in FIG. 3, the remote control 22 is also constructed using an Arduino nano and an NRF24L01, and includes two ALPS rocker potentiometers, a toggle switch, as shown in FIG. 3. Similarly, the Arduino nano and the NRF24L01 adopt SPI communication, and the NRF24L01 on the remote controller 22 is a wireless module with an antenna. The left rocker potentiometer shifts up and down to control a steering engine of the two-dimensional pan-tilt 169 to enable the two-dimensional pan-tilt to rotate up and down in a vertical plane so as to adjust the visual angle of a camera 10 arranged on the pan-tilt; and the other steering engine of the two-dimensional tripod head 169 is controlled by shifting the right rocker potentiometer left and right, so that the two-dimensional tripod head can rotate left and right. The right rocker shifts a motor 8 which is responsible for controlling the rear wheel 7 back and forth, so that the robot can move back and forth; the left remote lever is used for shifting a steering engine 11 which is responsible for controlling the front wheel 6 left and right to enable the front wheel 6 to swing left and right, so that the movement direction is controlled, and the toggle switch is responsible for controlling the rotation and the stop of a motor 8 of the ducted fan 4.
The drive circuit 17 is divided into two parts, one part is driven by the motor 8 of the rear wheel 7 which controls the forward movement, and the other part is driven by the motor 8 of the ducted fan 4 which generates the negative pressure. The drive circuit 17 is connected to the two motors 8, respectively, and the control modes of the two motors are similar, and after the robot controller unit 12 receives a signal transmitted from the remote controller 22 through the wireless transmission module 21, the drive circuit 17 is controlled, so that the two motors 8 are controlled.
The system also comprises a power supply system which is a rechargeable battery or a battery pack and supplies electric energy to the whole system.
The utility model discloses install duct fan 4 on the robot, duct fan 4 can produce powerful air current, makes and forms the negative pressure between flexible sucking disc 5 of chassis 1 below and the wall, makes the robot can realize climbing the wall function, and certain deformation can take place for flexible sucking disc 5 when meetting the barrier to guarantee the trafficability characteristic and the absorbent stability of robot. The flexible sucker 5 is not completely adsorbed on the wall, and the flexible sucker 5 only shortens the distance between the chassis 1 and the wall, reduces the exchange between the air below the flexible sucker 5 and the atmosphere, and enables the lower part of the flexible sucker 5 to be in a relatively stable negative pressure state. Negative pressure adsorption is realized through the ducted fan 4 and the flexible suckers 5, the front wheels 6 and the rear wheels 7 can rotate or swing freely, so that the walking and adsorption of the robot are divided into two independent parts, on one hand, the robot can move freely, on the other hand, the ducted fan 4 provides continuous negative pressure during adsorption, and the mechanical structure and the circuit control part are greatly simplified in a mode of sequentially generating negative pressure relative to the suckers.
The movement of the trolley and the picture of the camera 10 are controlled by the remote controller 22, so that the trolley is simple and easy to use, and is convenient to apply to remote rescue, dangerous operation and the like. The user can also personally obtain the visual angle of the trolley through the FPV glasses 14 so as to quickly grasp the site situation and make response processing.
Claims (4)
1. The utility model provides a be applied to FPV wall climbing robot of rescue, its characterized in that, includes the chassis both ends are provided with front wheel and rear wheel respectively around the chassis the top on chassis is provided with the support frame the top of support frame is provided with the roof with be provided with the duct fan between the chassis, the last port of duct fan stretches out the upper surface of roof the chassis below is provided with flexible sucking disc, the top of flexible sucking disc with the duct fan is linked together, the lower extreme of flexible sucking disc is higher than the front wheel with the lower extreme of rear wheel be provided with the two-dimensional cloud platform on the roof be provided with the camera on the two-dimensional cloud platform, still including being used for receiving the FPV glasses of camera shooting picture.
2. The FPV wall climbing robot applied to emergency rescue according to claim 1, further comprising a motor and a steering engine, wherein the motor is used for driving the rear wheels to rotate, and the steering engine is used for driving the front wheels to steer.
3. The FPV wall climbing robot applied to emergency rescue according to claim 1, further comprising a controller unit, wherein the controller unit is electrically connected with a motor driving module, a ducted fan driving module, a storage module, an image transmission module and a camera module, the image transmission module is in signal connection with the FPV glasses, the two-dimensional cradle head is electrically connected with the controller unit, and the controller unit is connected with a remote controller through a wireless transmission module.
4. The FPV wall-climbing robot applied to emergency rescue according to claim 1, further comprising a power supply system, wherein the power supply system is a rechargeable battery or a battery pack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120524206.XU CN215093615U (en) | 2021-03-12 | 2021-03-12 | FPV wall climbing robot applied to emergency rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120524206.XU CN215093615U (en) | 2021-03-12 | 2021-03-12 | FPV wall climbing robot applied to emergency rescue |
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| Publication Number | Publication Date |
|---|---|
| CN215093615U true CN215093615U (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120524206.XU Active CN215093615U (en) | 2021-03-12 | 2021-03-12 | FPV wall climbing robot applied to emergency rescue |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115508391A (en) * | 2022-10-27 | 2022-12-23 | 江苏方天电力技术有限公司 | Strain clamp unmanned aerial vehicle ray detection FPV auxiliary mounting system |
-
2021
- 2021-03-12 CN CN202120524206.XU patent/CN215093615U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115508391A (en) * | 2022-10-27 | 2022-12-23 | 江苏方天电力技术有限公司 | Strain clamp unmanned aerial vehicle ray detection FPV auxiliary mounting system |
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