Vacuum adsorption robot device

Abstract

The utility model relates to a vacuum adsorption robot device, which belongs to the field of remote control mobile robot devices and comprises a vehicle body, a moving mechanism and an adsorption mechanism are arranged on the vehicle body, the moving mechanism comprises a crawler belt and a pressing assembly, the crawler belt is connected with a driving system, and the driving system is arranged on the vehicle body. The driving system is used for driving the crawler belt to move on the climbing surface, and the pressing assembly is used for increasing the contact area of the crawler belt and the climbing surface. When the crawler moves to the concave position of the climbing surface, the idler wheels move in the direction close to the climbing surface through the elastic pieces, so that the friction surface of the crawler and the climbing surface is tightly attached to the concave position of the climbing surface, and the climbing surface is tightly attached to the climbing surface. The contact area between the crawler belt and the climbing surface is increased, namely the friction force between the crawler belt and the climbing surface is increased, the crawler belt is prevented from slipping, and the moving reliability of the vehicle body is improved.

Description

Technical Field

[0001] The utility model relates to a vacuum adsorption robot device, belonging to the field of remote control mobile robot devices. Background Art

[0002] Climbing robots are used in various applications and can carry different working tools, such as grinding tools, flaw detection instruments, spraying equipment, cutting equipment, inspection instruments and other execution tools to complete tasks such as cleaning, grinding, flaw detection, paint spraying, cutting, visual inspection and other tasks on various types of surfaces such as wind turbine blades, wind turbine towers, aircraft surfaces, chemical tanks, food storage tanks, etc.

[0003] The Australian invention patent with publication number AU2012316878A1 discloses a robot climbing platform, which has a chassis and a bracket suitable for supporting and moving the chassis relative to a climbing surface. The adhesion mechanism provides adhesion between the climbing platform and the climbing surface. The adhesion mechanism has one or more suction pads, and the suction pads are suitable for maintaining the adhesion between the climbing platform and the climbing surface during the movement of the chassis relative to the climbing surface. However, in the prior art, when the crawler moves on the climbing surface, if the climbing surface is concave, the contact area between the crawler and the climbing surface is easily reduced, that is, the friction between the crawler and the climbing surface is reduced, causing the crawler to slip and unable to move normally. At the same time, the existing patent uses an active vacuum suction cup. When the suction cup is attached to the climbing surface, it is necessary to use an external force (cam mechanism, spring mechanism, etc.) to press the suction cup to remove the air inside the suction cup, and the driving mechanism structure is complicated.

[0004] Therefore, a vacuum adsorption robot device is needed to ensure the contact area between the crawler and the climbing surface, avoid crawler slippage, realize the extension and recovery of the suction cup, and dynamically adjust the suction cup pull-back force according to the posture. Summary of the invention

[0005] The technical problem to be solved by the utility model is: in order to overcome the shortcomings of the prior art, a vacuum adsorption robot device is provided to ensure the contact area between the crawler and the climbing surface, avoid the crawler slipping, realize the extension and recovery of the suction cup, and dynamically adjust the size of the suction cup's pulling force according to the posture.

[0006] The technical solution adopted by the utility model to solve the above problems is: a vacuum adsorption robot device, including a vehicle body, on which a moving mechanism and an adsorption mechanism are arranged:

[0007] The moving mechanism includes a crawler and a clamping assembly, the crawler is connected to a driving system, the driving system is arranged on the vehicle body, the driving system is used to drive the crawler to move on the climbing surface, and the clamping assembly is used to increase the contact area between the crawler and the climbing surface;

[0008] The adsorption mechanism includes a suction cup and a lifter, the adsorption surface of the suction cup is arranged toward the direction close to the climbing surface, the suction cup is located outside the vehicle body, the adsorption surface of the suction cup is concave to form an adsorption cavity, and the lifter is used to drive the suction cup to move toward or away from the climbing surface.

[0009] Preferably, the adsorption mechanism is provided in multiple groups, and the multiple groups are distributed from left to right.

[0010] Preferably, a vacuum pressure sensor is installed in the adsorption chamber.

[0011] Preferably, the driving system comprises two rotating wheels, one of which is connected to a driving source, and the two rotating wheels are connected via a track.

