A quick-detachable visual robot that moves along a track

Abstract

The present invention belongs to a visual robot, and specifically relates to a quick-release visual robot that moves along a track. It includes a robot chassis, which is used to be fixed on the track, and the robot chassis is used to carry all the components of the visual robot; a first visual adjustment pan-tilt, the first visual adjustment pan-tilt is fixed to the left side of the lower surface of the robot chassis through the mounting plate on the yaw axis drive shaft of the first pan-tilt; a second visual adjustment pan-tilt, the second visual adjustment pan-tilt is fixed to the right side of the upper surface of the robot chassis through the mounting plate on the yaw axis drive shaft of the second pan-tilt; the yaw axis drive shafts of the two pan-tilts are symmetrical about the central vertical plane of the robot chassis. The beneficial effects of the present invention are: the robot of the present invention can realize stable automatic movement on a linear robot track, and the robot can adapt to linear tracks of different sizes by replacing driving wheels and auxiliary wheel system support frames of different sizes, and the maximum track cross-section can be 180x60mm.

Description

Technical Field

[0001] The invention belongs to a visual robot, and in particular relates to a quick-detachable visual robot which moves along a track. Background Art

[0002] In recent years, the machine vision industry has experienced explosive growth. In the era of intelligence, accurate and efficient machine vision has become the focus of people's attention. Whether it is the expansion of machine vision applications or the advancement of upstream and downstream fields, the machine vision market continues to heat up under the catalysis of multiple factors. At present, the common applications of machine vision are landing product forms, including face payment screens, product recognition cashiers, unmanned retail convenience stores, etc., while there are fewer applications in track-mounted robots and real-time striking.

[0003] However, the existing visual robots have poor performance. Most of the visual robots used for real-time striking have the disadvantages of being inconvenient to move, having a small field of view and striking coverage, and can only strike single targets. Track robots need to be frequently disassembled and assembled on the track, but traditional track robots are inconvenient to disassemble and assemble due to structural problems, which makes them have the disadvantages of high labor costs for robot maintenance and easy impact on robot work due to assembly problems.

[0004] Therefore, a new quick-detachable visual robot that moves along a track is needed. Summary of the invention

[0005] The purpose of the present invention is to provide a quick-detachable visual robot that moves along a track in view of the defects of the prior art.

[0006] The specific technical solution adopted by the present invention is as follows: a quick-detachable visual robot that moves along a track, wherein the robot chassis is used to be fixed on the track, and the robot chassis is used to carry all components of the visual robot;

[0007] A first visual adjustment gimbal, which is fixed to the left side of the lower surface of the robot chassis through a mounting plate on the yaw axis driving shaft of the first gimbal;

[0008] The second visual adjustment gimbal is fixed to the right side of the upper surface of the robot chassis through a mounting plate on the yaw axis driving shaft of the second gimbal;

[0009] The two gimbal yaw axis drive axes are symmetrical about the central vertical plane of the robot chassis.

[0010] A quick-release visual robot that moves along a track as described above, wherein the robot chassis includes a driving wheel drive motor, a driving wheel, a chassis left handle, a chassis right handle, a chassis front protection plate, a chassis rear protection plate, a positioning module, a chassis opening and closing left rotation shaft, a chassis opening and closing right rotation shaft, a left laser ranging sensor, a right laser ranging sensor, an energy storage battery, a mode status display lamp, two chassis quick-release modules, and a chassis auxiliary wheel system;

[0011] The robot chassis includes two layers of brackets that can be opened and closed up and down. The two layers of brackets are hinged through the chassis opening and closing left shaft and the chassis opening and closing right shaft. The main structure of the robot chassis is built with aluminum profiles and carbon fiber plates. There are 8 sets of chassis auxiliary wheel systems, which are respectively set on the upper bracket and the lower bracket. When the upper bracket and the lower bracket are closed, the chassis auxiliary wheel system matches the track; the driving wheel is a customized wear-resistant rubber-coated roller, and all the driven wheels in the chassis auxiliary wheel system are plastic-coated bearing pulleys;

[0012] The lower bracket is provided with a slide rail, a left laser distance measuring sensor and a right laser distance measuring sensor are provided on the slide rail, and a left quick release buckle and a right quick release buckle are provided at the end of the lower bracket.

