Ad-hoc network device and survey modeling robot

Abstract

The invention discloses an ad-hoc network device and a survey modeling robot, and belongs to the technical field of mobile robots, the ad-hoc network device comprises an ad-hoc network shell, a placement table and a mobile assembly, the ad-hoc network shell is internally provided with a placement cavity, and a certain side wall of the ad-hoc network shell is provided with an inlet and outlet for communicating the placement cavity with an external space; a plurality of relay suites for ad hoc networks are placed on the placement table; the moving assembly and the placing table are both located in the placing cavity, the moving assembly is provided with a grabbing part and a moving part, the grabbing part is used for grabbing the relay suite, the grabbing part and the moving part are in transmission connection, and the grabbing part can be driven by the moving part to linearly move in the longitudinal direction, the transverse direction and the vertical direction and can be converted from the vertical direction to the transverse direction or from the vertical direction to the longitudinal direction; and the captured relay suite passes through the entrance and exit and extends to the external space for networking, so that when the communication signal is weak in the detection process, the relay transmission of the signal is completed, and the stable data transmission in the long-distance investigation work task is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and particularly to a self-organizing network device and a surveying and modeling robot. Background Art

[0002] With the progress of the times and the continuous development of technology, mobile robots have become increasingly common in people's daily lives. The participation of robots in work and life can not only improve work efficiency, but also greatly reduce the injuries that occur when personnel perform complex and dangerous tasks, and can also save task execution time. Nowadays, robot technology is developing rapidly and has a wider and wider application. In addition to the traditional industrial field, it also shows advantages in many military and medical fields. With the progress of artificial intelligence, robots have shown excellent prospects in various fields. At the same time, robot technology is not only regarded as a cutting-edge technology, but also regarded as an important national strategy by many developed countries, and strong support is given to the research in the field of robots.

[0003] Early mobile robots mainly operated in structured and static indoor environments. Typical indoor mobile robots include home service robots, etc. In the past decade, urban environment robots such as driverless cars have also emerged. Compared with indoor environments, urban environments are typically semi-structured and dynamic environments. At the same time, with the needs of humans to explore unknown fields and perform dangerous battlefield tasks, etc., mobile robots have also begun to continuously expand into the wild environment.

[0004] With the rapid development of modern technology, robot-related technologies have been widely applied to various fields, such as post-disaster rescue, industrial inspection, military confrontation, planet exploration, cave exploration, and resource exploration, etc. In these tasks, the exploration and mapping functions of robots play important roles, such as the situation of the damaged site after a disaster, obtaining the enemy's position environment in military confrontation, and quickly observing unknown environments, etc. Usually, people cannot directly enter these environments or there are high risks, or the human cost is high, which requires robots to establish relevant three-dimensional environmental maps in the shortest time to provide reference for subsequent plan arrangements and strategic deployments.

[0005] Intelligent robots are greatly affected by environmental factors and have high communication requirements, and need to efficiently transmit information. However, existing surveying robots have not overcome the problem of stable communication during large-area surveys.

[0006] Therefore, how to design a self-organizing network device and a surveying and modeling robot that can complete the relay transmission of signals when the communication signal is weak and achieve stable data transmission in long-distance survey work tasks is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0007] The object of the present invention is to provide a self-organizing network device and a surveying and modeling robot aiming at the defects and deficiencies in the prior art, which can complete the relay transmission of signals when the outdoor communication signal is weak and realize the stable transmission of data in long-distance survey tasks.

[0008] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] The present invention provides a self-organizing network device, including: a self-organizing network housing, a placement cavity is provided inside the self-organizing network housing, and an inlet and outlet is provided on a certain side wall of the self-organizing network housing for communicating the placement cavity and the external space; a placement table, on which several relay kits for self-organizing network are placed; a moving component, both the moving component and the placement table are located in the placement cavity, the moving component has a grasping part and a moving part, the grasping part is used for grasping the relay kit, the grasping part and the moving part are in transmission connection, and the grasping part can move linearly in the longitudinal, transverse and vertical directions under the drive of the moving part, and can be changed from the vertical direction to the horizontal direction or from the vertical direction to the longitudinal direction, so that the grasped relay kit can pass through the inlet and outlet and extend to the external space for networking.

[0010] In an embodiment, the moving part includes: a first linear motion mechanism, the first linear motion mechanism has a first fixing part and a first moving part, the first fixing part is fixedly connected to the self-organizing network housing in a detachable manner, the first moving part is in transmission connection with the first fixing part and can move linearly in the longitudinal direction; a second linear motion mechanism, the second linear motion mechanism has a second fixing part and a second moving part, the second fixing part is fixedly connected to the first moving part in a detachable manner, the second moving part is in transmission connection with the second fixing part and can move linearly in the transverse direction; a third linear motion mechanism, the third linear motion mechanism has a third fixing part and a third moving part, the third fixing part is fixedly connected to the second moving part in a detachable manner, the third moving part is in transmission connection with the third fixing part and can move linearly in the vertical direction; and a rotating mechanism, the rotating mechanism has a fixed end and a rotating end, the fixed end is installed on the third moving part, the rotating end is fixedly connected to the grasping part in a detachable manner, the rotating end is rotatably connected to the third moving part, and the grasping part can be changed from the vertical direction to the horizontal direction or from the vertical direction to the longitudinal direction under the drive of the rotating end, so that the grasping part can pass through the inlet and outlet and extend to the external space.