[0012] Preferably, the clamping assembly comprises a fixing frame and a mounting frame, the fixing frame is fixedly arranged on the vehicle body, a roller is mounted on the mounting frame, the mounting frame is elastically connected to the fixing frame up and down through an elastic member, the roller abuts against the inner side of the crawler, and a thrust is applied to the mounting frame toward the climbing surface through the elastic member;

[0013] Preferably, the elastic member includes a moving rod, one end of which is fixedly arranged on a mounting frame, and a connecting ring, an upper spring, a mounting ring and a lower spring are sequentially sleeved on the moving rod along its length direction, the lower spring is located between the mounting ring and the mounting frame, the mounting ring is fixedly connected to the fixing frame, the mounting ring is slidably connected to the moving rod, the two ends of the upper spring are respectively connected to the mounting frame and the mounting ring, the two ends of the lower spring are respectively connected to the mounting ring and the connecting ring, a screw is threadedly connected on the moving rod, the screw abuts against a side of the connecting ring away from the lower spring, the upper spring is in a stretched state, and the lower spring is in a compressed state.

[0014] Preferably, the suction cup includes a suction cup inner core, a suction cup pad and a suction cup frame, the suction cup frame is connected to the lifter, the suction cup pad is sealed and fixedly mounted on the suction cup frame, the adsorption surface of the suction cup inner core is concave to form an adsorption cavity, the suction cup inner core is fixedly arranged on the suction cup pad, the adsorption surface of the suction cup inner core is arranged in a direction away from the suction cup pad, and the adsorption surface of the suction cup inner core is located on the side of the suction cup frame away from the lifter.

[0015] Preferably, a protective layer is provided on the surface of the inner core of the suction cup.

[0016] Preferably, the protective layer is made of Teflon.

[0017] Preferably, a camera is provided on the vehicle body.

[0018] Compared with the prior art, the advantages of the utility model are:

[0019] 1. When the crawler moves to the concave position of the climbing surface, the roller moves toward the climbing surface through the elastic member, so that the friction surface between the crawler and the climbing surface is close to the concave part of the climbing surface, increasing the contact area between the crawler and the climbing surface, that is, increasing the friction between the crawler and the climbing surface, avoiding the crawler from slipping, and improving the reliability of the vehicle body movement;

[0020] 2. When the adsorption mechanism is adsorbed on the climbing surface, the moving driving force generated by the crawler is sufficient to overcome the adsorption force, ensuring that the vehicle body can move normally during the adsorption mechanism adsorbed on the climbing surface;

[0021] 3. By setting up two sets of adsorption mechanisms, it is easy to cross the gap on the climbing surface;

[0022] 4. After the vacuum is formed in the adsorption chamber, the lifter is subjected to a pulling force in the direction of the climbing surface, that is, the crawler is subjected to pressure in the direction of the climbing surface, thereby further increasing the friction between the crawler and the climbing surface, ensuring that the vehicle body can provide a stable driving force on the inclined or inverted climbing surface, and preventing the vehicle body from slipping on the climbing surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional diagram of a vacuum adsorption robot device of the utility model;

[0024] Figure 2 This is a front view of a vacuum adsorption robot device of the utility model;

[0025] Figure 3 This is a left view of a vacuum adsorption robot device of the utility model;

[0026] Figure 4 This is a top view of a vacuum adsorption robot device of the utility model;

[0027] Figure 5 is a three-dimensional diagram of the moving mechanism;

[0028] Figure 6 is a three-dimensional diagram of a clamping assembly;

[0029] Figure 7 is a schematic diagram of the connection structure between the elastic member and the mounting frame;

[0030] Figure 8 is a three-dimensional diagram of the adsorption mechanism;

[0031] Fig. 9 A cross-sectional view of the suction cup.