[0013] The upper bracket is provided with a positioning module, an energy storage battery and a mode status display lamp, wherein the energy storage battery is used to supply power to all electrical equipment, the mode status display lamp is used to display the mode status of the quick-detachable visual robot moving along the track, and the positioning module is used for positioning;

[0014] The driving wheel is arranged on the output shaft of the driving wheel driving motor, and the driving wheel driving motor is fixedly arranged on the upper bracket and electrically connected to the energy storage battery.

[0015] As described above, a quick-detachable visual robot that moves along a track, wherein the left handle of the chassis and the right handle of the chassis are respectively arranged on the left and right sides of the robot chassis; the front protection plate of the chassis and the rear protection plate of the chassis are respectively arranged on the front and rear sides of the robot chassis.

[0016] A quick-release visual robot that moves along a track as described above, wherein the two chassis quick-release modules are respectively a first quick-release module and a second quick-release module, wherein the first quick-release module comprises a left quick-release buckle, a left quick-release snap buckle, and a right movable limit plate of the chassis quick-release module; wherein the left quick-release buckle is arranged on a lower bracket, the left quick-release snap buckle is arranged on an upper bracket, the right movable limit plate of the chassis quick-release module is fixed on the left quick-release snap buckle, the position of the right movable limit plate of the chassis quick-release module matches the position of the left quick-release buckle, and the left quick-release buckle can lock or open the first quick-release module by locking or loosening the right movable limit plate of the chassis quick-release module;

[0017] The second quick-release module includes a right quick-release buckle, a right quick-release clip, and a left-shift limit plate of the chassis quick-release module; wherein the right quick-release buckle is arranged on the lower bracket, the right quick-release clip is arranged on the upper bracket, the left-shift limit plate of the chassis quick-release module is fixed on the right quick-release clip, the position of the left-shift limit plate of the chassis quick-release module matches the position of the right quick-release buckle, and the right quick-release buckle can lock or open the second quick-release module by locking or loosening the left-shift limit plate of the chassis quick-release module.

[0018] A quick-detachable visual robot that moves along a track as described above, wherein a first visual adjustment gimbal includes a first gimbal connecting rod gimbal pitch angle control mechanism, the first gimbal connecting rod gimbal pitch angle control mechanism is electrically connected to a first pitch control motor, a first gimbal camera and a first gimbal transmitting module are arranged at the front end of the first gimbal connecting rod gimbal pitch angle control mechanism, a first gimbal quick-detachable ammunition storage system is arranged on the first gimbal connecting rod gimbal pitch angle control mechanism, the first gimbal quick-detachable ammunition storage system is used for storing projectiles and transmitting them to the first gimbal transmitting module, a first gimbal yaw axis drive shaft is arranged at the top of the first gimbal quick-detachable ammunition storage system, a first gimbal visual processor is also arranged on the first gimbal connecting rod gimbal pitch angle control mechanism, and the first gimbal visual processor is connected to the first gimbal camera signal.

[0019] A quick-detachable visual robot that moves along a track as described above, wherein the first gimbal quick-detachable ammunition storage system includes a first gimbal quick-detachable ammunition storage box, the first gimbal quick-detachable ammunition storage box is a box-mounted part, a first ammunition storage box slide cover is arranged on the top of the first gimbal quick-detachable ammunition storage box, the first ammunition storage box slide cover is fixedly connected to the side wall of the first gimbal quick-detachable ammunition storage box through a first ammunition storage box spring hinge, an ammunition storage box buckle is arranged on the first gimbal quick-detachable ammunition storage box, and an ammunition storage box slide groove is also arranged on the first gimbal quick-detachable ammunition storage box, and the first ammunition storage box slide cover can slide along the direction of the ammunition storage box slide groove.

[0020] A quick-detachable visual robot that moves along a track as described above, wherein the bottom surface of the first gimbal quick-detachable ammunition storage system is the first gimbal ammunition box side mounting plate, a projectile channel hole is arranged on the first gimbal ammunition box side mounting plate, a first gimbal ammunition feed pipeline is arranged on the projectile channel hole, the first gimbal ammunition feed pipeline is connected to the first gimbal launching module, the first gimbal ammunition box side mounting plate and the first gimbal ammunition feed pipeline are both arranged on the first gimbal ammunition box mounting seat, and the first gimbal ammunition box mounting seat is fixedly connected to the connecting rod gimbal pitch angle control mechanism; the first gimbal quick-detachable ammunition storage system also includes a first gimbal ammunition box side fixing plate and a first gimbal ammunition box lower fixing plate for reinforcement; the first gimbal connecting rod gimbal pitch angle control mechanism is a parallelogram structure, and the four sides of the parallelogram are respectively composed of a first pitch control motor connected to a first pitch motor connecting plate and a first pitch motor fixing plate, the first pitch motor connecting plate is connected to a first pitch connecting rod, and the first pitch connecting rod is connected to a first visual adjustment gimbal outer plate.