[0011] In one embodiment, the first fixing member includes a first slide rail and a first rack. The first slide rail is fixedly connected to the self-organizing network housing in a detachable manner. The first rack is disposed at one end of the first slide rail away from the self-organizing network housing and extends longitudinally. The first moving member includes a first driving motor, a first gear, and a cross bar. The first gear meshes with the first rack. The first gear is mounted on the cross bar, and one end of the first gear passes through the cross bar and is in transmission connection with the first driving motor. One end of the cross bar facing the first slide rail is provided with a first slider, and the first slider is slidably connected to the first slide rail.

[0012] In one embodiment, the second fixing member includes a second slide bar and a second rack. The second slide bar and the second rack are both fixedly connected to the cross bar in a detachable manner and extend transversely. The second moving member includes a second slider, a second driving motor, and a second gear. The second slider is sleeved outside the second slide bar and is slidably connected to the second slide bar. The second driving motor is mounted on the second slider. The second gear is in transmission connection with the second driving motor, and the second gear meshes with the second rack.

[0013] In one embodiment, the third linear motion mechanism is an electric telescopic rod. The third fixing member is the fixed end of the electric telescopic rod, and the third moving member is the telescopic end of the electric telescopic rod. The fixed end is fixedly connected to the second slider in a detachable manner, and the telescopic end telescopically moves vertically.

[0014] In one embodiment, the rotating mechanism is a third driving motor. The housing of the third driving motor is the fixed end, and the output shaft of the third driving motor is the rotating end. The housing is mounted on the telescopic end of the electric telescopic rod. The output shaft is rotatably connected to the telescopic end of the electric telescopic rod and is fixedly connected to the grasping part in a detachable manner. The grasping part is perpendicularly arranged with respect to the axis of the output shaft. The axis of the output shaft extends transversely or longitudinally, so that the grasping part is changed from vertical to longitudinal or from vertical to horizontal.

[0015] The grasping part includes a claw rod and a first mechanical claw capable of opening and closing. The claw rod is fixedly connected to the output shaft of the third driving motor in a detachable manner. The first mechanical claw includes a fixed block, a moving block, a fourth linear motion mechanism, a connecting rod, and a clamping claw arm. The fixed block is fixedly connected to the claw rod in a detachable manner. The fixed block is connected to the moving block through the fourth linear motion mechanism. The clamping claw arm is connected to the moving block through the connecting rod. The connecting rod is hinged to the moving block and the connecting rod is hinged to the clamping claw arm.

[0016] In one embodiment, the surface of the placement table for placing the relay kit is a placement surface, and the placement table can rotate along an axis perpendicular to the placement surface; a sliding door is provided at the side wall of the self-organizing network shell where an entrance and an exit are opened, and the upper and lower ends of the sliding door are respectively slidably connected to the top wall and the bottom wall of the self-organizing network shell for opening or closing the entrance and exit.

[0017] The present invention also provides a surveying and modeling robot, comprising the self-organizing network device, a chassis system, an energy and control system, a detection system and a body, wherein the chassis system is located at the lower layer of the body, the energy and control system is located at the middle layer of the body, and is signal-connected with the chassis system, the self-organizing network device and the electric components in the detection system, and the self-organizing network device and the detection system are located at the top of the body; the detection system comprises a laser radar and a depth camera, and the laser radar and the depth camera are sequentially arranged along the forward direction of the surveying and modeling robot.

[0018] In one embodiment, the chassis system includes a motion component and a swing arm component; the motion component includes a track mechanism and a fourth drive component connected to the track mechanism, the track mechanism is arranged on the left and right sides of the surveying and modeling robot to drive the surveying and modeling robot to move; the swing arm component includes a swing arm track mechanism and a fifth drive component connected to the swing arm track mechanism, the swing arm track mechanism includes a swing arm driving wheel, a swing arm driven wheel, a connecting plate and a swing arm track sleeved on the outside of the swing arm driving wheel and the swing arm driven wheel, the swing arm driving wheel and the swing arm driven wheel are connected through the connecting plate, the swing arm driving wheel is located at the free end of the swing arm track, and is connected to the fifth drive component through a transmission shaft and a connecting plate, so as to drive the swing arm component to swing through the fifth drive component to overcome obstacles.

[0019] In one embodiment, a robotic arm is further provided on the top of the body, and the robotic arm is located outside the inlet and outlet. A second robotic claw is provided on the robotic arm for grabbing the relay kit sent to the external space by the grabbing portion.

[0020] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0021] 1. The present invention is provided with a placement platform and a moving component inside the ad-hoc network device. A relay kit is placed on the placement platform. The moving component has a grasping part and a moving part. The grasping part is used to grasp the relay kit, and the moving part is used to drive the grasping part to move, enabling the grasping part to move linearly in the longitudinal, transverse, and vertical directions, and to change from the vertical direction to the transverse direction or from the vertical direction to the longitudinal direction, so as to send the grasped relay kit to the external space through the inlet and outlet for ad-hoc networking. When encountering a situation with weak communication signals during outdoor detection, the relay kit is arranged in the external space to complete signal relay transmission, realizing stable data transmission in long-distance exploration tasks.