[0032] in:

[0033] Vehicle body 1, camera 2, moving mechanism 3, adsorption mechanism 4, climbing surface 5;

[0034] A clamping assembly 31, a rotating wheel 32, and a crawler track 33;

[0035] A fixing frame 311, a mounting frame 312, a roller 313, and an elastic member 314;

[0036] Moving rod 3141, connecting ring 3142, upper spring 3143, mounting ring 3144, lower spring 3145, screw 3146;

[0037] Suction cup 41, lifter 42, adsorption chamber 43;

[0038] Suction cup inner core 411 , suction cup pad 412 , suction cup frame 413 . DETAILED DESCRIPTION

[0039] like Figure 1-9 As shown, a vacuum adsorption robot device in this embodiment includes a vehicle body 1, on which a camera 2, two moving mechanisms 3 and two groups of adsorption mechanisms 4 are arranged, the two moving mechanisms 3 are respectively arranged on the front and rear sides of the vehicle body 1, the two groups of adsorption mechanisms 4 are distributed from left to right, each group of adsorption mechanisms 4 is provided with two, and the two adsorption mechanisms 4 in the same group are distributed front and back, a remote control system and a wireless transmission system are arranged in the vehicle body 1, the camera 2, the moving mechanism 3 and the adsorption mechanism 4 are all connected to the remote control system, and the camera 2 is connected to the wireless transmission system. During operation, the moving mechanism 3 is controlled to work by the remote control system, so that the moving mechanism 3 drives the vehicle body 1 to move on the climbing surface 5. When the climbing surface 5 is inclined or inverted, the adsorption mechanism 4 is controlled to work by the remote control system, so that the adsorption mechanism 4 is adsorbed on the climbing surface 5 to prevent the vehicle body 1 from sliding or falling from the climbing surface 5. The shooting angle of the camera 2 is controlled by the remote control system, and the video signal shot by the camera 2 is transmitted to the terminal through the wireless transmission system;

[0040] The moving mechanism 3 includes a crawler 33 and two clamping assemblies 31. The crawler 33 is connected to a driving system, and the driving system is arranged on the vehicle body 1. The driving system is used to drive the crawler 33 to move on the climbing surface 5. The clamping assemblies 31 are used to make the crawler 33 close to the climbing surface 5, thereby increasing the friction between the crawler 33 and the climbing surface 5.

[0041] The driving system includes two rotating wheels 32, one of which is connected to a driving source, which may be a motor, and the two rotating wheels 32 are connected by a crawler 33, and the two clamping assemblies 31 are located between the two rotating wheels 32;

[0042] The clamping assembly 31 includes a fixing frame 311 and a mounting frame 312. The fixing frame 311 is fixedly arranged on the vehicle body 1. A roller 313 is mounted on the mounting frame 312. The mounting frame 312 is elastically connected to the fixing frame 311 up and down through an elastic member 314. The roller 313 abuts against the inner side of the crawler 33, and a thrust is applied to the mounting frame 312 toward the climbing surface 5 through the elastic member 314.

[0043] When the vehicle body needs to move on the climbing surface 5, the motor is started, and of the two rotating wheels 32, the one connected to the motor is the driving wheel, and the other is the driven wheel. The motor rotates the driving wheel, and the rotation of the driving wheel drives the driven wheel to rotate through the crawler 33, and the movement of the crawler 33 is realized at the same time. The bottom of the crawler 33 is in contact with the climbing surface 5, and the friction between the crawler 33 and the climbing surface 5 enables the wheel to move. Among them, through calculation, when the adsorption mechanism 4 is adsorbed on the climbing surface 5, the crawler 33 makes the vehicle body 1 generate a moving driving force sufficient to overcome the adsorption force, ensuring that the adsorption mechanism 4 is adsorbed on the climbing surface 5. The vehicle body 1 can move normally during the process of climbing the surface 5. In addition, the clamping assembly 31 ensures that the friction surface between the crawler 33 and the climbing surface 5 is close to the climbing surface 5, thereby increasing the contact area between the crawler 33 and the climbing surface 5, that is, increasing the friction between the crawler 33 and the climbing surface 5, thereby preventing the crawler 33 from slipping and improving the reliability of the movement of the vehicle body 1. Moreover, the adsorption mechanism 4 can also drive the vehicle body 1 to generate pressure in the direction close to the climbing surface 5, thereby increasing the pressure of the crawler 33 and the climbing surface 5, thereby further improving the friction between the crawler 33 and the climbing surface 5.

