Robot suitable for long and narrow tunnel autonomous obstacle avoidance

Abstract

The invention discloses a robot suitable for long and narrow tunnel autonomous obstacle avoidance. The robot comprises a trolley body, a swing arm motor, walking motors, walking tracks, front swing arms, linkage foldable arms and a camera; the walking tracks are arranged on the two sides of the trolley body correspondingly; the trolley body is provided with the linkage foldable arms; the camera is arranged at the upper end of the linkage foldable arms; the two sides of the front end of the trolley body are each provided with the corresponding front swing arm; the walking track and a swing arm track on one side of the trolley body are driven by the corresponding walking motor on the same side; the swing arm motor is connected with track driving wheels correspondingly arranged on the two sides of the front end the trolley body through swing arm transmission shafts; and the track driving wheels and swing arm driving wheels on the two sides of the trolley body are correspondingly coaxial and are connected with the front swing arms on the two sides of the front end of the trolley body correspondingly. By means of the robot suitable for long and narrow tunnel autonomous obstacle avoidance, the flexible control and autonomous obstacle avoidance capacity of the tunnel robot under a long and narrow tunnel environment is improved and the control problems that communication under a complicated tunnel environment is not smooth, image transmission is not clear, and autonomous obstacle avoidance cannot be performed are solved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot suitable for autonomous obstacle avoidance in long and narrow tunnels. Background technique [0002] In recent years, with the increase of tunnel projects, there are often narrow, non-directional and multiple wall obstacles in the tunnel; it is difficult for robots to control in this environment. When the robot patrols in the tunnel, it needs to transmit real-time images to the control station, and at the same time the control station needs to issue control instructions to the robot; data and signal transmission are often carried out with wired cables, which brings difficulties to the driving of the robot; In the early technical conditions, the communication between the robot and the control station was mainly divided into wired communication, radio communication, optical communication, etc. For the tunnel environment, due to the lack of efficient long-distance communication methods...

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Problems solved by technology

[0002] In recent years, with the increase of tunnel projects, there are often narrow, non-directional and multiple wall obstacles in the tunnel; it is difficult for robots to control in this environment

When the robot patrols in the tunnel, it needs to transmit real-time images to the control station, and at the same time the control station needs to issue control instructions to the robot; data and signal transmission are often carried out with wired cables, which brings difficulties to the driving of the robot; In the early technical conditions, the communication between the robot and the control station was mainly divided into wired communication, radio communication, optical communication, etc. For the tunnel environment, due to the lack of efficient long-distance communication methods, wired communication was once used for tunnel robots, but due to dragging The environmental adaptability of the cable is poor, it is easy to cause various accidents, and the feasibility is not high; optical communication is a high-speed, safe, non-contact communication method, but it is limited by the straight-line propagation of light, so it is only suitable for communication in straight and long tunnels. The application is also limited; the radio attenuates faster in the tunnel environment than in the open place, the effective range of communication is greatly limited, and is limited by the power and radiation environment. High-gain antennas and directional antennas are not suitable, so wireless communication is also limited.

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