CN218258453U

CN218258453U - Intelligent inspection quadruped robot capable of image recognition

Info

Publication number: CN218258453U
Application number: CN202222913832.5U
Authority: CN
Inventors: 刘子豪
Original assignee: Nanjing Agricultural University
Current assignee: Nanjing Agricultural University
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-01-10
Anticipated expiration: 2032-11-02

Abstract

The utility model discloses a but image recognition's intelligence inspection four-footed robot, which comprises a bod, the back lower extreme fixed mounting of organism has the battery, the top fixed mounting of organism has adjustment mechanism, adjustment mechanism's top fixed mounting has slewing mechanism, slewing mechanism's top both sides all are equipped with installation mechanism, slewing mechanism's top right side is passed through installation mechanism and is installed the rotation type surveillance camera head. The above structure is adopted in the utility model, when laser radar and rotation type surveillance camera head need dismantle and overhaul, only need stimulate the pull ring and drive the connecting axle and take out the spacer pin, and then alright stimulate the spacer pin and leave spacing downthehole, alright deviate from the square frame with laser radar and rotation type surveillance camera head pulling this moment in, the dismouting can be accomplished to the plug of extracting the wire this moment to make this device dismouting get up comparatively conveniently, the practicality is stronger, application prospect is comparatively extensive.

Description

Intelligent inspection quadruped robot capable of image recognition

Technical Field

The utility model belongs to the technical field of four group's robots, in particular to but image recognition's intelligence inspection quadruped robot.

Background

The four-legged bionic robot can climb on 500px continuous steps or 25-degree slopes, has various gait and fall self-recovery functions, integrates multiple subject technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like, can replace human beings to complete tasks such as complex terrain transportation, special environment scientific investigation, emergency rescue and relief, fire rescue and the like, only needs discrete ground supporting points when walking, has strong ground adaptability, can adapt to walking on any road surface, and has good maneuverability; in addition, the separating structure of the machine body and the foot end has good buffering effect, can better adapt to irregular terrains, and has better disturbance resistance, good maneuverability and excellent terrain adaptability. These characteristics make the legged robot have absolute advantages in unstructured environments with uncertain factors. Therefore, the foot type robot becomes a research hotspot and difficulty in the field of robots at home and abroad in recent years;

but present image recognition's intelligent four-footed robot discovers when patrolling, its camera adopts the guide rail to install camera and laser radar on the fuselage, however the mounting means of majority all adopts the mode of screw to install, fixed connection when also having a small number be integrated into one piece, this kind of mounting means, it is relatively troublesome when it uses the installation, still need specific instrument to dismantle it when dismantling the maintenance to it, some positions are cut the brill relatively, inconvenient dismantlement, during the robot walking simultaneously, can't carry out position control to four-footed robot's camera and laser radar, there is certain limitation in the use, consequently, need improve it.

SUMMERY OF THE UTILITY MODEL

Problem to mention in the background art, the utility model aims at providing a but image recognition's intelligence inspection four-footed robot, all install the mode that adopts the screw with solving current four groups of robot mounting means, fixed connection when also having a small number be integrated into one piece, this kind of mounting means, it is relatively troublesome when it uses the installation, still need specific instrument to dismantle it when dismantling the maintenance to it, some positions are opened the brill relatively, inconvenient dismantlement, during the robot walking simultaneously, can't carry out the problem of position control to four-footed camera and laser radar.

The above technical purpose of the present invention can be achieved by the following technical solutions:

the utility model provides a but image recognition's intelligence inspection quadruped robot, includes the organism, the back lower extreme fixed mounting of organism has the battery, the top fixed mounting of organism has adjustment mechanism, adjustment mechanism's top fixed mounting has slewing mechanism, slewing mechanism's top both sides all are equipped with installation mechanism, slewing mechanism's top right side is passed through installation mechanism and is installed rotation type surveillance camera head, slewing mechanism's top left side is passed through installation mechanism and is installed laser radar, both ends all are equipped with the mechanical leg around the both sides of organism, the positive fixed mounting of organism has main control system.

Further, as a preferred technical scheme, the adjusting mechanism comprises a guide rail, the guide rail is fixedly installed at the top of the machine body, a lead screw is rotatably connected to the inner side of the guide rail, a sliding block is connected to the outer surface of the lead screw in a threaded manner, the top of the sliding block is fixedly connected with the bottom of the rotating mechanism, a first motor is fixedly installed on the back of the guide rail, and the front end output end of the first motor is fixedly connected with the rear end of the lead screw.

Further, as a preferable technical scheme, the front shape of the sliding block is square, the front shape of the inner side of the guide rail is also square, and the top view shape of the guide rail is rectangular.