[0022] The following beneficial effects are achieved by other technical solutions of the present invention compared with the prior art:

[0023] 2. The present invention is provided with a robotic arm on the top layer of the detection and modeling robot to grasp the relay kit sent to the external space. Utilizing the flexible movement characteristics of the robotic arm, the relay kit is arranged at the best signal acquisition position; moreover, during the networking process, the relay kit is always clamped by the robotic claw and will not come into contact with other objects, avoiding bumps and damages, and there will be no damage that affects the signal transmission ability of the relay kit, so as to improve the stability of the built network signal and enable stable data transmission.

[0024] 3. The detection and modeling robot of the present invention detects the external environment through a depth camera and a lidar. Compared with the method of remote control detection, there are no mistakes caused by operators, and the detection results are more accurate and reliable; combined with the communication network built by the ad-hoc network device, the detected signals can be transmitted to the control device in a timely and stable manner, enabling the control device to perform the most reasonable motion control based on the analysis of the external environment by the sensor, ensuring the stability of the robot's movement and the integrity of the mapping work.

[0025] 4. The present invention adopts a multi-section crawler movement method, which can complete movement in complex environments with lower mechanical structure precision. Compared with the wheel-leg type, the movement structure of this robot is simpler; compared with the leg type and the wheel type, this robot can move in more complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1Axonometric structure schematic diagram of the self-organizing network device and the surveying and modeling robot disclosed in a specific embodiment of the present invention;

[0028] Figure 2 Front view structure schematic diagram of the self-organizing network device and the surveying and modeling robot without the robotic arm disclosed in a specific embodiment of the present invention;

[0029] Figure 3 Top view structure schematic diagram of the self-organizing network device and the surveying and modeling robot without the robotic arm and the self-organizing network housing disclosed in a specific embodiment of the present invention;

[0030] Figure 4 Cross-sectional structure schematic diagram at A-A;

[0031] Figures 5-7 Structure schematic diagram of the moving component of the self-organizing network device disclosed in a specific embodiment; wherein, Figure 5 、 Figure 6 and Figure 7 Show the structure of the moving component from different perspectives respectively;

[0032] Figure 8 Top view structure schematic diagram of the middle layer of the surveying and modeling robot disclosed in a specific embodiment;

[0033] Figure 9 Top view structure schematic diagram of the bottom layer of the surveying and modeling robot disclosed in a specific embodiment;

[0034] Figure 10 Cross-sectional structure schematic diagram at B-B;

[0035] Figure 11 Structure schematic diagram of the first robotic claw.

[0036] Among them, 1. robotic arm; 2. second robotic claw; 3. sliding hatch; 4. seventh driving motor; 5. third gear; 6. cover plate; 7. self-organizing network housing; 8. depth camera; 9. lidar; 10. swing arm crawler; 11. swing arm driving wheel; 12. connecting plate; 13. swing arm driven wheel; 14. first gear; 15. moving crawler; 16. relay kit; 17. placement table; 18. first robotic claw; 19. third rack; 20. cross bar; 21. second rack; 22. second gear; 23. first driving motor; 24. first slide rail; 25. first rack; 26. first slider; 27. placement cavity; 28. boss; 29. driving gear; 30. second driving motor; 31. second slider; 32. ranging module; 33. third driving motor; 34. second slide bar; 35. electric telescopic rod; 36. claw rod; 37. power supply; 38. single-board computer; 39. microcontroller; 40. driven gear; 41. bearing block; 42. transmission shaft; 43. bevel gear; 44. DC brushless motor; 45. right-angle motor; 46. flange coupling; 47. moving driving wheel; 48. inner bearing fixed rotating cylinder; 49. bearing; 50. outer bearing fixed rotating cylinder; 51. inlet and outlet; 52. lug; 53. fixed block; 54. third connecting rod; 55. second connecting rod; 56. clamping jaw arm; 57. first connecting rod; 58. moving block; 59. screw rod. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0039] As Figures 1 to 7As shown, the present invention provides a self-organizing network device, including: a self-organizing network shell 7, a placement table 17 and a moving component, the self-organizing network shell 7 is provided with a placement cavity 27, a side wall of the self-organizing network shell 7 is provided with an inlet and outlet 51, the inlet and outlet 51 is used to connect the placement cavity 27 and the external space; a plurality of relay kits 16 for self-organizing network are placed on the placement table 17; the moving component and the placement table 17 are both located in the placement cavity 27, the moving component has a moving part and a grasping part connected to the moving part by transmission, the grasping part is used to grasp the relay kit 16, the grasping part can move in a longitudinal, transverse and vertical straight line under the drive of the moving part, and can turn from vertical to longitudinal or from vertical to transverse, so that the grasped relay kit 16 passes through the inlet and outlet 51 and extends to the external space for networking.

[0040] The moving part includes a first linear motion mechanism, a second linear motion mechanism, a third linear motion mechanism and a rotating mechanism.

[0041] The first linear motion mechanism comprises a first fixed part and a first moving part, the first fixed part is fixedly connected to the self-organizing network housing 7 in a detachable manner, the first moving part is transmission-connected to the first fixed part, and can move linearly in the longitudinal direction relative to the first fixed part;

[0042] The second linear motion mechanism comprises a second fixed member and a second moving member, the second fixed member is fixedly connected to the first moving member in a detachable manner, the second moving member is transmission-connected to the second fixed member, and can move linearly in a lateral direction relative to the second fixed mechanism;

[0043] The third linear motion mechanism comprises a third fixed member and a third moving member, wherein the third fixed member is fixedly connected to the second moving member in a detachable manner, and the third moving member is transmission-connected to the third fixed member and can move vertically linearly relative to the third fixed member;

[0044] The rotating mechanism has a fixed end and a rotating end, the fixed end is mounted on the third moving part, the rotating end is fixedly connected to the grasping part in a detachable manner, and the rotating end is rotatably connected to the third moving part. The grasping part can be rotated from vertical to horizontal or from vertical to longitudinal under the drive of the rotating end, so that the grasping part passes through the inlet and outlet 51 and extends to the external space.

