CN218787424U - Visual obstacle crossing robot - Google Patents

Abstract

The utility model provides a visual robot that hinders more, including battery compartment and camera device, the battery compartment is equipped with two front driving wheels and two back drive wheels respectively in front end and rear end, is located be provided with the auxiliary wheel between the front driving wheel of battery compartment homonymy and the back drive wheel, the auxiliary wheel passes through drive assembly and is connected with the front driving wheel, so that the auxiliary wheel rotates along the equidirectional synchronization with the front driving wheel, be provided with first cylinder on the battery compartment, first cylinder is connected with drive assembly one end, first cylinder is used for driving the one end that drive assembly is close to the auxiliary wheel and rotates downwards, so that the auxiliary wheel supports subaerially at the edge at hole rear to with the front end position lifting of robot. This application is through auxiliary wheel and drive assembly's setting, can make visual robot cross the place of pot hole, and then makes this robot can remove in the passageway of cable pit is nimble, conveniently carries out the reconnaissance of equipment and cable in the cable pit.

Description

Visual obstacle crossing robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to visual robot that hinders more.

Background

The cable trench has narrow inner space and insufficient light, so that the manual inspection of equipment and cables is difficult.

Under general conditions, a robot can be adopted to replace manual inspection, and the robot can flexibly move according to complex terrains, so that the full appearance characteristics of the cable trench can be clearly captured in the whole period, and remote automatic inspection is realized by reserving a function expansion interface.

When the robot patrols and examines the cable pit, conventional robot patrols and examines and need remove through drive wheel assembly, but when meetting the darker place of pothole, the drive wheel of robot can be absorbed in the pothole, influences the walking of robot, still can cause the robot to stop in pothole's position and be difficult to break away from even.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a visual robot that hinders more, can walk when the robot in the darker cable trench passageway of hollow, through the front side position lifting of auxiliary wheel with the robot, rotatory auxiliary wheel can cooperate the back drive wheel to advance simultaneously, guarantees that this visual robot crosses hollow place, and then makes this robot can move in a flexible way in the passageway of cable trench, conveniently carries out the reconnaissance of equipment and cable in the cable trench.

This embodiment provides a visual robot that hinders more, including battery compartment and camera device, the battery compartment is equipped with two front drive wheels in the front end, the battery compartment is equipped with two back drive wheels in the rear end, camera device sets up on the battery compartment, be located the battery compartment homonymy the front drive wheel with be provided with the auxiliary wheel between the back drive wheel, the auxiliary wheel pass through drive assembly with the front drive wheel is connected, so that the auxiliary wheel with the front drive wheel rotates along the syntropy, be provided with first cylinder on the battery compartment, the flexible end of first cylinder with drive assembly is close to the one end of auxiliary wheel is connected, and when the robot the front drive wheel is absorbed in the hole, first cylinder is used for driving drive assembly is close to the one end of auxiliary wheel is rotatory downwards, so that the auxiliary wheel supports subaerial at the edge at hole rear to with the front end position lifting of robot.

In a feasible implementation, drive assembly includes first fluted disc, second fluted disc, third fluted disc and connecting plate, the fixed cover of first fluted disc is established on the rotation axis of front drive wheel, the connecting plate includes first end and second end, first pot head is established on the rotation axis of front drive wheel, the third fluted disc with the auxiliary wheel passes through the axis of rotation setting and is in the both sides of second end, just the axis of rotation runs through the second end, still be provided with on the connecting plate the second fluted disc, just first fluted disc, second fluted disc and third fluted disc mesh in proper order and connect.

In a possible implementation manner, the number of the transmission assemblies is two, and the number of the auxiliary wheels and the number of the first cylinders are two and are symmetrically arranged on two sides of the battery compartment.

In a feasible implementation manner, the camera device comprises a rotating seat, a first camera, a second camera and an electric push rod, wherein one end of the rotating seat is rotatably connected with the first camera and the second camera through a support respectively, and two ends of the electric push rod are connected with the rotating seat and the support respectively, so that the first camera and the second camera rotate.

In a feasible implementation manner, the other end of the rotating seat is fixedly connected with the top of the battery compartment.

In a feasible implementation manner, a protection bin is arranged at the top of the battery bin, and the top of the protection bin is rotatably connected with the other end of the rotating seat through a bearing.

