Visual navigation mobile robot under GPS signal denial condition

Abstract

The invention relates to the technical field of visual robots, and discloses a visual navigation mobile robot under a GPS signal denial condition, the visual navigation mobile robot comprises a robot body, the top of the robot body is fixedly connected with a control box body; by integrating a visual navigation system and an intelligent path planning algorithm, the navigation problem of the mobile robot under a GPS signal denial condition is solved, so that the robot has higher autonomy and adaptability, and accurate positioning and navigation can be realized in a complex environment; meanwhile, the cleaning brush is used for cleaning the wheel body, sundries and the like which are attached to the surface of the wheel body and affect advancing of the robot body are reduced, the transmission fan is used for generating wind power, the ventilation effect in the robot body is improved, and dust on the surfaces of the heat dissipation holes can be cleaned through the dust removal brush which continuously moves; the situation that dust is attached to the surfaces of the heat dissipation holes to affect air circulation in the robot body and consequently temperature rise is caused is reduced, and the stability of a circuit in the robot body is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of visual robots, and in particular relates to a visual navigation mobile robot under GPS signal denial conditions. Background Art

[0002] With the rapid development of robotics technology, mobile robots have been widely used in various fields. Mobile robots that use visual sensors for environmental perception, positioning, and navigation capture environmental information through visual sensors such as cameras and process this information through computer vision technology to achieve functions such as autonomous navigation and obstacle avoidance. They have broad application prospects and potential.

[0003] In the prior art, the authorized publication number "CN113485326A" discloses "an autonomous mobile robot based on visual navigation." The robot comprises a vehicle body, which serves as the main carrier of the autonomous mobile robot and is equipped with a steering structure and a drive; a controller, mounted within the vehicle body, whose signal output is connected to the input of the vehicle body's steering and drive motors; and a camera, which is fixed to a side surface of the vehicle body to acquire road information in front of the robot and transmit this information to a visual navigation calculation unit. The visual navigation calculation unit is mounted on the vehicle body and receives image information from the camera and transmits this image information to a deep learning model for processing and calculation. This autonomous mobile robot based on visual navigation uses visual navigation as its autonomous navigation method. The robot's navigation direction is directly derived from raw sensory information, eliminating complex steps such as real-time mapping and conserving significant computing resources.

[0004] The above-mentioned "an autonomous mobile robot based on vision navigation" still has some shortcomings. For example, under conditions where GPS signals are denied or restricted, such as tunnels, underground facilities, and urban areas with dense high-rise buildings, traditional GPS-based navigation methods often do not work properly, resulting in the robot being unable to accurately locate and navigate. At the same time, during the movement of the robot, the tires are easily attached to debris, which will interfere with the robot's steering mechanism, resulting in reduced steering accuracy and reduced path tracking ability. At the same time, when the temperature rises after long-term use, the robot's electronic components and motors and other components will degrade due to overheating, resulting in slower movement speed, reduced responsiveness, and reduced control accuracy. To this end, a visual navigation mobile robot under GPS signal denial conditions is proposed here to solve the above problems. Summary of the Invention

[0005] In response to the above situation, in order to overcome the defects of the existing technology, the present invention provides a visual navigation mobile robot under GPS signal denial conditions, which effectively solves the problems that traditional GPS-based navigation methods on the market often fail to work properly, resulting in the robot being unable to accurately locate and navigate, debris will interfere with the robot's steering mechanism, resulting in reduced steering accuracy, and at the same time, the robot's electronic components, motors and other components will reduce performance due to overheating.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution: A visual navigation mobile robot under GPS signal denial conditions, comprising a robot body, wherein the top of the robot body is fixedly connected to a control box body, a navigation controller is provided on one side of the control box body, a camera body is provided on one side of the control box body, a sensor body is provided on the top of the robot body, a wheel body is provided on the outside of the robot body, the bottom of the robot body is fixedly connected to a fixed side frame, one side of the fixed side frame is fixedly connected to a motor body, the output shaft of the motor body is movably connected to a first bevel gear plate, one side of the first bevel gear plate is movably connected to a second bevel gear plate, one side of the second bevel gear plate is fixedly connected to a side transmission rod, both ends of the side transmission rod are fixedly connected to a driving gear, one side of the driving gear is movably connected to a side transmission gear, one side of the side transmission gear is fixedly connected to a side connecting disk, one side of the side connecting disk is fixedly connected to a cleaning wheel, and one side of the cleaning wheel is movably connected to a cleaning brush.

[0007] Preferably: the surface of the side transmission rod is fixedly connected to a bottom clamping gear, one side of the bottom clamping gear is movably connected to a toothed belt, one side of the toothed belt is movably connected to a top clamping gear, one side of the top clamping gear is fixedly connected to a side fixing rod, and one side of the side fixing rod is fixedly connected to a transmission fan.