[0045] Through the above scheme, the grasping part can perform longitudinal, transverse and vertical linear motion, and turn from vertical to transverse or from vertical to longitudinal, so as to flexibly adjust the position of the grasping part to send the grasped relay kit 16 to the external space for networking.

[0046] In one embodiment, the first fixing member includes a first slide rail 24 and a first rack 25. The first slide rail 24 is fixedly connected to the ad hoc network housing 7 in a detachable manner. The first rack 25 is disposed at one end of the first slide rail 24 away from the ad hoc network housing 7 and extends longitudinally. Among them, a boss 28 is provided on the ad hoc network housing 7, and the first slide rail 24 is connected to the boss 28 through a threaded connector. The connection manner between the first slide rail 24 and the boss 28 can also be any one of snap connection, pin connection, mortise and tenon connection, magnetic attraction connection, etc. The first rack 25 is fixedly connected to the first slide rail 24, and the connection manner between the two can be either detachable connection or non-detachable connection.

[0047] The first moving member includes a first driving motor 23, a first gear 14, and a cross bar 20. The first gear 14 meshes with the first rack 25. The first gear 14 is installed on the cross bar 20, and one end of the first gear 14 passes through the cross bar 20 and is in transmission connection with the output shaft of the first driving motor 23. One end of the cross bar 20 facing the first slide rail 24 is provided with a first slider 26. The first slider 26 is sleeved on the first slide rail 24 and is slidably connected to the first slide rail 24. The first slide rail 24 is used to support the cross bar 20 and provide movement guidance to improve the stability during movement. The cooperation structure of the first driving motor 23, the first gear 14, and the first rack 25 is used to provide power to make the cross bar 20 move linearly longitudinally relative to the first slider 26. When the ad hoc network housing 7 is a square housing, the longitudinal direction is the direction parallel to the long side / short side of the ad hoc network housing 7. In the embodiments listed in this application, the longitudinal direction is Figure 3 the direction indicated by the Y arrow in the figure.

[0048] In one embodiment, the second fixing member includes a second slide bar 34 and a second rack 21. Both the second slide bar 34 and the second rack 21 are fixedly connected to the cross bar 20 in a detachable manner and extend transversely. Among them, two lugs 52 are provided on the bottom surface of the cross bar 20. The two lugs 52 are respectively disposed on both sides of the cross bar 20 in the length direction (i.e., the transverse direction). The two ends of the second slide bar 34 are respectively threadedly connected to the two lugs 52. The second rack 21 is disposed on the top surface of the cross bar 20. The connection manner between the second slide bar 34 and the lugs 52 can also be any one of snap connection, pin connection, mortise and tenon connection, magnetic attraction connection, etc.

[0049] The second moving member includes a second slider 31, a second driving motor 30, and a second gear 22. The second slider 31 is sleeved outside the second sliding rod 34 and is slidably connected to the second sliding rod 34. The second driving motor 30 is installed on the second slider 31. The output shaft of the second driving motor 30 is in transmission connection with the second gear 22, and the second gear 22 meshes with the second rack 21. The second sliding rod 34 is used to support the second slider 31 and provide a movement guide to improve the stability during movement. The matching structure of the second driving motor 30, the second gear 22, and the second rack 21 is used to provide power to make the second slider 31 move linearly in the transverse direction relative to the second sliding rod 34. Wherein when the self-organizing network housing 7 is a square housing, the transverse direction is the direction parallel to the short side / long side of the self-organizing network housing 7. In the embodiments listed in the present application, the transverse direction is Figure 3 the direction indicated by the X arrow in the figure. In another embodiment, the second slider 31 is a double-hole slider, and the second fixing member includes two second sliding rods 34. The two second sliding rods 34 are distributed on both sides of the width direction (i.e., the longitudinal direction) of the cross bar 20 and are slidably connected to the double-hole slider.

[0050] In one embodiment, the third linear motion mechanism is an electric telescopic rod 35, the third fixing member is the fixed end of the electric telescopic rod 35, the third moving member is the telescopic end of the electric telescopic rod 35. The fixed end of the electric telescopic rod 35 is fixedly connected to the second slider 31 in a detachable manner, and the telescopic end of the electric telescopic rod 35 telescopically moves in the vertical direction. Wherein when the self-organizing network housing 7 is a square housing, the vertical direction is the direction parallel to the height of the self-organizing network housing 7. In the embodiments listed in the present application, the vertical direction is Figure 2 the direction indicated by the Z arrow in the figure.

[0051] In addition to the above-listed embodiments, the first linear motion mechanism, the second linear motion mechanism, and the third linear motion mechanism can also be any one of a worm and worm gear structure, a lead screw and nut structure, a transmission belt structure, etc.