In a feasible implementation mode, be provided with motor, dwang, first bevel gear and second bevel gear in the protection storehouse, the output of motor is provided with the uide bushing, the uide bushing with the dwang is connected, fixed cover is equipped with on the dwang first bevel gear, first bevel gear with the second bevel gear meshing, second bevel gear set up in directly over the dwang, rotate the seat with the one end that the protection storehouse is connected runs through the top in protection storehouse, and with the one end butt joint of second bevel gear.

In a feasible implementation manner, a second cylinder, a connecting seat and a third bevel gear are further arranged in the protection bin, an output end of the second cylinder is connected with the connecting seat, one side of the connecting seat is rotatably connected with one end, away from the motor, of the rotating rod, the guide sleeve is connected with the rotating rod in an inserting manner, the third bevel gear is fixedly sleeved on the rotating rod between the connecting seat and the first bevel gear, the third bevel gear and the first bevel gear are symmetrically arranged, the second cylinder drives the connecting seat to move close to or away from the second bevel gear, and when the connecting seat is away from the second bevel gear, the first bevel gear is meshed with the second bevel gear to realize the forward rotation of the rotating seat; when the connecting seat is close to the second bevel gear, the third bevel gear is meshed with the second bevel gear so as to realize the reverse rotation of the rotating seat.

In one possible implementation, the second camera is an infrared night vision camera.

The embodiment of the application provides a visual robot that hinders more, set up the auxiliary wheel between front drive wheel and back drive wheel, the auxiliary wheel passes through drive assembly and is connected with front drive wheel, so that auxiliary wheel and front drive wheel rotate along the equidirectional synchronization, the flexible end of the first cylinder that sets up on the battery compartment is connected with the one end that drive assembly is close to the auxiliary wheel, when the front drive wheel of robot is absorbed in the hole, first cylinder drives the one end that drive assembly is close to the auxiliary wheel and rotates downwards, so that the auxiliary wheel supports on the edge subaerial at hole rear, thereby with the front end position lifting of robot, rotatory auxiliary wheel can cooperate the back drive wheel to advance simultaneously, guarantee that this visual robot crosses the place of hole, and then make this robot can nimble the removal in the passageway of cable pit, conveniently carry out the reconnaissance of equipment and cable in the cable pit.

Drawings

Fig. 1 is a schematic overall structural diagram of a visual obstacle-crossing robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a transmission assembly in a visual obstacle crossing robot according to an embodiment of the present application;

fig. 3 is a front view of a visual obstacle-surmounting robot according to an embodiment of the present application;

fig. 4 is a bottom view of a visual obstacle crossing robot according to an embodiment of the present application;

fig. 5 is a schematic view of a part a of fig. 4.

Description of reference numerals:

100-a battery compartment; 200-a camera device; 300-front driving wheels; 400-rear drive wheel; 500-an auxiliary wheel; 600-a transmission assembly; 700-a first cylinder; 800-a protection bin;

210-a rotating seat; 220-a first camera; 230-a second camera; 240-electric push rod;

610-a first chainring; 620-second toothed disc; 630-a third cog; 640-a connecting plate;

810-an electric machine; 820-rotating rod; 830-a first bevel gear; 840-a second bevel gear; 850-a guide sleeve; 860-a second cylinder; 870-a connecting seat; 880-third bevel gear.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; may be a mechanical connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the correlation technique, adopt the robot to replace the manual work to patrol and examine to cable pit inside, the robot can be according to the nimble removal of complicated topography to can realize the clear full outward appearance characteristic of catching the cable pit of full period, realize long-range automatic tour through reserving function extension interface.

However, when the robot inspects the cable trench, the conventional robot inspection needs to move through the driving wheel assembly, but when the robot encounters a deep hollow, the driving wheel of the robot is trapped in the hollow, the driving wheel is difficult to pass through the hollow only by the driving wheel, the walking of the robot is affected, and even the robot stays in the hollow and is difficult to get rid of.

Therefore, need provide a visual robot that hinders more, when the robot walks to the darker cable pit passageway of pothole, can advance through the front side position lifting of auxiliary wheel and transmission assembly with the robot, rotatory auxiliary wheel can cooperate the rear drive wheel to guarantee this visual robot and cross pothole's place, and then make this robot can remove in the passageway of cable pit in a flexible way, solve the problem that present robot stops to be difficult to break away from in pothole's position.