[0008] Preferably, a square groove is provided at the bottom of the robot body, a support wheel is fixedly connected to the surface of the side transmission rod, and a friction block is fixedly connected to the surface of the support wheel.

[0009] Preferably, one side of the side transmission gear is fixedly connected to a support rod, one end of the support rod is movably connected to a No. 1 bearing disk, and one side of the No. 1 bearing disk is movably connected to one side of the robot body.

[0010] Preferably: a connecting frame is opened on both sides of the robot body, an inner fixing plate is fixedly connected to the inner side of the connecting frame, one side of the inner fixing plate is movably connected to a No. 2 bearing disk, and one side of the No. 2 bearing disk is movably connected to one side of the transmission fan.

[0011] Preferably, a protection frame is fixedly connected to one side of the communication frame, a protection plate is fixedly connected to one side of the protection frame, and there are multiple protection plates.

[0012] Preferably, side support frames are fixedly connected to both sides of the robot body, a side communication hole is opened on one side of the side support frame, and the inner side of the side communication hole is arranged on the surface of the side fixing rod.

[0013] The top of the side limit plate is fixedly connected to the top connecting plate, and the top of the top connecting plate is fixedly connected to the lifting rod, and the top of the lifting rod is fixedly connected to the transmission plate.

[0014] Preferably: a heat dissipation hole is opened on one side of the robot body, a movable frame is fixedly connected to one side of the transmission plate, a movable spring is movably connected to one side of the movable frame, one side of the movable spring is movably connected to one side of the robot body, and a dust removal brush is movably connected to the inner side of the movable frame.

[0015] The present invention also discloses a method for using a visual navigation mobile robot under GPS signal denial conditions, which comprises the following steps: S1. The entire robot body is made of lightweight, high-strength materials. At the same time, multiple camera bodies and sensor bodies are installed on the robot body, which can obtain surrounding environment information through the cooperation of the camera body and the sensor body. At the same time, the navigation controller includes an image acquisition module, an image processing module and a positioning module. The image acquisition module collects surrounding environment images in real time through the camera; the image processing module performs preprocessing, feature extraction and matching on the collected images to generate an environment map; the positioning module determines the position of the robot in the environment map based on the image processing results and sensor data, and provides precise guidance for the robot's navigation based on the image processing results and sensor data. At the same time, by combining image processing and sensor data, the robot's autonomous positioning and navigation are realized.