Further, as preferred technical scheme, slewing mechanism includes the roof-rack, roof-rack fixed mounting is in the top of slider, the inboard of roof-rack is equipped with the second motor, the top output of second motor runs through roof-rack fixed mounting and has the diaphragm, the top both sides of diaphragm and the bottom fixed connection of installation mechanism.

Further, as a preferred technical scheme, the mounting mechanism comprises a square frame, insertion blocks are inserted into the inner side of the square frame, and the tops of the insertion blocks on the two sides of the top of the transverse plate are fixedly connected with the bottoms of the laser radar and the rotary monitoring camera respectively.

Further, as a preferred technical scheme, a limiting component is fixedly mounted on the inner side of the square frame, and the inner end of the limiting component penetrates through the square frame and is inserted into the inner side of the inserting block.

Further, as a preferred technical scheme, the limiting component comprises a sleeve, the sleeve is fixedly installed on the inner side of the square frame, a limiting spring is fixedly installed inside the sleeve, a limiting pin is fixedly installed at the inner end of the limiting spring, and the inner end of the limiting pin penetrates through the square frame and is inserted in the outer side of the insertion block.

Furthermore, as a preferred technical scheme, the outer end of the limiting pin is fixedly provided with a connecting shaft, and the outer side of the connecting shaft penetrates through the square frame and the limiting spring and is fixedly connected with a pull ring.

Further, as a preferred technical scheme, the outer side of the inserting block is provided with a limiting hole, and the inner end of the limiting pin is inserted into the inner side of the limiting hole.

To sum up, the utility model discloses mainly have following beneficial effect:

firstly, through setting an adjusting mechanism and a rotating mechanism, when the robot is used, a mechanical leg can be controlled by a control host to walk, during walking, the rotary monitoring camera and the laser radar are matched to carry out monitoring shooting and image recognition, and when the robot needs to be adjusted during use, a first motor is started to drive a lead screw to drive a sliding block to slide on the inner side of a guide rail, and the rotary monitoring camera and the laser radar can be driven to move through sliding of the sliding block;

second, through setting up spacing subassembly, make during the use, the accessible is pegged graft the inside of square frame with the inserted block, spacing spring conflict spacer pin is pegged graft the inside in spacing hole this moment spacing, then through the wire switch-on laser radar and rotation type surveillance camera head the power can, when laser radar and rotation type surveillance camera head need dismantle the maintenance, only need stimulate the pull ring and drive the connecting axle and twitch the spacer pin, and then alright stimulate the spacer pin and leave in spacing hole, alright deviate from the square frame with laser radar and rotation type surveillance camera head pulling this moment in, the dismouting can be accomplished to the plug of extracting the wire this moment, thereby it is comparatively convenient to make this device dismouting get up, the practicality is stronger, application prospect is comparatively extensive.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a structural diagram of the position-limiting assembly of the present invention;

fig. 3 is a top view of the present invention;

fig. 4 is an enlarged view of fig. 3 according to the present invention.

Reference numerals are as follows: 1. the laser radar device comprises a machine body, 2, a storage battery, 3, an adjusting mechanism, 31, a guide rail, 32, a screw rod, 33, a sliding block, 34, a first motor, 4, a rotating mechanism, 41, a top frame, 42, a second motor, 43, a transverse plate, 5, an installation mechanism, 51, a square frame, 52, an insertion block, 53, a limiting assembly, 531, a sleeve, 532, a limiting spring, 533, a limiting pin, 534, a connecting shaft, 535, a pull ring, 536, a limiting hole, 6, a rotary monitoring camera, 7, a laser radar, 8, a mechanical leg, 9 and a control host.

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.

Example 1

Referring to fig. 1-4, but image recognition's intelligence inspection quadruped robot described in this embodiment, including organism 1, the back lower extreme fixed mounting of organism 1 has battery 2, the top fixed mounting of organism 1 has adjustment mechanism 3, the top fixed mounting of adjustment mechanism 3 has slewing mechanism 4, slewing mechanism 4's top both sides all are equipped with installation mechanism 5, slewing mechanism 4's top right side is installed rotation type surveillance camera head 6 through installation mechanism 5, slewing mechanism 4's top left side is installed laser radar 7 through installation mechanism 5, both ends all are equipped with mechanical leg 8 around the both sides of organism 1, the positive fixed mounting of organism 1 has main control system 9.