[0044] The mounting frames 312 are provided with two, and the two mounting frames 312 are distributed on the left and right;

[0045] The elastic member 314 includes a moving rod 3141, one end of which is fixedly arranged on the mounting frame 312, and a connecting ring 3142, an upper spring 3143, a mounting ring 3144 and a lower spring 3145 are sequentially sleeved on the moving rod 3141 along its length direction, and the lower spring 3145 is located between the mounting ring 3144 and the mounting frame 312, the mounting ring 3144 is fixedly connected to the fixing frame 311, and the mounting ring 3144 is slidably connected to the moving rod 3141, and two ends of the upper spring 3143 are respectively connected to the mounting frame 312 and the mounting ring 3144, and two ends of the lower spring 3145 are respectively connected to the mounting ring 3144 and the connecting ring 3142, and a screw 3146 is threadedly connected to the moving rod 3141, and the screw 3146 abuts against a side of the connecting ring 3142 away from the lower spring 3145;

[0046] Two groups of rollers 313 are arranged on the same mounting frame 312. The two groups of rollers 313 are distributed left and right. Each group of rollers 313 is provided with two rollers. The two rollers 313 in the same group are distributed front and back.

[0047] During the normal movement of the vehicle body 1, the upper spring 3143 is in a stretched state, while the lower spring 3145 is in a compressed state. When the climbing surface 5 is concave, the elastic action of the upper spring 3143 and the lower spring 3145 causes the moving rod 3141 to drive the mounting frame 312 to move toward the climbing surface 5, so that the roller 313 pushes the crawler track 33 to deform and fit the concave part. When the crawler track 33 moves to the plane of the climbing surface 5, the crawler track 33 pushes the roller 313 to rise, that is, the moving rod 3141 is reset. When the crawler track 33 moves to the raised position of the climbing surface 5, the crawler track 33 pushes the roller 313 to continue to rise, so that the upper spring 3143 continues to stretch, and the lower spring 3145 continues to compress.

[0048] The adsorption mechanism 4 includes a suction cup 41 and a lifter 42. The adsorption surface of the suction cup 41 is arranged toward the climbing surface 5. The adsorption surface of the suction cup 41 is concave by 1 mm to 4 mm to form an adsorption cavity 43. The suction cup 41 is located outside the vehicle body 1. The lifter 42 is used to drive the suction cup 41 to move toward or away from the climbing surface 5. The lifter 42 is a cylinder. A guide device is arranged at the piston rod end of the lifter 42. The guide device can be a guide block. The guide block prevents the piston rod from rotating during activity. When the vehicle body 1 needs to move on an inclined or inverted climbing surface 5, the lifter 42 is used to drive the suction cup 41 to move toward or away from the climbing surface 5. The descender 42 drives the suction cup 41 to move closer to the climbing surface 5, and makes the suction surface of the suction cup 41 adsorbed on the climbing surface 5, and at the same time, the air between the adsorption chamber 43 and the climbing surface 5 is discharged. After that, the lifter 42 drives the suction cup 41 to move away from the climbing surface 5, and the cylinder retracts. However, since the force recovered by the cylinder piston rod is less than the adsorption force between the suction cup 41 and the climbing surface 5, the adsorption surface of the suction cup 41 always fits with the climbing surface 5, and a vacuum is formed in the adsorption chamber 43, so that the suction cup 41 is adsorbed on the climbing surface 5. At the same time, due to the opposite effect of the forces, the vehicle body 1 will be retracted due to the retraction force of the cylinder. 1 is pulled toward the climbing surface 5, thereby increasing the positive pressure of the crawler 33 and the climbing surface 5, ensuring that even on the vertical and inverted climbing surfaces 5, the vehicle body will not slide on the climbing surface 5. Only when the motor is started, the vehicle body 1 will move on the climbing surface 5. When the suction cup 41 needs to be separated from the climbing surface 5, the suction switch of the suction cup is closed, and the suction cup 41 is driven by the lifter 42 to continue to move away from the climbing surface 5 until the suction cup 41 is separated from the climbing surface 5. In addition, when the vehicle body 1 moves on the climbing surface 5, after a vacuum is formed in the adsorption chamber 43, the lifter 42 is driven to move the suction cup 41 away from the climbing surface 5. The moving vehicle body 1 is subjected to a pulling force in the direction of approaching the climbing surface 5, that is, the crawler 33 is subjected to a pressure in the direction of approaching the climbing surface 5, that is, the friction between the crawler 33 and the climbing surface 5 is further increased, ensuring that the vehicle body 1 can provide a stable driving force on the inclined and inverted climbing surface 5, and preventing the vehicle body 1 from sliding on the climbing surface 5. Secondly, compared with the prior art that uses a cam and a spring to control the lifting of the suction cup 41, by using a cylinder to drive the suction cup 41 to lift, the air pressure in the adsorption chamber 43 can be better controlled, so that the positive pressure between the vehicle body 1 and the crawler 33 can be dynamically adjusted;