[0052] In one embodiment, the rotating mechanism is the third driving motor 33. The housing of the third driving motor 33 is the fixed end, and the output shaft of the third driving motor 33 is the rotating end. The housing of the third driving motor 33 is installed on the telescopic end of the electric telescopic rod 35. The output shaft of the third driving motor 33 is rotatably connected to the telescopic end of the electric telescopic rod 35 and is fixedly connected to the grasping part in a detachable manner. The axis of the output shaft of the third driving motor 33 extends horizontally or vertically. The grasping part is vertically arranged relative to the axis of the output shaft of the third driving motor 33, so that the grasping part can be changed from the vertical direction to the horizontal direction or from the vertical direction to the longitudinal direction. Wherein, the rotation direction of the grasping part should be consistent with the setting orientation of the inlet and outlet 51. That is, when the inlet and outlet 51 is located on one of the side walls of the ad-hoc network housing 7 distributed longitudinally, the axis of the output shaft of the third driving motor 33 is distributed horizontally, so that the grasping part can be changed from the vertical direction to the longitudinal direction to send the grasped relay kit 16 to the external space through the inlet and outlet 51; when the inlet and outlet 51 is located on one of the side walls of the ad-hoc network housing 7 distributed horizontally, the axis of the output shaft of the third driving motor 33 is distributed longitudinally, so that the grasping part can be changed from the vertical direction to the horizontal direction to send the grasped relay kit 16 to the external space through the inlet and outlet 51.

[0053] In one embodiment, the grasping part includes a claw rod 36 and a first mechanical claw 18 that can open and close. The claw rod 36 is fixedly connected to the output shaft of the third driving motor 33 in a detachable manner. The claw rod 36 is perpendicular to the output shaft of the third driving motor 33. The output shaft of the third driving motor 33 passes through the telescopic end of the electric telescopic rod 35, so that when the output shaft of the third driving motor 33 rotates, the telescopic end of the electric telescopic rod 35 does not rotate, and the claw rod 36 rotates accordingly; as Figure 11 , the first mechanical claw 18 has a grasping unit. The grasping unit includes a fixed block 53, a moving block 58, a fourth linear motion mechanism, a connecting rod, and a claw arm 56. The fixed block 53 is fixedly connected to the claw rod 36 in a detachable manner. The fixed block 53 is fixedly connected to the moving block 58 through the fourth linear motion mechanism. The claw arm 56 is connected to the moving block 58 through the connecting rod, and both the connecting rod and the moving block 58 and the connecting rod and the claw arm 56 are hinged. The fourth linear motion mechanism is a screw rod 59. The two ends of the screw rod 59 respectively extend into the fixed block 53 and the moving block 58. A driving motor connected to the screw rod 59 is provided in the fixed block 53. A nut is provided in the moving block 58. The nut is fixed in the moving block 58. The end of the screw rod 59 extending into the moving block 58 is provided with an external thread adapted to the nut. When the driving motor is started, the nut moves up and down relative to the screw rod 59, thereby driving the moving block 58 to move up and down. The connecting rod drives the claw arm 56 to open or close during the up and down movement of the moving block 58 to grasp the relay kit 16. The fourth linear motion mechanism can also be any one of an electric push rod, a gear-rack structure, a worm and worm gear structure, etc.

[0054] In one embodiment, a tooth-shaped protrusion is provided on the inner side wall of the jaw arm 56 to increase the friction with the relay kit 16 and improve the grasping stability.

[0055] In one embodiment, the jaw arm 56 is connected to two connecting rods, which are respectively referred to as the first connecting rod 57 and the second connecting rod 55. The second connecting rod 55 is located on the side close to the fixed block 53. The fixed block 53 is connected to the second connecting rod 55 through a third connecting rod 54. The third connecting rod 54 is hinged to the fixed block 53 and the second connecting rod 55 respectively to improve the movement stability of the jaw arm 56.

[0056] In one embodiment, the jaw arms 56 are hinged to the opposite side surfaces of the first connecting rod 57 and the second connecting rod 55, and the first mechanical claw 18 includes two sets of grasping units arranged side by side.

[0057] In one embodiment, a ranging module 32 is provided at the end face of the moving block 58 away from the fixed block 53 (i.e., the end face of the moving block 58 facing the relay kit 16 when the first mechanical claw 18 is vertically arranged).

[0058] In one embodiment, the surface of the placement table 17 for placing the relay kit 16 is the placement surface. A sixth driving motor is provided at the bottom of the placement table 17. The output shaft of the sixth driving motor is key-connected to the placement table 17, and the output shaft of the sixth driving motor is perpendicular to the placement surface, so that the placement table 17 can rotate around an axis perpendicular to the placement surface.

[0059] In one embodiment, a sliding hatch 3 is provided at the side wall of the self-organizing network housing 7 where the inlet and outlet 51 is opened. The upper and lower ends of the sliding hatch 3 are respectively slidably connected to the top wall and the bottom wall of the self-organizing network housing 7 for opening or closing the inlet and outlet 51. Among them, a cover plate 6 is provided at the top wall of the self-organizing network housing 7. A third rack 19 is provided on the cover plate 6. A third gear 5 and a seventh driving motor 4 are provided on the sliding hatch 3. The output shaft of the seventh driving motor 4 is drivingly connected to the third gear 5. The third gear 5 meshes with the third rack 19. When in use, the seventh driving motor 4 is started, and the sliding hatch 3 moves linearly along the third rack 19 driven by the third gear 5 to open or close the inlet and outlet 51.