The structure of a visual obstacle crossing robot according to an embodiment of the present application is described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic overall structural diagram of a visual obstacle-surmounting robot according to an embodiment of the present application. Referring to fig. 1, the embodiment of the present application provides a visual obstacle crossing robot, including a battery compartment 100 and a camera 200, the battery compartment 100 is provided with two front driving wheels 300 at a front end, the battery compartment 100 is provided with two rear driving wheels 400 at a rear end, the camera 200 is provided on the battery compartment 100, an auxiliary wheel 500 is provided between the front driving wheels 300 and the rear driving wheels 400 located at a same side of the battery compartment 100, the auxiliary wheel 500 is connected with the front driving wheels 300 through a transmission assembly 600, so that the auxiliary wheel 500 and the front driving wheels 300 synchronously rotate along a same direction, the battery compartment 100 is provided with a first cylinder 700, a telescopic end of the first cylinder 700 is connected with one end of the transmission assembly 600 close to the auxiliary wheel 500, when the front driving wheels 300 of the robot are sunk into the hollow, the first cylinder 700 is used for driving one end of the transmission assembly 600 close to the auxiliary wheel 500 to rotate downward, so that the auxiliary wheel 500 abuts against the edge ground behind the hollow, thereby lifting a front end of the robot.

According to the embodiment of the application, the auxiliary wheel 500 is arranged between the front driving wheel 300 and the rear driving wheel 400, the auxiliary wheel 500 is connected with the front driving wheel 300 through the transmission assembly 600, so that the auxiliary wheel 500 and the front driving wheel 300 synchronously rotate along the same direction, the telescopic end of the first cylinder 700 arranged on the battery compartment 100 is connected with one end, close to the auxiliary wheel 500, of the transmission assembly 600, when the front driving wheel 300 of the robot is sunk into a hollow, the first cylinder 700 drives one end, close to the auxiliary wheel 500, of the transmission assembly 600 to rotate downwards, so that the auxiliary wheel 500 is propped against the edge ground behind the hollow, the front end of the robot is lifted, meanwhile, the rotating auxiliary wheel 500 can advance in cooperation with the rear driving wheel 400, the visual robot is guaranteed to cross the hollow place, and further can flexibly move in a channel of a cable trench, and investigation of equipment and cables in the cable trench is facilitated.

Fig. 2 is a schematic structural diagram of a transmission assembly in a visual obstacle-surmounting robot according to an embodiment of the present application. Referring to FIG. 2, in some examples, the drive assembly 600 includes a first chainring 610, a second chainring 620, a third chainring 630 and a connecting plate 640, the first chainring 610 being secured to the rotational axis of the front drive wheel 300. For convenience of understanding, the connecting plate 640 includes a first end and a second end, the first end is sleeved on the rotating shaft of the front driving wheel 300, the third fluted disc 630 and the auxiliary wheel 500 are disposed on two sides of the second end through the rotating shaft, the rotating shaft penetrates through the second end, the second fluted disc 620 is further disposed on the connecting plate 640, and the first fluted disc 610, the second fluted disc 620 and the third fluted disc 630 are sequentially connected in a meshing manner.

In the embodiment of the present invention, the rotation shaft of the front driving wheel 300 drives the first toothed disc 610 to rotate, the first toothed disc 610 is meshed with the second toothed disc 620, the second toothed disc 620 rotates in a reverse direction of the first toothed disc 610, the second toothed disc 620 is meshed with the third toothed disc 630, the third toothed disc 630 rotates in a same direction as the first toothed disc 610, and the auxiliary wheel 500 and the third toothed disc 630 rotate in a same direction through the rotation shaft, so that the auxiliary wheel 500 rotates in a same direction as the first toothed disc 610 and the front driving wheel 300.

When the robot walks in the deep cable trench channel of pothole, the first fluted disc 610 is driven to rotate by the rotating shaft of the front driving wheel 300, the first fluted disc 610 and the second fluted disc 620 are meshed and reversely rotated, the first fluted disc 610 rotates in the same direction through the second fluted disc 620 and the third fluted disc 630, so that the third fluted disc 630 drives the auxiliary wheel 500 on one side of the connecting plate 640 to rotate in the same direction as the front driving wheel 300, the auxiliary wheel 500 is matched with the rear driving wheel 400 to advance, and the visual robot is ensured to cross the pothole places. Wherein the moving direction of the robot is shown as the X direction in fig. 1.