[0021] A quick-detachable visual robot that moves along a track as described above, wherein the second visual adjustment gimbal includes a second gimbal connecting rod gimbal pitch angle control mechanism, the second gimbal connecting rod gimbal pitch angle control mechanism is electrically connected to the second pitch control motor, a second gimbal camera and a second gimbal transmitting module are arranged at the front end of the second gimbal connecting rod gimbal pitch angle control mechanism, a second gimbal quick-detachable ammunition storage system is arranged on the second gimbal connecting rod gimbal pitch angle control mechanism, the second gimbal quick-detachable ammunition storage system is used for storing projectiles and transmitting them to the second gimbal transmitting module, a second gimbal yaw axis drive shaft is arranged at the bottom end of the second gimbal connecting rod gimbal pitch angle control mechanism, a second gimbal visual processor is also arranged on the second gimbal quick-detachable ammunition storage system, and the second gimbal visual processor is connected to the second gimbal camera signal.

[0022] A quick-detachable visual robot that moves along a track as described above, wherein the second gimbal quick-detachable ammunition storage system includes a second gimbal quick-detachable ammunition storage box, the second gimbal quick-detachable ammunition storage box is a box-mounted part, a storage box flap is arranged at the top of the second gimbal quick-detachable ammunition storage box, and the storage box flap is connected to the second gimbal quick-detachable ammunition storage box shaft through a second storage box spring hinge (67, 68); the second gimbal quick-detachable ammunition storage box is arranged on the second gimbal quick-detachable ammunition storage box mounting seat.

[0023] A quick-detachable visual robot that moves along a track as described above, wherein the side wall of the second gimbal quick-detachable ammunition storage system is arranged as a second gimbal ammunition delivery pipeline, and the second gimbal ammunition delivery pipeline is connected to the second gimbal launching module; the first gimbal quick-detachable ammunition storage system also includes a second gimbal ammunition storage box side fixing plate and a second gimbal ammunition storage box lower fixing plate for reinforcement; the second gimbal connecting rod gimbal pitch angle control mechanism is a parallelogram structure, and the four sides of the parallelogram are respectively composed of a second pitch motor connecting plate 56 and a second pitch motor fixing plate connected through a second pitch control motor, the second pitch motor connecting plate is connected to the second pitch connecting rod, and the second pitch connecting rod is connected to the second visual adjustment gimbal outer plate.

[0024] Compared with the prior art, the present invention has the following beneficial effects: the robot of the present invention can realize stable automatic movement on a linear robot track, and the robot can adapt to linear tracks of different sizes by replacing driving wheels and auxiliary wheel support frames of different sizes, and the maximum track cross-section can be 180x60mm.

[0025] The invention can be disassembled and assembled on the track through a quick-detachable chassis, and can be quickly completed within 10 seconds by two people working together.

[0026] The two groups of laser ranging sensors on the robot chassis of the present invention cooperate with the positioning module to sense the position of the robot on the track in real time, so that the robot can move on the track according to the planned motion trajectory, and can also realize random autonomous movement on the track without colliding with the pillars on both sides of the track.

[0027] The present invention can obtain a wider striking field of view and striking coverage through the cooperation of the upper and lower visual adjustment platforms and the autonomous movement of the robot on the track.

[0028] The upper and lower visual adjustment platforms of the present invention are designed with separate cameras and processors, which can shoot targets through the cameras and feed information back to the processor. The visual adjustment platform is endowed with visual recognition function and visual processing through a human body recognition algorithm based on a visual color processing mechanism, and different objects can be recognized and hit in real time, or specific features such as graphics, colors, and numbers can be recognized to hit.

[0029] The present invention adopts an independent working scheme of the upper and lower visual adjustment pan-tilts, which can patrol different angles and directions at the same time. After the target appears, it can quickly identify the target and hit two different targets at the same time in real time. It can also communicate between the two adjustment pan-tilts, so that after one pan-tilt identifies the target, the two pan-tilts hit the target at the same time.

[0030] The present invention has two usage modes. After the ammunition storage box is installed, it can be used as a visual strike robot. After the ammunition storage box is removed, it can be used as a track inspection visual robot.