[0049] The suction cup 41 includes a suction cup inner core 411, a suction cup pad 412 and a suction cup frame 413. The suction cup frame 413 is universally connected to the lifter 42. The suction cup pad 412 is sealed and fixedly sleeved on the suction cup frame 413. The suction surface of the suction cup inner core 411 is concave to form an adsorption cavity 43. The suction cup inner core 411 is fixedly arranged on the suction cup pad 412. The adsorption surface of the suction cup inner core 411 is arranged in a direction away from the suction cup pad 412. The adsorption surface of the suction cup inner core 411 is located on the side of the suction cup frame 413 away from the lifter 42. The suction cup pad 412 is made of a flexible material, such as rubber. Reinforced fibers, talc and other raw materials can also be added to the rubber material to improve the flexibility and wear resistance of the suction cup pad 412 and reduce the sliding friction coefficient and other characteristics.

[0050] Of course, the suction cup inner core 411 can be composed of two parts: a base material and a surface material, and the surface material is attached to the surface of the base material by a spraying process or an adhesive process;

[0051] When the spraying process is adopted, the substrate is silicone or nitrile rubber, and the surface material is a coating or film with a low friction coefficient. The coating material can be nylon, Teflon, liquid metal, etc. Under high temperature, the coating material is evenly sprayed on the substrate to form a dense protective film. The protective film has the main characteristics of the coating material, extremely low friction coefficient and wear resistance, sealing, etc.

[0052] When the bonding process is adopted, the film-like material can be directly bonded to the substrate of the sucker inner core 411 by processes such as pressurization, heating, and vulcanization. The film-like material can be composed of nylon film, Teflon film, metal film and liner. The sucker pad 412 with adhesive film material inherits the significant characteristics of the film material, including extremely low friction coefficient, wear resistance and sealing performance;

[0053] A vacuum pressure sensor is installed in the adsorption chamber 43 to monitor the vacuum degree of the adsorption chamber 43. When the suction cups 41 move to the gap on the climbing surface 5, the vacuum of the adsorption chamber 43 of one group of suction cups 41 fails, while the other group of suction cups 41 is still in the adsorption state. When the suction cups 41 on the failed side cross the gap on the climbing surface 5, the failed suction cups 41 re-execute the adsorption action of the suction cups 41, and the other group of suction cups 41 also re-execute the adsorption action of the suction cups 41 after crossing the gap on the climbing surface 5.

[0054] The contact surface between the crawler 33 and the climbing surface 5 is provided with anti-skid grooves, and the friction between the crawler 33 and the climbing surface 5 is further improved by the anti-skid grooves;

[0055] Of course, when the climbing surface 5 is a straight horizontal plane or has a small inclination angle, there is no need to perform the adsorption action;

[0056] In summary, when the crawler 33 moves to the concave position of the climbing surface 5, the elastic member 314 causes the roller 313 to move toward the climbing surface 5, so that the friction surface between the crawler 33 and the climbing surface 5 is in close contact with the concave portion of the climbing surface 5, thereby increasing the contact area between the crawler 33 and the climbing surface 5, that is, increasing the friction between the crawler 33 and the climbing surface 5, thereby preventing the crawler 33 from slipping and improving the reliability of the movement of the vehicle body 1. Moreover, when the adsorption mechanism 4 is adsorbed on the climbing surface 5, the crawler 33 causes the vehicle body 1 to generate a moving driving force sufficient to overcome the adsorption force. It ensures that the vehicle body 1 can move normally when the adsorption mechanism 4 is adsorbed on the climbing surface 5. Secondly, by setting two groups of adsorption mechanisms 4, it is convenient to cross the gap on the climbing surface 5. In addition, after the vacuum is formed in the adsorption chamber 43, the lifter 42 is subjected to a pulling force in the direction close to the climbing surface 5, that is, the track 33 is driven to be subjected to a pressure in the direction close to the climbing surface 5, thereby further increasing the friction between the track 33 and the climbing surface 5, ensuring that the vehicle body 1 can provide a stable driving force on the inclined or inverted climbing surface 5, and preventing the vehicle body 1 from sliding on the climbing surface 5.