[0016] S2. The control system in the control box can control the movement of the robot body according to the path instructions generated by the intelligent path planning algorithm. The control system adopts advanced motion control algorithms to achieve precise control and stable movement of the robot. The intelligent path planning algorithm can quickly generate optimal or near-optimal path instructions to achieve real-time navigation and obstacle avoidance of the robot. S2. After the motor body on one side of the fixed side frame is started, the motor body can be used to drive the No. 1 bevel gear plate to rotate, and the rotating No. 1 bevel gear plate can drive the No. 2 bevel gear plate to rotate, and the rotating No. 2 bevel gear plate can drive the side transmission rod to rotate, and the rotating side transmission rod can drive the two driving gears to rotate. The rotating driving gear and the side transmission gear are engaged with each other, and the side transmission gears on both sides of the driving gear can be driven to rotate synchronously when the driving gear rotates. Through the connection of the side connecting plate, the cleaning wheel and the cleaning brush can be driven to rotate synchronously after the side transmission gear rotates; S3. When the side transmission rod rotates, the bottom card gear rotates synchronously. The bottom card gear rotates through the meshing connection of the toothed belt, which drives the top card gear to rotate. The top card gear rotates and drives the side fixed rod to rotate. The rotation of the side fixed rod drives the transmission fan to rotate, and the transmission fan can generate wind force. S4. During the rotation of the side transmission rod, the support wheel is driven to rotate along the inner side of the square groove. When the robot body moves, the support wheel rotates along the bottom of the robot body. When the bottom of the robot body contacts a stone or obstacle, the support wheel can contact the obstacle. S5. When the motor drives the No. 2 bevel gear plate to rotate, the engagement of the No. 2 bevel gear plate with the No. 3 bevel gear plate will drive the No. 3 bevel gear plate to rotate synchronously. After the No. 3 bevel gear plate rotates, it will drive the side connecting rod and the anisotropic block to rotate. When the raised part of the anisotropic block rotates to the top, it will push the transmission wheel to move upward. Through the connection between the side limit plate and the top connecting plate, it will drive the lifting rod to move upward synchronously. After the lifting rod moves upward, it will drive the transmission plate and the movable frame to lift up. Through the continuous rotation of the anisotropic block, it will drive the movable frame to reciprocate.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1) This visual navigation mobile robot operates under GPS signal denial conditions. The robot body is constructed of lightweight, high-strength materials, providing excellent maneuverability and stability. Multiple cameras and sensors are installed on the robot body, while the navigation controller includes an image acquisition module, an image processing module, and a positioning module. By integrating a visual navigation system with an intelligent path planning algorithm, this approach solves the navigation problem of mobile robots in GPS signal denial conditions. Compared to traditional GPS navigation methods, this method offers greater autonomy and adaptability, enabling precise positioning and navigation in complex environments. 2) When the visual navigation mobile robot is working under the GPS signal denial condition, the side connecting plate can be connected to drive the cleaning wheel and the cleaning brush to rotate synchronously after the side transmission gear rotates. The rotating cleaning brush is used to clean the surface of the wheel body, which can maintain cleanliness when the wheel body rotates to drive the robot body to move, reduce the debris attached to the surface of the wheel body and affect the movement of the robot body, and improve the efficiency and stability of the robot body in turning or moving; 3) When the visual navigation mobile robot is working under the GPS signal denial condition, the transmission fan is driven to rotate by the rotation of the side fixed rod, and the transmission fan can be used to generate wind. The generated wind will blow toward the inside of the robot body along the connecting frame, which can improve the ventilation effect inside the robot body. The movable connection between the second bearing plate on the side of the inner fixed plate and the transmission fan can improve the rotation stability of the transmission fan, and the protective plate on the side of the connecting frame can reduce the entry of debris into the robot body. 4) When the visual navigation mobile robot works under the GPS signal denial condition, the support wheels rotate along the bottom of the robot body. When the bottom of the robot body contacts stones or obstacles, the support wheels can make contact with the obstacles. Under the continuous rotation of the support wheels, the robot body can be driven to climb over the obstacles, reducing the situation where the bottom of the robot body contacts the obstacles and cannot move forward, thereby improving the stability of the robot body during movement; 5) When the visual navigation mobile robot works under the GPS signal denial condition, the continuous rotation of the heterogeneous block will drive the movable frame to reciprocate, and the reciprocating motion of the movable frame will drive the dust removal brush to perform vertical reciprocating motion. The continuous motion of the dust removal brush can clean the dust on the surface of the heat dissipation hole, reducing the situation where dust adheres to the surface of the heat dissipation hole and affects the air circulation in the robot body, causing the temperature to rise, thereby improving the stability of the circuit inside the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall appearance structure of the present invention; Figure 2 This is a schematic diagram of the square groove structure of the present invention; Figure 3 It is a schematic diagram of the side transmission rod structure of the present invention; Figure 4 This is a schematic structural diagram of the side connection plate of the present invention; Figure 5 It is a schematic diagram of the connected frame structure of the present invention; Figure 6 This is a schematic diagram of the side support frame structure of the present invention; Figure 7 This is a schematic diagram of the protective frame structure of the present invention; Figure 8 This is a schematic diagram of the side connecting rod structure of the present invention; Figure 9 Schematic diagram of the structure of the dust screen of the present invention; Figure 10 This is a schematic diagram of the heat dissipation hole structure of the present invention; Figure 11 It is a schematic diagram of the movable frame structure of the present invention; Figure 12 It is a schematic diagram of the side support plate structure of the present invention.