[0060] Working process: Initially, the first mechanical claw 18 is located in the self-organizing network shell 7 away from the entrance and exit 51, and the entrance and exit 51 is in a closed state. When the relay kit 16 needs to be taken out, the sliding hatch 3 moves relative to the top and bottom walls of the self-organizing network shell 7, opens the entrance and exit 51, and moves the first mechanical claw 18 to the upper part of the relay kit 16 corresponding to the entrance and exit 51. The placement position of the relay kit 16 is called the No. 1 placement position. The first mechanical claw 18 moves downward. During the downward movement, the distance between the moving block 58 and the relay kit 16 is measured by the distance measurement module 32. When the distance between the two is within the grasping range of the clamp arm 56, the spiral rod 59 rotates to drive the moving block 58 to move upward, and the clamp arm 56 closes to clamp the relay kit 16. Among them, the placement table 17 and the relay kit 16 are fastened by electric adsorption. When the first mechanical claw 18 completes the grasping action, the electrical properties of the relay kit 16 change, and it is separated from the placement table 17. When the relay kit 16 reaches the open area at the entrance 51, the first mechanical claw 18 rotates from a vertical state to a horizontal state, and sends the relay kit 16 out of the self-organizing network cabin for self-organizing networking. When the relay kit 16 needs to be sent out again, the sixth drive motor is started to turn the relay kit 16 adjacent to the first placement position to the first placement position, so that the first mechanical claw 18 still grabs the relay kit 16 from the first placement position.

[0061] like Figures 8 to 10 As shown, the present invention also provides a surveying and modeling robot, including a self-organizing network device, a chassis system, an energy and control system, a detection system and a body, the chassis system is located at the bottom layer of the body, the energy and control system is located at the middle layer of the body, and is signal-connected with the chassis system, the self-organizing network device and the electric components in the detection system, and the self-organizing network device and the detection system are located at the top of the body; the detection system includes a laser radar 9 and a depth camera 8, and the laser radar 9, the depth camera 8 and the self-organizing network device are sequentially arranged along the forward direction of the surveying and modeling robot.

[0062] The chassis system includes a motion component and a swing arm component; the motion component includes a track mechanism and a fourth drive component connected to the track mechanism, the track mechanism is arranged on the left and right sides of the surveying and modeling robot (the vehicle's forward direction is front, and the backward direction is rear) to drive the surveying and modeling robot to move; the swing arm component includes a swing arm track mechanism and a fifth drive component connected to the swing arm track mechanism, the swing arm track mechanism includes a swing arm driving wheel 11, a swing arm driven wheel 13, a connecting plate 12 and a swing arm track 10, the swing arm driving wheel 11 and the swing arm driven wheel 13 are connected by the connecting plate 12, the swing arm track 10 is sleeved on the outside of the swing arm driving wheel 11 and the swing arm driven wheel 13, the swing arm driving wheel 11 is located at the free end of the swing arm track mechanism, the swing arm driven wheel 13 is coaxially arranged with the pulley of the track mechanism, the swing arm driving wheel 11 is connected to the fifth drive component through the connecting plate 12 and the transmission shaft 42, so as to drive the swing arm component to swing through the fifth drive component to overcome obstacles.

[0063] In one embodiment, the fourth driving component is a right-angle motor 45 (the model of the right-angle motor 45 is 80YB25GV22). The crawler mechanism includes a driving sprocket 47 for movement, a driven sprocket for movement, and a crawler 15 for movement. The output shaft of the right-angle motor 45 is in driving connection with the driving sprocket 47 for movement. A crawler 15 for movement is sleeved outside the driving sprocket 47 for movement and the driven sprocket for movement. Two right-angle motors 45 are provided at the bottom layer of the body. The two right-angle motors 45 move synchronously to control the linear movement of the robot, and the two right-angle motors 45 move differentially to control the turning of the robot. Among them, a driving gear 29, a driven gear 40, and a bearing-fixed rotating cylinder are also provided on the side of the detection and modeling robot. The output shaft of the right-angle motor 45 is key-connected to the driving gear 29. The driving gear 29 meshes with the driven gear 40. The driven gear 40 is fixedly connected to the bearing-fixed rotating cylinder in a detachable manner. The bearing-fixed rotating cylinder is fixedly connected to the driving sprocket 47 for movement in a detachable manner. During operation, the power of the right-angle motor 45 is sequentially transmitted to the driving sprocket 47 for movement through the driving gear 29, the driven gear 40, and the bearing-fixed rotating cylinder, so as to drive the driving sprocket 47 for movement to rotate. Two right-angle motors 45 are provided inside the body, respectively used to drive the crawler mechanisms on both sides.

[0064] The fifth driving component is a DC brushless motor 44. Two transmission shafts 42 are provided at the bottom layer of the detection and modeling robot. The DC brushless motor 44 is connected to the transmission shaft 42 through a bevel gear 43. A swing arm driving sprocket 11, a swing arm driven sprocket 13, and a connecting plate 12 are also provided on the side of the detection and modeling robot. One of the bearing-fixed rotating cylinders penetrates through the driving sprocket 47 for movement and the swing arm driven sprocket 13, and the other bearing-fixed rotating cylinder penetrates through the driven sprocket for movement and the swing arm driven sprocket 13. A connecting plate 12 is provided on the side of the swing arm driven sprocket 13 away from the body. The transmission shaft 42 passes through the bearing-fixed rotating cylinder and is fixedly connected to the connecting plate 12 in a detachable manner. The other side of the connecting plate 12 is connected to the swing arm driving sprocket 11. During operation, the power of the DC brushless motor 44 is transmitted to the swing arm driving sprocket 11 through the transmission shaft 42 and the connecting plate 12, so that the swing arm driving sprocket 11 swings by a certain angle. Both ends of the transmission shaft 42 are each connected to a swing arm crawler mechanism, and each transmission shaft 42 is connected to a DC brushless motor 44.