[0031] As a security system in a specific environment, the present invention can save labor while strengthening the control of the target area and improving the intelligent level of security defense. In the application scenario of future digital military warfare, the present invention can also be more widely used after modification. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The overall structure diagram of the present invention is

[0033] Figure 2 Schematic diagram of the robot chassis of the present invention unfolding posture

[0034] Figure 3 Schematic diagram of the chassis auxiliary wheel system of the present invention

[0035] Figure 4 Schematic diagram of the use of the robot chassis quick-release structure of the present invention

[0036] Figure 5 This is a schematic diagram of the structure of the first visual adjustment platform of the present invention.

[0037] Figure 6 Schematic diagram of the first visual adjustment gimbal storage box of the present invention

[0038] Figure 7 Schematic diagram of the mechanism of the first visual adjustment gimbal of the present invention without the ammunition storage box

[0039] Figure 8 The schematic diagram of the structure of the second visual adjustment platform of the present invention is

[0040] Fig. 9 Schematic diagram of the second visual adjustment pan-tilt ammunition storage box of the present invention

[0041] Fig.10 Schematic diagram of the mechanism of removing the ammunition storage box for the second visual adjustment gimbal of the present invention

[0042] Fig.11 This is a schematic diagram of the structure of the track inspection robot after removing the two pan-tilt ammunition storage boxes of the present invention

[0043] Fig.12 A three-dimensional schematic diagram of the present invention mounted on a robot track

[0044] In the figure: 1. driving wheel drive motor, 2. driving wheel, 3. chassis left handle, 4. chassis right handle, 7. chassis front protection plate, 8. chassis rear protection plate, 9. positioning module, 10. chassis opening and closing left shaft, 11. chassis opening and closing right shaft, 12. left laser distance sensor, 13. right laser distance sensor, 14. left quick release buckle, 15. right quick release buckle, 16. energy storage battery, 17. mode status display lamp, 18. auxiliary wheel system, 19. left quick release buckle, 20. right quick release buckle, 21. bottom 1. right movement limit plate of chassis quick release module, 2. left movement limit plate of chassis quick release module, 3. first gimbal visual processor, 3. first gimbal camera, 3. first gimbal launch module, 3. first gimbal quick release ammunition storage box, 3. first gimbal slide cover, 3. first gimbal buckle, 3. first gimbal spring hinge, 3. first gimbal slide slot, 4. first gimbal yaw axis drive shaft, 4. first gimbal side mounting plate of ammunition storage box, 4. first gimbal mounting seat of ammunition storage box, 4. first gimbal ammunition delivery pipeline, 44. First gimbal ammunition storage box side fixing plate, 45. First gimbal ammunition storage box lower fixing plate, 51. First pitch motor connecting plate, 52. First pitch connecting rod, 53. First pitch motor fixing plate, 54. First visual adjustment gimbal outer plate, 55. First pitch control motor, 56. Second pitch motor connecting plate, 57. Second pitch connecting rod, 58. Second pitch motor fixing plate, 60. Second pitch control motor, 61. Second gimbal camera, 62. Second gimbal transmitting module, 63. Second gimbal yaw axis Drive shaft, 66. Second gimbal quick-release ammunition storage box, 67, 68. Second gimbal spring hinges, 69. Second gimbal visual processor, 70. Ammunition storage box flap, 71. Second gimbal ammunition delivery pipeline, 73. Second gimbal ammunition storage box mounting seat, 74. Second gimbal ammunition storage box side fixing plate, 75. Second gimbal ammunition storage box lower fixing plate, 100. Track, 101. Left column of track, 102. Right column of track, 104. Robot chassis, 105. First visual adjustment gimbal, 106. Second visual adjustment gimbal. DETAILED DESCRIPTION

[0045] The present invention will be further described and illustrated below in conjunction with the accompanying drawings and specific implementation methods.

[0046] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invented product is usually placed when in use, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] See also Figure 1 The present invention is a quick-detachable visual robot that moves along a track and is designed for track inspection and real-time strike functions and is used in the field of perimeter intrusion and blind spot monitoring. The robot includes a robot chassis 104, a first visual adjustment platform 105, and a second visual adjustment platform 106.

[0049] The structure of the quick-detachable visual robot moving along the track is as follows: with the robot chassis 104 as a reference, the first visual adjustment platform 105 is fixed to the left side of the lower surface of the robot chassis 104 through the mounting plate on the first platform yaw axis driving shaft 40, and the second visual platform 106 is fixed to the right side of the upper surface of the robot chassis 104 through the mounting plate on the second platform yaw axis driving shaft 63. The two platform yaw axis driving shafts are symmetrical about the central vertical plane of the robot chassis 104.