[0019] In the figure: 1. Robot body; 2. Control box; 3. Navigation controller; 4. Wheel body; 501. Fixed side frame; 502. Motor body; 503. No. 1 bevel gear plate; 504. No. 2 bevel gear plate; 505. Side transmission rod; 506. Driving gear; 507. Side transmission gear; 508. Support rod; 509. No. 1 bearing plate; 5010. Side connecting plate; 5011. Cleaning wheel; 5012. Cleaning brush; 601. Bottom card gear; 602. Toothed belt; 603. Top card gear; 604. Side fixed rod; 605. Transmission fan; 606. No. 2 bearing plate; 607. Inner fixed plate; 608. Side support frame; 609. Side connecting hole; 601 0. Protective frame; 6011. Protective plate; 6012. Connecting frame; 701. Square groove; 702. Support wheel; 703. Friction block; 801. No. 3 bevel gear plate; 802. Side connecting rod; 803. Anisotropic block; 804. Transmission wheel; 805. Side limit plate; 806. Top connecting plate; 807. Lifting rod; 808. Limit spring; 809. Side fixing plate; 8010. Internal connecting hole; 8011. Side support plate; 8012. Sliding rail; 8013. Movable frame; 8014. Movable spring; 8015. Heat dissipation hole; 8016. Sliding rod; 8017. Transmission plate; 8018. Dust removal brush; 9. Camera body; 10. Sensor body. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] Example 1: In this example, Figures 1-12 The present invention provides the following technical solutions: A visual navigation mobile robot under GPS signal denial conditions, comprising a robot body 1, a control box body 2 fixedly connected to the top of the robot body 1, a navigation controller 3 provided on one side of the control box body 2, a camera body 9 provided on one side of the control box body 2, a sensor body 10 provided on the top of the robot body 1, a wheel body 4 provided on the outside of the robot body 1, a fixed side frame 501 fixedly connected to the bottom of the robot body 1, a motor body 502 fixedly connected to one side of the fixed side frame 501, and an output shaft of the motor body 502 movably connected to the output shaft of the motor body 502. The first bevel gear plate 503 has a second bevel gear plate 504 movably connected to one side of the first bevel gear plate 503, a side transmission rod 505 is fixedly connected to one side of the second bevel gear plate 504, both ends of the side transmission rod 505 are fixedly connected to a driving gear 506, one side of the driving gear 506 is movably connected to a side transmission gear 507, one side of the side transmission gear 507 is fixedly connected to a side connecting plate 5010, one side of the side connecting plate 5010 is fixedly connected to a cleaning wheel 5011, and one side of the cleaning wheel 5011 is movably connected to a cleaning brush 5012.

[0022] It should be noted that by using the rotating cleaning brush 5012 to clean the surface of the wheel body 4 , cleanliness can be maintained when the wheel body 4 rotates to drive the robot body 1 to move.

[0023] In this embodiment, the surface of the side transmission rod 505 is fixedly connected to the bottom clamping gear 601, one side of the bottom clamping gear 601 is movably connected to the toothed belt 602, one side of the toothed belt 602 is movably connected to the top clamping gear 603, one side of the top clamping gear 603 is fixedly connected to the side fixed rod 604, and one side of the side fixed rod 604 is fixedly connected to the transmission fan 605.

[0024] It should be noted that by rotating the side fixing rod 604 to drive the transmission fan 605 to rotate, the transmission fan 605 can be used to generate wind, and the generated wind will blow toward the inside of the robot body 1 along the connecting frame 6012, which can improve the ventilation effect inside the robot body 1.

[0025] In this embodiment, a square groove 701 is provided at the bottom of the robot body 1 , a support wheel 702 is fixedly connected to the surface of the side transmission rod 505 , and a friction block 703 is fixedly connected to the surface of the support wheel 702 .

[0026] It should be noted that the friction block 703 on the surface of the support wheel 702 can increase the friction with obstacles, reduce the situation where the bottom of the robot body 1 contacts obstacles and cannot move forward, and improve the stability of the robot body 1 during movement.

[0027] In this embodiment, one side of the side transmission gear 507 is fixedly connected to a support rod 508, one end of the support rod 508 is movably connected to a bearing plate No. 1 509, and one side of the bearing plate No. 1 509 is movably connected to one side of the robot body 1.

[0028] It should be noted that, through the movable connection of the No. 1 bearing plate 509, the side transmission gear 507 can be limited and supported during its free rotation.

[0029] In this embodiment, a connecting frame 6012 is opened on both sides of the robot body 1, and the inner side of the connecting frame 6012 is fixedly connected to an inner fixed plate 607, and one side of the inner fixed plate 607 is movably connected to the No. 2 bearing disk 606, and one side of the No. 2 bearing disk 606 is movably connected to one side of the transmission fan 605.

[0030] It should be noted that, by utilizing the movable connection between the No. 2 bearing plate 606 on one side of the inner fixed plate 607 and the transmission fan 605, the rotation stability of the transmission fan 605 can be improved.

[0031] In this embodiment, a protective frame 6010 is fixedly connected to one side of the communication frame 6012 , and a protective plate 6011 is fixedly connected to one side of the protective frame 6010 . There are multiple protective plates 6011 .

[0032] It should be noted that the protective plate 6011 on one side of the communication frame 6012 can reduce the entry of debris into the robot body 1.

[0033] In this embodiment, side support frames 608 are fixedly connected to both sides of the robot body 1 . A side communication hole 609 is opened on one side of the side support frame 608 . The inner side of the side communication hole 609 is set on the surface of the side fixing rod 604 .

[0034] It should be noted that during the rotation of the side fixing rod 604 , the side communicating holes 609 provided on the surface of the side support frame 608 are used for position limiting support, thereby maintaining the rotation stability of the side fixing rod 604 .