[0065] Among them, a bearing seat 41 is provided inside the body. The bearing fixed rotating cylinder fixedly connected to the moving driving wheel 47 is called the outer bearing fixed rotating cylinder 50. Then, an inner bearing fixed rotating cylinder 48 is provided inside the outer bearing fixed rotating cylinder 50. The transmission shaft 42 sequentially passes through the bearing seat 41 and the inner bearing fixed rotating cylinder 48. The inner bearing fixed rotating cylinder 48 is tightly sleeved outside the transmission shaft 42. The inner bearing fixed rotating cylinder 48 is connected to the outer bearing fixed rotating cylinder 50 through a bearing 49. The driven gear 40, the moving driving wheel 47, and the swing arm driven wheel 13 are all fixedly connected to the outer bearing fixed rotating cylinder 50 in a detachable manner. The bearing seat 41 and the inner bearing fixed rotating cylinder 48 are used to support the transmission shaft 42 to avoid bending deformation. The transmission shaft 42 is fixedly connected to the connecting plate 12 through a flange coupling 46 in a detachable manner. Except for not connecting the driven gear 40, the remaining structures of the transmission shaft 42 connected to the moving driven wheel are the same as the connection methods of the transmission shaft 42 with the moving driving wheel 47, the swing arm driven wheel 13, and the connecting plate 12.

[0066] Working process: When crossing an obstacle, the DC brushless motor 44 is started. The transmission shaft 42 drives the connecting plate 12 to swing. The swinging of the connecting plate 12 drives the swing arm crawler 10 to lift above the obstacle. Then, the DC brushless motor 44 rotates in reverse, and the swing arm crawler 10 moves downward to press the swing arm crawler 10 on the obstacle. Among them, when the DC brushless motor 44 rotates, the moving driving wheel 47, the moving driven wheel, and the swing arm driven wheel 13 do not rotate.

[0067] After the swing arm crawler 10 presses on the obstacle, the right-angle motor 45 is started to drive the moving driving wheel 47 and the swing arm driven wheel 13 to rotate synchronously, thereby providing power to enable the robot to cross over the obstacle. During this process, the DC brushless motor 44 drives the swing arm crawler 10 to gradually rotate to a state parallel to the ground, and then the DC brushless motor 44 is turned off. The robot moves linearly only driven by the right-angle motor 45.

[0068] In an embodiment, a robotic arm 1 is further provided on the top of the body. The robotic arm 1 is located outside the inlet / outlet 51. A second robotic claw 2 is provided on the robotic arm 1. The structure of the second robotic claw 2 is the same as that of the first robotic claw 18. When the relay kit 16 is sent to the outside of the self-organizing network cabin by the first robotic claw 18, the second robotic claw 2 grabs the relay kit 16, and the robotic arm 1 deploys the relay kit 16 in the external environment. After the first robotic claw 18 releases the relay kit 16, it moves back inside the self-organizing network cabin, and the sliding hatch 3 closes the inlet / outlet 51 to prevent foreign objects from entering the self-organizing network cabin and damaging the relay kit 16.

[0069] The energy and control system includes a power supply 37, a microcontroller 39, and a single-board computer 38. In one embodiment, the power supply 37 is a lithium battery, the microcontroller 39 is a Stm32f429, which is a 32-bit microcontroller based on the ARM Cortex-M4 core, and the single-board computer 38 is a Raspberry Pi 4B.

[0070] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A self-organizing network device, characterized in that, Including: A self-organizing network housing, an accommodation cavity is formed inside the self-organizing network housing, and an inlet / outlet is formed on a certain side wall of the self-organizing network housing for communicating the accommodation cavity and the external space; A placement platform, on which a number of relay kits for self-organizing network are placed; A moving component, both the moving component and the placement platform are located inside the accommodation cavity. The moving component has a grasping part and a moving part. The grasping part is used for grasping the relay kit. The grasping part and the moving part are in transmission connection. The grasping part can move linearly in the longitudinal, lateral, and vertical directions under the drive of the moving part, and can be changed from the vertical direction to the lateral direction or from the vertical direction to the longitudinal direction, so that the grasped relay kit can extend through the inlet / outlet to the external space for network formation.