Fig. 4 is a bottom view of a visual obstacle crossing robot according to an embodiment of the present application; fig. 5 is a partially enlarged schematic view of a portion a in fig. 4. Referring to fig. 4 and 5, in some examples, the number of the transmission assemblies 600 is two, and the number of the auxiliary wheels 500 and the first cylinder 700 is two, and both are symmetrically disposed at both sides of the battery compartment 100. When the front driving wheel 300 of the robot sinks into the hollow, the first cylinders 700 at both sides of the battery compartment 100 can simultaneously rotate the auxiliary wheels 500 at both sides downwards to abut against the ground, so that both sides of the front end of the robot are simultaneously lifted, and the robot is more stable.

Referring to fig. 1 and 3, in some examples, the image capturing apparatus 200 includes a rotating base 210, a first camera 220, a second camera 230, and an electric push rod 240, wherein one end of the rotating base 210 is rotatably connected to the first camera 220 and the second camera 230 through a support, and two ends of the electric push rod 240 are respectively connected to the rotating base 210 and the support, so that the first camera 220 and the second camera 230 rotate.

This application embodiment can go on visually patrolling in the cable pit through first camera 220 and second camera 230's setting, through electric putter 240's flexible, can adjust first camera 220 and second camera 230's angle of patrolling, and it is more comprehensive to patrol.

In some examples, the other end of the rotating base 210 is fixedly connected to the top of the battery compartment 100. The image pickup device 200 is fixed to the battery compartment 100.

With continued reference to fig. 1, in some examples, a protection bin 800 is disposed at the top of the battery compartment 100, and the top of the protection bin 800 is rotatably connected to the other end of the rotating base 210 through a bearing.

Wherein, be provided with motor 810 in the protection storehouse 800, dwang 820, first bevel gear 830 and second bevel gear 840, the output of motor 810 is provided with uide bushing 850, uide bushing 850 is connected with dwang 820, the fixed cover is equipped with first bevel gear 830 on the dwang 820, first bevel gear 830 and the meshing of second bevel gear 840, second bevel gear 840 sets up directly over dwang 820, the top of protection storehouse 800 is run through with the one end that protection storehouse 800 is connected to the seat of rotating 210, and the one end butt joint with second bevel gear 840.

In the embodiment of the present application, the motor 810 drives the dwang 820 connected with it and rotates, first bevel gear 830 and second bevel gear 840 on the dwang 820 mesh, second bevel gear 840 sets up the top at dwang 820, the one end of rotating the seat 210 runs through the upper surface of protecting storehouse 800 and is connected with the one end of second bevel gear 840, and second bevel gear 840 and the coaxial line of rotating the seat 210, thereby make second bevel gear 840 drive and rotate seat 210 and rotate, and then drive and rotate first camera 220 and second camera 230 that seat 210 is connected, the scope that makes the camera tour is bigger.

Referring to fig. 1, in some examples, a second air cylinder 860, a connecting seat 870 and a third bevel gear 880 are further disposed in the protection cabin 800, an output end of the second air cylinder 860 is connected to the connecting seat 870, one side of the connecting seat 870 is rotatably connected to one end of the rotating rod 820 far away from the motor 810, the guide sleeve 850 is connected to the rotating rod 820 in a plugging manner, the third bevel gear 880 is fixedly sleeved on the rotating rod 820 between the connecting seat 870 and the first bevel gear 830, the third bevel gear 880 is symmetrically disposed with respect to the first bevel gear 830, the second air cylinder 860 drives the connecting seat 870 to move close to or far away from the second bevel gear 840, and when the connecting seat 870 is far away from the second bevel gear 840, the first bevel gear 830 is engaged with the second bevel gear 840 to realize forward rotation of the rotating seat 210; when the connecting seat 870 approaches the second bevel gear 840, the third bevel gear 880 is engaged with the second bevel gear 840 to realize the reverse rotation of the rotating seat 210.