[0035] In this embodiment, one side of the second bevel gear disc 504 is movably connected to the third bevel gear disc 801, one side of the third bevel gear disc 801 is fixedly connected to the side connecting rod 802, one end of the side connecting rod 802 is fixedly connected to the opposite block 803, one side of the robot body 1 is fixedly connected to the side support plate 8011, one side of the side support plate 8011 is fixedly connected to the side fixing plate 809, the surface of the side fixing plate 809 is provided with an internal connecting hole 8010, and the bottom of the side fixing plate 809 is movably connected to the limited A positioning spring 808 is provided on one side of the side support plate 8011, and a sliding rail 8012 is provided on the inner side of the sliding rail 8012, and a sliding rod 8016 is slidably connected to the inner side of the sliding rod 8016. One side of the sliding rod 8016 is fixedly connected to the side limiting plate 805, and the inner side of the side limiting plate 805 is movably connected to the transmission wheel 804. The top of the side limiting plate 805 is fixedly connected to the top connecting plate 806, and the top of the top connecting plate 806 is fixedly connected to the lifting rod 807, and the top of the lifting rod 807 is fixedly connected to the transmission plate 8017.

[0036] It should be noted that, during the vertical movement, the lifting rod 807 drives the sliding rod 8016 on one side of the side limiting plate 805 to slide along the inner side of the sliding rail 8012 , which can improve the stability of the lifting rod 807 during movement.

[0037] In this embodiment, a heat dissipation hole 8015 is opened on one side of the robot body 1, a movable frame 8013 is fixedly connected to one side of the transmission plate 8017, one side of the movable frame 8013 is movably connected to a movable spring 8014, one side of the movable spring 8014 is movably connected to one side of the robot body 1, and a dust removal brush 8018 is movably connected to the inner side of the movable frame 8013.

[0038] It should be noted that the reciprocating motion of the movable frame 8013 will drive the dust removal brush 8018 to perform vertical reciprocating motion, and the dust removal brush 8018 that continuously moves can clean the dust on the surface of the heat dissipation hole 8015. Example 2: This Example 2 provides a method for using a visually guided mobile robot under GPS signal denial conditions, which is used to further illustrate the working process or principle of the visually guided mobile robot under GPS signal denial conditions provided in the above Example 1. The details are as follows: A visual navigation mobile robot under GPS signal denial conditions, comprising the following steps: S1. The robot body 1 is made of lightweight, high-strength materials and has good maneuverability and stability. At the same time, multiple camera bodies 9 and sensor bodies 10 are installed on the robot body, and the surrounding environment information can be obtained through the cooperation of the camera body 9 and the sensor body 10. At the same time, the navigation controller 3 includes an image acquisition module, an image processing module and a positioning module. The image acquisition module uses the camera to collect images of the surrounding environment in real time to ensure that the robot can instantly perceive changes in the surrounding environment. At the same time, it has no contact with the detected object, ensuring the safety of the robot and reducing interference with the detected object; the image processing module performs preprocessing, feature extraction and matching operations on the collected images to generate an environmental map, and can accurately extract the features of the target object from the image, such as edges, corners, textures, etc., to provide key information for the robot's environmental perception and navigation, and can be flexibly customized according to different needs and scenarios. and adjustment to improve the robot's adaptability and navigation effect; the positioning module determines the robot's position in the environmental map based on the image processing results and sensor data. Based on the image processing results and sensor data, it can accurately determine the robot's position in the environmental map, provide precise guidance for the robot's navigation, and at the same time, by combining image processing and sensor data, realize the robot's autonomous positioning and navigation, reducing dependence on external equipment. At the same time, the navigation controller 3 has an intelligent path planning algorithm, which can intelligently plan the optimal path based on the environmental map and the robot's current position combined with the target position information. The algorithm takes into account factors such as the robot's kinematic constraints, obstacle avoidance and path smoothness, ensuring that the robot can reach its destination safely and efficiently in complex environments. The visual navigation system of the navigation controller 3 can adapt to different lighting conditions and environmental changes, improve the reliability of the robot, and improve the safety of the robot's operation.

[0039] S2. The control system in the control box 2 can control the movement of the robot body according to the path instructions generated by the intelligent path planning algorithm. The control system adopts advanced motion control algorithms to achieve precise control and stable movement of the robot. At the same time, the intelligent path planning algorithm can quickly generate optimal or near-optimal path instructions, thereby significantly improving the navigation efficiency of the robot. The intelligent path planning algorithm can be dynamically adjusted according to real-time environmental information to achieve real-time navigation and obstacle avoidance of the robot.