2. The ad-hoc network device according to claim 1, characterized in that, The moving part includes: A first linear motion mechanism, the first linear motion mechanism has a first fixing part and a first moving part. The first fixing part is fixedly connected to the self-organizing network housing in a detachable manner. The first moving part is in transmission connection with the first fixing part and can move linearly in the longitudinal direction; A second linear motion mechanism, the second linear motion mechanism has a second fixing part and a second moving part. The second fixing part is fixedly connected to the first moving part in a detachable manner. The second moving part is in transmission connection with the second fixing part and can move linearly in the lateral direction; A third linear motion mechanism, the third linear motion mechanism has a third fixing part and a third moving part. The third fixing part is fixedly connected to the second moving part in a detachable manner. The third moving part is in transmission connection with the third fixing part and can move linearly in the vertical direction; and A rotating mechanism, the rotating mechanism has a fixed end and a rotating end. The fixed end is installed on the third moving part. The rotating end is fixedly connected to the grasping part in a detachable manner. The rotating end is rotatably connected to the third moving part. The grasping part can be changed from the vertical direction to the lateral direction or from the vertical direction to the longitudinal direction under the drive of the rotating end, so that the grasping part can extend through the inlet / outlet to the external space.

3. The ad-hoc network device according to claim 2, wherein The first fixing part includes a first slide rail and a first rack. The first slide rail is fixedly connected to the self-organizing network housing in a detachable manner. The first rack is arranged at one end of the first slide rail away from the self-organizing network housing and extends longitudinally; The first moving part includes a first driving motor, a first gear, and a cross bar. The first gear meshes with the first rack. The first gear is installed on the cross bar, and one end of the first gear passing through the cross bar is in transmission connection with the first driving motor; a first slider is arranged at one end of the cross bar facing the first slide rail, and the first slider is slidably connected to the first slide rail.

4. The ad-hoc network device according to claim 3, wherein The second fixing part includes a second slide bar and a second rack. Both the second slide bar and the second rack are fixedly connected to the cross bar in a detachable manner and extend laterally; The second moving member includes a second slider, a second driving motor, and a second gear. The second slider is sleeved outside the second sliding rod and is slidably connected to the second sliding rod. The second driving motor is installed on the second slider. The second gear is in transmission connection with the second driving motor, and the second gear meshes with the second rack.

5. The ad-hoc network device according to claim 4, wherein The third linear motion mechanism is an electric telescopic rod. The third fixed member is the fixed end of the electric telescopic rod, and the third moving member is the telescopic end of the electric telescopic rod. The fixed end is fixedly connected to the second slider in a detachable manner, and the telescopic end telescopically moves vertically.

6. The ad hoc network device according to claim 5, wherein The rotating mechanism is a third driving motor. The housing of the third driving motor is the fixed end, and the output shaft of the third driving motor is the rotating end. The housing is installed on the telescopic end of the electric telescopic rod. The output shaft is rotatably connected to the telescopic end of the electric telescopic rod and is fixedly connected to the grasping portion in a detachable manner. The grasping portion is perpendicularly arranged with respect to the axis of the output shaft, and the axis of the output shaft extends horizontally or longitudinally, so that the grasping portion is changed from vertical to longitudinal or from vertical to horizontal. The grasping portion includes a claw rod and a first mechanical claw capable of opening and closing. The claw rod is fixedly connected to the output shaft of the third driving motor in a detachable manner. The first mechanical claw includes a fixed block, a moving block, a fourth linear motion mechanism, a connecting rod, and a clamping claw arm. The fixed block is fixedly connected to the claw rod in a detachable manner. The fixed block is connected to the moving block through the fourth linear motion mechanism. The clamping claw arm is connected to the moving block through the connecting rod. The connecting rod is hinged to the moving block and the connecting rod is hinged to the clamping claw arm.

7. The ad-hoc network device according to any one of claims 1-6, characterized in that The surface of the placing table for placing the relay kit is a placing surface, and the placing table can rotate around an axis perpendicular to the placing surface. A sliding hatch is provided at the side wall of the self-organizing network housing where the inlet and outlet are opened. The upper and lower ends of the sliding hatch are respectively slidably connected to the top wall and the bottom wall of the self-organizing network housing for opening or closing the inlet and outlet.

8. A survey and modeling robot, characterized in that, Including the self-organizing network device, the chassis system, the energy and control system, the detection system, and the body according to any one of claims 1 to 7. The chassis system is located at the lower layer of the body. The energy and control system is located at the middle layer of the body and is signal-connected to the electric components in the chassis system, the self-organizing network device, and the detection system. The self-organizing network device and the detection system are located at the top of the body. The detection system includes a lidar and a depth camera. The lidar and the depth camera are sequentially arranged along the advancing direction of the surveying and modeling robot.

9. The surveying and modeling robot according to claim 8, characterized in that, The chassis system includes a motion component and a swing arm component. The motion component includes a crawler mechanism and a fourth driving component in transmission connection with the crawler mechanism. The crawler mechanism is arranged on the left and right sides of the surveying and modeling robot to drive the surveying and modeling robot to move. The swing arm assembly includes a swing arm track mechanism and a fifth drive assembly drivingly connected to the swing arm track mechanism, the swing arm track mechanism includes a swing arm driving wheel, a swing arm driven wheel, a connecting plate and a swing arm track sleeved on the outside of the swing arm driving wheel and the swing arm driven wheel, the swing arm driving wheel and the swing arm driven wheel are connected by the connecting plate, the swing arm driving wheel is located at the free end of the swing arm track, and is connected to the fifth drive assembly by a transmission shaft and a connecting plate, so as to drive the swing arm assembly to swing and overcome obstacles through the fifth drive assembly.

10. The surveying and modeling robot according to claim 9, characterized in that A mechanical arm is also provided on the top of the body, and the mechanical arm is located outside the inlet and outlet. A second mechanical claw is provided on the mechanical arm for grabbing the relay kit sent to the external space by the grabbing part.

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