Wherein, one end of the rotating rod 820 connected with the guide sleeve 850 is in a square structure. For convenience of understanding, the connecting seat 870 includes a horizontal portion and a vertical portion, one end of the horizontal portion is connected with the telescopic end of the second cylinder 860, the other end is connected with one end of the vertical portion, and one side of the other end of the vertical portion, which is close to the motor 810, is rotatably connected with the rotating rod 820 through a bearing. The moving direction of the connecting seat 870 is shown as the X direction in fig. 1.

When the robot is used for monitoring the interior of a cable duct through the first camera 220 and the second camera 230, the motor 810 drives the guide sleeve 850 to rotate, so that the guide sleeve 850 drives the rotating rod 820 to rotate on one side of the connecting seat 870, the first bevel gear 830 sleeved on the rotating rod 820 is driven to be in meshing transmission with the second bevel gear 840 at the bottom end of the rotating seat 210, and the two groups of cameras can be driven to inspect the forward rotation of the monitoring component; when the camera patrols and examines monitoring subassembly and needs reversal monitoring, the output through second cylinder 860 pulls connecting seat 870 and dwang 820 to pull back, make the square structure tip of dwang 820 stretch into in the uide bushing 850, thereby drive first bevel gear 830 to the direction removal of keeping away from second bevel gear 840, and third bevel gear 880 removes to the direction that is close to second bevel gear 840, until meshing with second bevel gear 840, rotatory dwang 820 can change the rotation direction of rolling seat 210 through first bevel gear 830, third bevel gear 880 and second bevel gear 840, guarantee that the camera has the effect of 360 rotatory tours, make the camera of this robot can not carry out reversal operation when motor 810, realize the reversal fast, make things convenient for the camera to adjust the direction fast.

Thus, in the embodiment of the present application, the second air cylinder 860, the connecting seat 870 and the third bevel gear 880 are arranged, so that the second bevel gear 840 can be respectively in meshing transmission with the first bevel gear 830 and the third bevel gear 880, and forward rotation and reverse rotation of the rotating seat 210 are achieved, and forward rotation and reverse rotation of the first camera 220 and the second camera 230 are further achieved.

In some examples, the second camera 230 is an infrared night vision camera, the first camera 220 is a normal camera, and the normal camera and the infrared night vision camera can perform an alternate tour according to the brightness condition in the cable trench.

In actual use, the front driving wheel 300 and the rear driving wheel 400 are driven to rotate by the driving motor inside the battery compartment 100, when the robot moves to a hollow place, the front driving wheel 300 can stably advance in the hollow place, when the hollow place is deep, the first fluted disc 610 is driven to rotate by the rotating shaft of the front driving wheel 300, and the first fluted disc 610 and the second fluted disc 620 are in meshing transmission, so that the second fluted disc 620 rotates reversely, and the second fluted disc 620 and the third fluted disc 630 are in meshing reverse rotation, so that the third fluted disc 630 drives the auxiliary wheel 500 on one side of the connecting plate 640 to rotate in the same direction as the front driving wheel 300. Then, it is rotatory to drive connecting plate 640 through first cylinder 700 is flexible for auxiliary wheel 500 supports the edge at ground pothole, conveniently with the front side position lifting of robot, and rotatory auxiliary wheel 500 can cooperate rear drive wheel 400 to advance simultaneously, guarantees that this visual robot crosses pothole's place, and then makes this robot can move in a flexible way in the passageway of cable pit, conveniently surveys.

When the direction of the camera needs to be adjusted, the motor 810 is started, the motor 810 drives the guide sleeve 850 to rotate, so that the guide sleeve 850 drives the rotating rod 820 to rotate on one side of the connecting seat 870, and the first bevel gear 830 sleeved on the rotating rod 820 is in meshing transmission with the second bevel gear 840 at the bottom end of the rotating seat 210, so that two groups of cameras can be driven to rotate in the forward direction; when the needs camera reversal, start second cylinder 860, the output of second cylinder 860 drives connecting seat 870 and removes to the direction that is close to second bevel gear 840, thereby can break away from second bevel gear 840 with bevel gear the second, and third bevel gear 880 and second bevel gear 840 mesh, rotatory dwang 820 can drive third bevel gear 880 and change the reverse rotation of rotating seat 210, guarantee that the camera has the effect of 360 rotatory tours, make the camera of this robot can come quick realization reversal when motor 810 does not carry out reversal operation, make things convenient for the camera quick adjustment direction.