Example 2

Referring to fig. 1-3, on the basis of embodiment 1, in order to achieve the purpose of improving the adjustment convenience of the device, the present embodiment has an innovative design on the adjustment mechanism 3, specifically, the adjustment mechanism 3 includes a guide rail 31, the guide rail 31 is fixedly installed at the top of the machine body 1, the inner side of the guide rail 31 is rotatably connected with a lead screw 32, the outer surface of the lead screw 32 is in threaded connection with a slider 33, the top of the slider 33 is fixedly connected with the bottom of the rotating mechanism 4, the back of the guide rail 31 is fixedly installed with a first motor 34, and the front end output end of the first motor 34 is fixedly connected with the rear end of the lead screw 32; through setting up adjustment mechanism 3, the accessible starts first motor 34 drive slider 33 and drives slewing mechanism 4 and carry out the displacement, and then is convenient for adjust rotation type surveillance camera head 6 and laser radar 7 and carry out position control, facilitates the use.

Referring to fig. 1 to 3, for the purpose of improving stability, the front shape of the slider 33 of the present embodiment is square, the front shape of the inner side of the guide rail 31 is also set to be square, and the top view shape of the guide rail 31 is rectangular; by providing the square slider 33 and the inner side of the guide rail 31, the stability of the slider 33 sliding on the inner side of the guide rail 31 can be improved.

Referring to fig. 1-3, for the purpose of facilitating the adjustment of the orientation, the rotating mechanism 4 of the present embodiment includes a top frame 41, the top frame 41 is fixedly installed on the top of the sliding block 33, a second motor 42 is installed on the inner side of the top frame 41, a horizontal plate 43 is fixedly installed at the top output end of the second motor 42 through the top frame 41, and both sides of the top of the horizontal plate 43 are fixedly connected with the bottom of the mounting mechanism 5; through setting up slewing mechanism 4, the accessible starts second motor 42 and drives diaphragm 43 and rotate, and accessible diaphragm 43 rotates and adjusts laser radar 7 and rotation type surveillance camera head 6 and carry out the displacement, and then further improvement this device position control's convenience.

Example 3

Referring to fig. 1 to 4, in the present embodiment, on the basis of embodiment 2, in order to achieve the purpose of improving the convenience of assembly and disassembly, the present embodiment has an innovative design on the mounting mechanism 5, specifically, the mounting mechanism 5 includes a square frame 51, an insertion block 52 is inserted into the inside of the square frame 51, and the tops of the insertion blocks 52 on both sides of the top of the horizontal plate 43 are respectively and fixedly connected with the bottom of the laser radar 7 and the bottom of the rotary monitoring camera 6; by providing the mounting mechanism 5, the laser radar 7 and the body of the rotary surveillance camera 6 can be mounted by inserting the insert block 52 into the block 51.

Referring to fig. 1 to 3, in order to achieve the purpose of improving the installation stability, a limiting component 53 is fixedly installed on the inner side of the frame 51 in this embodiment, and the inner end of the limiting component 53 penetrates through the frame 51 and is inserted into the inner side of the insertion block 52; through setting up spacing subassembly 53 for accessible spacing subassembly 53 is spacing to plug-in block 52 when using, and then firm installation.

Referring to fig. 1 to 4, in order to achieve the purpose of further improving the installation stability, the limiting assembly 53 of this embodiment includes a sleeve 531, the sleeve 531 is fixedly installed inside the frame 51, a limiting spring 532 is fixedly installed inside the sleeve 531, a limiting pin 533 is fixedly installed at an inner end of the limiting spring 532, and an inner end of the limiting pin 533 penetrates through the frame 51 and is inserted into an outer side of the inserting block 52; through setting up spacing subassembly 53, spacing spring 532 of accessible contradicts spacer pin 533 and pegs graft the inserted block 52 of contradicting, and then alright completion is spacing, and it is spacing to make things convenient for fixed to rotary type surveillance camera head 6 and laser radar 7, facilitates the use.

Referring to fig. 1-4, in order to achieve the purpose of facilitating the disassembly and assembly, the outer end of the stopper pin 533 of this embodiment is fixedly installed with a connecting shaft 534, and the outer side of the connecting shaft 534 is fixedly connected with a pull ring 535 through the frame 51 and the stopper spring 532; the pulling ring 535 is pulled to drive the connecting shaft 534 to pull the limiting pin 533 to contract, so that the inserting block 52 loses the limiting function, and the dismounting and the use are convenient.

Referring to fig. 1 to 4, in order to achieve the purpose of improving the installation stability, the outer side of the insertion block 52 of the present embodiment is provided with a limit hole 536, and the inner end of the limit pin 533 is inserted into the inner side of the limit hole 536; through setting up spacing hole 536, spacing pin 533 is held in spacing hole 536 of accessible, and then is convenient for improve the spacing stability to the inserted block 52.