[0057] In addition to the above embodiments, the present invention also includes other implementation modes. Any technical solutions formed by equivalent transformation or equivalent replacement should fall within the protection scope of the claims of the present invention.

Claims

1. A vacuum adsorption robot device, comprising a vehicle body (1), wherein the vehicle body (1) is provided with a moving mechanism (3) and an adsorption mechanism (4), characterized in that: The moving mechanism (3) comprises a crawler (33) and a clamping assembly (31), the crawler (33) being connected to a drive system, the drive system being arranged on the vehicle body (1), the drive system being used to drive the crawler (33) to move on the climbing surface (5), and the clamping assembly (31) being used to increase the contact area between the crawler (33) and the climbing surface (5); The adsorption mechanism (4) comprises a suction cup (41) and a lifter (42); the adsorption surface of the suction cup (41) is arranged towards a direction close to the climbing surface (5); the suction cup (41) is located outside the vehicle body (1); the adsorption surface of the suction cup (41) is concave to form an adsorption cavity (43); and the lifter (42) is used to drive the suction cup (41) to move towards or away from the climbing surface (5).

2. A vacuum adsorption robot device according to claim 1, characterized in that: The adsorption mechanism is provided with multiple groups, and the multiple groups are distributed from left to right.

3. A vacuum adsorption robot device according to claim 1, characterized in that: A vacuum pressure sensor is installed in the adsorption chamber (43).

4. The vacuum adsorption robot device according to claim 1, characterized in that: The driving system comprises two rotating wheels (32), one of the rotating wheels (32) is connected to a driving source, and the two rotating wheels (32) are connected via a crawler track (33).

5. The vacuum adsorption robot device according to claim 1, characterized in that: The clamping assembly (31) comprises a fixing frame (311) and a mounting frame (312); the fixing frame (311) is fixedly arranged on the vehicle body (1); a roller (313) is mounted on the mounting frame (312); the mounting frame (312) is elastically connected to the fixing frame (311) up and down via an elastic member (314); the roller (313) abuts against the inner side of the crawler track (33); and a thrust is applied to the mounting frame (312) via the elastic member (314) toward the climbing surface (5).

6. A vacuum adsorption robot device according to claim 5, characterized in that: The elastic member (314) comprises a moving rod (3141), one end of which is fixedly arranged on a mounting frame (312), and the moving rod (3141) is provided with a connecting ring (3142), an upper spring (3143), a mounting ring (3144) and a lower spring (3145) in sequence along its length direction, the lower spring (3145) being located between the mounting ring (3144) and the mounting frame (312), the mounting ring (3144) being fixedly connected to the fixing frame (311), and the mounting ring (3144) and the moving rod (3141) are connected to each other. (3141) is slidably connected, the two ends of the upper spring (3143) are respectively connected to the mounting frame (312) and the mounting ring (3144), the two ends of the lower spring (3145) are respectively connected to the mounting ring (3144) and the connecting ring (3142), a screw (3146) is threadedly connected on the moving rod (3141), and the screw (3146) abuts against a side of the connecting ring (3142) away from the lower spring (3145), the upper spring (3143) is in a stretched state, and the lower spring (3145) is in a compressed state.

7. The vacuum adsorption robot device according to claim 1, characterized in that: The suction cup (41) comprises a suction cup inner core (411), a suction cup pad (412) and a suction cup frame (413); the suction cup frame (413) is connected to the lifter (42); the suction cup pad (412) is sealed and fixedly sleeved on the suction cup frame (413); the suction surface of the suction cup inner core (411) is concave to form a suction cavity (43); the suction cup inner core (411) is fixedly arranged on the suction cup pad (412); the suction surface of the suction cup inner core (411) is arranged in a direction away from the suction cup pad (412); and the suction surface of the suction cup inner core (411) is located on a side of the suction cup frame (413) away from the lifter (42).

8. The vacuum adsorption robot device according to claim 7, characterized in that: A protective layer is provided on the surface of the suction cup inner core (411).

9. The vacuum adsorption robot device according to claim 8, characterized in that: The protective layer is made of Teflon material.

10. The vacuum adsorption robot device according to claim 1, characterized in that: A camera (2) is arranged on the vehicle body (1).

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