[0040] This invention solves the navigation problem of mobile robots in GPS-denied conditions by integrating a visual navigation system and an intelligent path planning algorithm. Compared with traditional GPS navigation methods, this invention has higher autonomy and adaptability, and can achieve precise positioning and navigation in complex environments. S2. At the same time, when the robot body 1 is moving, the motor body 502 on one side of the fixed side frame 501 is started, and the motor body 502 can be used to drive the No. 1 bevel gear plate 503 to rotate, and the No. 2 bevel gear plate 504 can be driven to rotate by the rotating No. 1 bevel gear plate 503, and the No. 2 bevel gear plate 504 can be driven to rotate by the rotating side transmission rod 505, and the rotating side transmission rod 505 can drive the two driving gears 506 to rotate, and the rotating driving gear 506 can be engaged with the side transmission gear 507 to rotate on the driving gear. The rotation of the gear 506 drives the side transmission gears 507 on both sides of the driving gear 506 to rotate synchronously. Through the connection of the side connecting plate 5010, the rotation of the side transmission gear 507 can drive the cleaning wheel 5011 and the cleaning brush 5012 to rotate synchronously. The rotating cleaning brush 5012 cleans the surface of the wheel body 4, which can maintain the cleanliness when the wheel body 4 rotates to drive the robot body 1 to move, reduce the debris attached to the surface of the wheel body 4 and affect the movement of the robot body 1, and improve the efficiency and stability of the steering or movement of the robot body 1; S3. At the same time, during the rotation of the side transmission rod 505, the bottom card gear 601 will be driven to rotate synchronously. During the rotation of the bottom card gear 601, the top card gear 603 will be driven to rotate through the meshing connection of the toothed belt 602. After the top card gear 603 rotates, it will drive the side fixed rod 604 to rotate. During the rotation of the side fixed rod 604, the side connecting hole 609 opened on the surface of the side support frame 608 is used for limiting support to maintain the rotation stability of the side fixed rod 604. The rotation of the side fixed rod 604 drives the transmission fan 605 to rotate, and the transmission fan 605 can be used to generate wind force. The generated wind force will blow toward the inner side of the robot body 1 along the connecting frame 6012, which can improve the ventilation effect in the robot body 1. The movable connection between the second bearing plate 606 on one side of the inner fixing plate 607 and the transmission fan 605 can improve the rotation stability of the transmission fan 605. The protective plate 6011 on the side of the connecting frame 6012 can reduce the entry of debris into the robot body 1. S4. During the rotation of the side transmission rod 505, the support wheel 702 is driven to rotate along the inner side of the square groove 701. During the movement of the robot body 1, the support wheel 702 is used to rotate along the bottom of the robot body 1. When the bottom of the robot body 1 contacts a stone or obstacle, the support wheel 702 can be used to contact the obstacle. Under the continuous rotation of the support wheel 702, the robot body 1 can be driven to climb over the obstacle. At the same time, the friction block 703 on the surface of the support wheel 702 can increase the friction with the obstacle, thereby reducing the situation where the bottom of the robot body 1 contacts the obstacle and cannot move forward, thereby improving the stability of the robot body 1 during movement. S5. The heat dissipation holes 8015 on one side of the robot body 1 can improve the ventilation effect inside the robot body 1. In the process of using the heat dissipation holes 8015 for ventilation and heat dissipation, when the motor body 502 drives the second bevel gear plate 504 to rotate, the engagement of the second bevel gear plate 504 with the third bevel gear plate 801 will drive the third bevel gear plate 801 to rotate synchronously. After the rotation, the third bevel gear plate 801 will drive the side connecting rod 802 and the anisotropic block 803 to rotate. When the raised part of the anisotropic block 803 rotates to the top, it will push the transmission wheel 804 to move upward. Through the connection between the side limit plate 805 and the top connecting plate 806, the lifting rod 807 will be driven to move upward synchronously. At the same time, when the lifting rod 807 moves vertically, it will drive the sliding rod 8016 on the side of the side limit plate 805 to slide along the inner side of the sliding rail 8012, which can improve the stability of the lifting rod 807 during movement. After the lifting rod 807 moves upward, it will drive the transmission plate 8017 and the movable frame 8013 to rise, and the top connecting plate 806 will move along the inner limit movement of the internal connecting hole 8010 when it rises. At the same time, after the top connecting plate 806 rises, it will drive the limit spring 808 to generate compression deformation at the bottom of the side fixing plate 809. When the protruding part rotates to the bottom, the top connecting plate 806 loses the external force, and the limit spring 808 will reset and push the top connecting plate 806 to reset. The continuous rotation of the anisotropic block 803 will drive the movable frame 8013 to reciprocate. The reciprocating motion of the movable frame 8013 will drive the dust removal brush 8018 to perform vertical reciprocating motion. The continuously moving dust removal brush 8018 can clean the dust on the surface of the heat dissipation hole 8015, reduce the situation where dust adheres to the surface of the heat dissipation hole 8015 and affects the air circulation in the robot body 1, causing the temperature to rise, and improve the stability of the circuit in the robot body 1. When it is necessary to explain: the robot body 1, control box body 2, navigation controller 3, camera body 9, sensor body 10 and motor body 502 in the present invention are all existing technologies, and the corresponding models can be selected according to actual needs. The internal structure and operating principle of the above parts are also common knowledge of those skilled in the art, and no further elaboration will be given.