It should be noted that the numerical values and numerical ranges related to the embodiments of the present application are approximate values, and there may be a certain range of errors depending on the manufacturing process, and the error may be considered as negligible by those skilled in the art.

It is understood that a person skilled in the art can combine, split, recombine and the like the embodiments of the present application to obtain other embodiments on the basis of several embodiments provided by the present application, and the embodiments do not depart from the scope of the present application.

The above embodiments are only intended to be specific embodiments of the present application, and are not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, and the like made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims (9)

1. The utility model provides a visual robot that hinders more, its characterized in that includes battery compartment and camera device, the battery compartment is equipped with two front drive wheels in the front end, the battery compartment is equipped with two back drive wheels in the rear end, camera device sets up on the battery compartment, be located the battery compartment homonymy the front drive wheel with be provided with the auxiliary wheel between the back drive wheel, the auxiliary wheel pass through drive assembly with the front drive wheel is connected, so that the auxiliary wheel with the front drive wheel rotates along the equidirectional synchronization, be provided with first cylinder on the battery compartment, the flexible end of first cylinder with drive assembly is close to the one end of auxiliary wheel is connected, when the robot the front drive wheel is absorbed in the hole, first cylinder is used for driving drive assembly is close to the one end downwardly rotating of auxiliary wheel, so that the auxiliary wheel supports the edge subaerial at hole rear to with the front end position lifting of robot.

2. The visual obstacle crossing robot of claim 1, wherein the transmission assembly comprises a first fluted disc, a second fluted disc, a third fluted disc and a connecting plate, the first fluted disc is fixedly sleeved on the rotating shaft of the front driving wheel, the connecting plate comprises a first end and a second end, the first end cap is arranged on the rotating shaft of the front driving wheel, the third fluted disc and the auxiliary wheel are arranged on two sides of the second end through rotating shafts, the rotating shafts penetrate through the second end, the second fluted disc is further arranged on the connecting plate, and the first fluted disc, the second fluted disc and the third fluted disc are sequentially meshed and connected.

3. The visual obstacle crossing robot according to claim 1, wherein the number of the transmission assemblies is two, and the number of the auxiliary wheels and the number of the first air cylinders are two and are symmetrically arranged on two sides of the battery compartment.

4. The visual obstacle crossing robot according to any one of claims 1 to 3, wherein the camera device comprises a rotating seat, a first camera, a second camera and an electric push rod, one end of the rotating seat is rotatably connected with the first camera and the second camera through a support respectively, and two ends of the electric push rod are connected with the rotating seat and the support respectively so as to enable the first camera and the second camera to rotate.

5. The visual obstacle crossing robot of claim 4, wherein the other end of the rotating seat is fixedly connected with the top of the battery compartment.

6. The visual obstacle crossing robot according to claim 4, wherein a protection bin is arranged at the top of the battery bin, and the top of the protection bin is rotatably connected with the other end of the rotating seat through a bearing.

7. The visual obstacle-surmounting robot according to claim 6, wherein a motor, a rotating rod, a first bevel gear and a second bevel gear are arranged in the protection bin, a guide sleeve is arranged at an output end of the motor and connected with the rotating rod, the first bevel gear is fixedly sleeved on the rotating rod and meshed with the second bevel gear, the second bevel gear is arranged right above the rotating rod, and one end of the rotating seat connected with the protection bin penetrates through the top of the protection bin and is in butt joint with one end of the second bevel gear.

8. The visual obstacle-surmounting robot according to claim 7, wherein a second cylinder, a connecting seat and a third bevel gear are further arranged in the protective bin, an output end of the second cylinder is connected with the connecting seat, one side of the connecting seat is rotatably connected with one end of the rotating rod far away from the motor, the guide sleeve is connected with the rotating rod in a plugging manner, the third bevel gear is fixedly sleeved on the rotating rod between the connecting seat and the first bevel gear, the third bevel gear is symmetrically arranged with the first bevel gear, the second cylinder drives the connecting seat to move close to or far away from the second bevel gear, and when the connecting seat is far away from the second bevel gear, the first bevel gear is meshed with the second bevel gear to realize the positive rotation of the rotating seat; when the connecting seat is close to the second bevel gear, the third bevel gear is meshed with the second bevel gear so as to realize the reverse rotation of the rotating seat.

9. The visual obstacle-surmounting robot of claim 4, wherein the second camera is an infrared night vision camera.

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