The use principle and the advantages are as follows: the mechanical leg 8 is controlled to walk by the control host 9, during walking, monitoring shooting and image recognition are carried out by matching the rotary monitoring camera 6 with the laser radar 7, and when the adjustment is needed during use, the first motor 34 is started to drive the lead screw 32 to drive the slider 33 to slide on the inner side of the guide rail 31, the slider 33 slides to drive the rotary monitoring camera 6 and the laser radar 7 to move, when the positions of the laser radar 7 and the rotary monitoring camera 6 need to be adjusted, the second motor 42 on the inner side of the top frame 41 can be started to drive the transverse plate 43 to rotate, the rotary monitoring camera 6 and the laser radar 7 at the top of the top frame 41 can be adjusted to rotate, so that the using position of the rotary monitoring camera 6 can be adjusted as required, the insertion block 52 is inserted into the frame 51, the limiting spring 533 is inserted into the limiting hole 536 to limit the inner part of the limiting hole 536, then the laser radar 7 and the rotary monitoring camera 6 can be connected through a wire, the limiting pin 533 can be pulled out of the limiting pin 536, the pull ring 533 can be pulled out of the limiting pin 533, and the pull ring 533 can be pulled out of the limiting pin 535, and the pull plug can be pulled out conveniently and the pull rod for repairing the camera plug, and the plug can be detached conveniently.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a but image recognition's intelligence inspection quadruped robot which characterized in that: including organism (1), the back lower extreme fixed mounting of organism (1) has battery (2), the top fixed mounting of organism (1) has adjustment mechanism (3), the top fixed mounting of adjustment mechanism (3) has slewing mechanism (4), the top both sides of slewing mechanism (4) all are equipped with installation mechanism (5), rotation type surveillance camera head (6) are installed through installation mechanism (5) on the top right side of slewing mechanism (4), laser radar (7) are installed through installation mechanism (5) in the top left side of slewing mechanism (4), both ends all are equipped with mechanical leg (8) around the both sides of organism (1), the positive fixed mounting of organism (1) has main control system (9).

2. The intelligent image-recognizable inspecting quadruped robot as claimed in claim 1, wherein: adjustment mechanism (3) include guide rail (31), guide rail (31) fixed mounting is in the top of organism (1), the inboard rotation of guide rail (31) is connected with lead screw (32), the surface threaded connection of lead screw (32) has slider (33), the top of slider (33) and the bottom fixed connection of slewing mechanism (4), the back fixed mounting of guide rail (31) has first motor (34), the front end output of first motor (34) and the rear end fixed connection of lead screw (32).

3. The intelligent image-recognizable inspection quadruped robot as claimed in claim 2, wherein: the front shape of the sliding block (33) is square, the front shape of the inner side of the guide rail (31) is also square, and the overlooking shape of the guide rail (31) is rectangular.

4. The intelligent image-recognizable inspection quadruped robot as claimed in claim 3, wherein: slewing mechanism (4) are including roof-rack (41), roof-rack (41) fixed mounting is in the top of slider (33), the inboard of roof-rack (41) is equipped with second motor (42), the top output of second motor (42) runs through roof-rack (41) fixed mounting and has diaphragm (43), the top both sides of diaphragm (43) and the bottom fixed connection of installation mechanism (5).

5. The intelligent image-recognizable inspection quadruped robot as claimed in claim 4, wherein: the mounting mechanism (5) comprises a square frame (51), inserting blocks (52) are inserted into the inner side of the square frame (51), and the tops of the inserting blocks (52) on the two sides of the top of the transverse plate (43) are fixedly connected with the bottom of the laser radar (7) and the bottom of the rotary monitoring camera (6) respectively.

6. The intelligent image-recognizable inspection quadruped robot as claimed in claim 5, wherein: the inner side of the square frame (51) is fixedly provided with a limiting component (53), and the inner end of the limiting component (53) penetrates through the square frame (51) and is inserted into the inner side of the inserting block (52).

7. The intelligent image-recognizable inspection quadruped robot as claimed in claim 6, wherein: the limiting assembly (53) comprises a sleeve (531), the sleeve (531) is fixedly mounted on the inner side of the square frame (51), a limiting spring (532) is fixedly mounted inside the sleeve (531), a limiting pin (533) is fixedly mounted at the inner end of the limiting spring (532), and the inner end of the limiting pin (533) penetrates through the square frame (51) and is inserted into the outer side of the insert block (52).

8. The intelligent image-recognizable inspection quadruped robot as claimed in claim 7, wherein: the outer end of the limiting pin (533) is fixedly provided with a connecting shaft (534), and the outer side of the connecting shaft (534) penetrates through the square frame (51) and the limiting spring (532) to be fixedly connected with a pull ring (535).

9. The intelligent image-recognizable inspection quadruped robot as claimed in claim 8, wherein: the outer side of the inserting block (52) is provided with a limiting hole (536), and the inner end of the limiting pin (533) is inserted into the inner side of the limiting hole (536).