[0041] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A visual navigation mobile robot under GPS signal denial conditions, comprising a robot body (1), characterized in that: The top of the robot body (1) is fixedly connected to a control box (2), one side of the control box (2) is provided with a navigation controller (3), one side of the control box (2) is provided with a camera body (9), the top of the robot body (1) is provided with a sensor body (10), the outer side of the robot body (1) is provided with a wheel body (4), the bottom of the robot body (1) is fixedly connected to a fixed side frame (501), one side of the fixed side frame (501) is fixedly connected to a motor body (502), the output shaft of the motor body (502) is movably connected to a first bevel gear disc (503), the first bevel gear disc (503) is provided with a plurality of gears, and the first bevel gear disc (503) is provided with a plurality of gears. One side of the bevel gear disc (503) is movably connected to a second bevel gear disc (504), one side of the second bevel gear disc (504) is fixedly connected to a side transmission rod (505), both ends of the side transmission rod (505) are fixedly connected to driving gears (506), one side of the driving gear (506) is movably connected to a side transmission gear (507), one side of the side transmission gear (507) is fixedly connected to a side connecting disc (5010), one side of the side connecting disc (5010) is fixedly connected to a cleaning wheel (5011), and one side of the cleaning wheel (5011) is movably connected to a cleaning brush (5012).

2. A visual navigation mobile robot under GPS signal denial conditions according to claim 1, characterized in that: A bottom engaging gear (601) is fixedly connected to the surface of the side transmission rod (505), one side of the bottom engaging gear (601) is movably connected to a toothed belt (602), one side of the toothed belt (602) is movably connected to a top engaging gear (603), one side of the top engaging gear (603) is fixedly connected to a side fixing rod (604), and one side of the side fixing rod (604) is fixedly connected to a transmission fan (605).

3. The visual navigation mobile robot under GPS signal denial conditions according to claim 2, characterized in that: A square groove (701) is provided at the bottom of the robot body (1); a support wheel (702) is fixedly connected to the surface of the side transmission rod (505); and a friction block (703) is fixedly connected to the surface of the support wheel (702).

4. The visual navigation mobile robot under GPS signal denial conditions according to claim 3, characterized in that: One side of the side transmission gear (507) is fixedly connected to a support rod (508), one end of the support rod (508) is movably connected to a No. 1 bearing disc (509), and one side of the No. 1 bearing disc (509) is movably connected to one side of the robot body (1).

5. The visual navigation mobile robot under GPS signal denial conditions according to claim 4, characterized in that: A connecting frame (6012) is provided on both sides of the robot body (1); an inner fixing plate (607) is fixedly connected to the inner side of the connecting frame (6012); a second bearing disc (606) is movably connected to one side of the inner fixing plate (607); and a second bearing disc (606) is movably connected to one side of the transmission fan (605).

6. A visual navigation mobile robot under GPS signal denial conditions according to claim 5, characterized in that: One side of the communication frame (6012) is fixedly connected to a protection frame (6010), and one side of the protection frame (6010) is fixedly connected to a protection plate (6011), and the number of the protection plates (6011) is plural.

7. A visual navigation mobile robot under GPS signal denial conditions according to claim 6, characterized in that: Side support frames (608) are fixedly connected to both sides of the robot body (1); a side communication hole (609) is opened on one side of the side support frame (608); and the inner side of the side communication hole (609) is arranged on the surface of the side fixing rod (604).

8. The visual navigation mobile robot under GPS signal denial conditions according to claim 7, characterized in that: One side of the second bevel gear disc (504) is movably connected to the third bevel gear disc (801), one side of the third bevel gear disc (801) is fixedly connected to a side connecting rod (802), one end of the side connecting rod (802) is fixedly connected to a heterogeneous block (803), one side of the robot body (1) is fixedly connected to a side support plate (8011), one side of the side support plate (8011) is fixedly connected to a side fixing plate (809), the surface of the side fixing plate (809) is provided with an inner connecting hole (8010), and the bottom of the side fixing plate (809) is movably connected to a limit spring (808 ), a sliding rail (8012) is provided on one side of the side support plate (8011), a sliding rod (8016) is slidably connected to the inner side of the sliding rail (8012), a side limit plate (805) is fixedly connected to one side of the sliding rod (8016), a transmission wheel (804) is movably connected to the inner side of the side limit plate (805), a top connecting plate (806) is fixedly connected to the top of the side limit plate (805), a lifting rod (807) is fixedly connected to the top of the top connecting plate (806), and a transmission plate (8017) is fixedly connected to the top of the lifting rod (807).

9. A visual navigation mobile robot under GPS signal denial conditions according to claim 8, characterized in that: A heat dissipation hole (8015) is provided on one side of the robot body (1); a movable frame (8013) is fixedly connected to one side of the transmission plate (8017); a movable spring (8014) is movably connected to one side of the movable frame (8013); one side of the movable spring (8014) is movably connected to one side of the robot body (1); and a dust removal brush (8018) is movably connected to the inner side of the movable frame (8013).

10. A method for using a visual navigation mobile robot under GPS signal denial conditions, applied to a visual navigation mobile robot under GPS signal denial conditions as claimed in any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1, the robot body (1) is made of a lightweight, high-strength material as a whole, and a plurality of camera bodies (9) and sensor bodies (10) are installed on the robot body. The camera bodies (9) and the sensor bodies (10) cooperate to obtain information about the surrounding environment. The navigation controller (3) comprises an image acquisition module, an image processing module and a positioning module. The image acquisition module acquires images of the surrounding environment in real time through the camera; the image processing module performs preprocessing, feature extraction and matching operations on the acquired images to generate an environment map; the positioning module determines the position of the robot in the environment map based on the image processing results and the sensor data, and provides precise guidance for the navigation of the robot based on the image processing results and the sensor data. At the same time, the autonomous positioning and navigation of the robot are realized by combining the image processing and the sensor data.S2. The control system in the control box (2) can control the movement of the robot body according to the path instructions generated by the intelligent path planning algorithm. The control system adopts an advanced motion control algorithm to achieve precise control and stable movement of the robot. The intelligent path planning algorithm can quickly generate optimal or near-optimal path instructions to achieve real-time navigation and obstacle avoidance of the robot. S2. After the motor body (502) on one side of the fixed side frame (501) is started, the motor body (502) can be used to drive the first bevel gear plate (503) to rotate, and the rotating first bevel gear plate (503) can be used to drive the second bevel gear plate (504) to rotate, and the rotating second bevel gear plate (504) can be used to drive the side transmission rod (505) to rotate, so as to achieve the desired effect. The rotating side transmission rod (505) can drive the two driving gears (506) to rotate. By utilizing the meshing of the rotating driving gear (506) and the side transmission gear (507), the driving gear (506) can be rotated to drive the side transmission gears (507) on both sides of the driving gear (506) to rotate synchronously. Through the connection of the side connection plate (5010), the cleaning wheel (5011) and the cleaning brush (5012) can be driven to rotate synchronously after the side transmission gear (507) rotates. S3. At the same time, during the rotation of the side transmission rod (505), the bottom card gear (601) is driven to rotate synchronously. During the rotation of the bottom card gear (601), the meshing connection of the toothed belt (602) drives the top card gear (5011) and the cleaning brush (5012) to rotate synchronously. The card gear (603) rotates, and the top card gear (603) rotates, which drives the side fixing rod (604) to rotate. The side fixing rod (604) rotates to drive the transmission fan (605) to rotate, and the transmission fan (605) can be used to generate wind power; S4, while the side transmission rod (505) rotates, it drives the support wheel (702) to rotate along the inner side of the square groove (701). When the robot body (1) moves, the support wheel (702) rotates along the bottom of the robot body (1). When the bottom of the robot body (1) contacts a stone or an obstacle, the support wheel (702) can be used to contact the obstacle; S5, the motor body (502) drives the second bevel gear plate (504) to rotate In the embodiment, the meshing of the second bevel gear disc (504) and the third bevel gear disc (801) drives the third bevel gear disc (801) to rotate synchronously. After the rotation of the third bevel gear disc (801), the side connecting rod (802) and the heterogeneous block (803) are driven to rotate. When the raised portion of the heterogeneous block (803) rotates to the top, it pushes the transmission wheel (804) to move upward. Through the connection between the side limit plate (805) and the top connecting disc (806), the lifting rod (807) is driven to move upward synchronously. After the lifting rod (807) moves upward, it drives the transmission plate (8017) and the movable frame (8013) to be lifted. Through the continuous rotation of the heterogeneous block (803), the movable frame (8013) is driven to reciprocate.

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