[0050] The structure of the quick-detachable visual robot that moves along the track is as follows:

[0051] See also Figure 2 , Figure 3 , Figure 4 , Fig.12The robot chassis 104 is composed of a driving wheel drive motor 1, a driving wheel 2, a chassis left handle 3, a chassis right handle 4, a chassis front protection plate 7, a chassis rear protection plate 8, a positioning module 9, a chassis opening and closing left rotation shaft 10, a chassis opening and closing right rotation shaft 11, a left laser distance sensor 12, a right laser distance sensor 13, a storage battery 16, and a mode status display lamp 17; two chassis quick release modules, including a first quick release module composed of a left quick release buckle 14, a left quick release buckle 19, and a chassis quick release module right moving limit plate 21, and a second quick release module composed of a right quick release buckle 15, a right quick release buckle 20, and a chassis quick release module left moving limit plate 22, and a chassis auxiliary wheel system 18. The main structure of the robot chassis 104 is built of aluminum profiles and carbon fiber plates, the driving wheel 2 is a customized wear-resistant rubber coated roller, and all driven wheels in the chassis auxiliary wheel system 18 are plastic-coated bearing pulleys.

[0052] The robot chassis 104 is mounted on the robot track 100 through the buckles and snaps in the two disassembly modules. The left quick release buckle 14, the left quick release snap 19, the right quick release buckle 15, and the right quick release snap 20 in the two quick release modules limit the opening and closing movement of the robot chassis along the chassis opening and closing left rotation axis 10 and the chassis opening and closing right rotation axis 11. The left and right relative displacement of the robot chassis during the movement is limited by the right movement limit plate 21 of the chassis quick release module and the left movement limit plate 22 of the chassis quick release module. After the robot chassis 104 is mounted on the robot track 100, the driving wheel 2 and the auxiliary wheel system 18 will contact the track surface. The robot chassis 104 can sense the position of the robot on the track in real time through the left laser ranging sensor 12, the right laser ranging sensor 13 and the positioning module 9, thereby realizing the movement function on the robot track.

[0053] See also Figure 5 , Figure 6 , Figure 7 The first visual adjustment gimbal 105 is composed of a first gimbal visual processor 32, a first gimbal camera 33, a first gimbal transmitting module 34, a first gimbal quick-release ammunition storage box 35, a first gimbal slide cover 36, an ammunition storage box buckle 37, a first ammunition storage box spring hinge 38, an ammunition storage box slide 39, a first gimbal yaw axis drive shaft 40, a first gimbal ammunition storage box side mounting plate 41, a first gimbal ammunition storage box mounting seat 42, a first gimbal ammunition delivery pipeline 43, a first gimbal ammunition storage box side fixing plate 44, and a first gimbal ammunition storage box lower fixing plate 45; the first pitch motor connecting plate 51 and the first pitch motor fixing plate 53 are connected through a first pitch control motor 55, the first pitch motor connecting plate 51 is connected to the first pitch connecting rod 52, and the first pitch connecting rod 52 is connected to the first visual adjustment gimbal outer plate 54 to form a parallelogram connecting rod gimbal pitch angle control mechanism.

[0054] The first visual adjustment gimbal 105 controls the rotation of the gimbal yaw axis through the first gimbal yaw axis driving shaft 40. The change of the gimbal pitch angle is controlled by the parallelogram linkage gimbal pitch angle control mechanism. The first pitch control motor 55 is a hollow shaft motor, the stator part of the motor is fixed on the first pitch motor fixing plate 53, and the rotor part is fixed on the first pitch motor connecting plate 51. The parallelogram linkage mechanism is deformed by the rotation of the motor, which drives the change of the gimbal pitch angle. The projectiles stored in the first gimbal quick-release ammunition storage box 35 are transmitted to the first gimbal launch module 34 through the first gimbal ammunition delivery pipeline 43 for launch. The ammunition storage box of the first visual adjustment gimbal 105 is a detachable design. The installation of the ammunition storage box can be completed by installing the first gimbal ammunition storage box side mounting plate 41 on the first gimbal ammunition storage box side fixing plate 44 and installing the first gimbal ammunition storage box mounting seat 42 on the first gimbal ammunition storage box lower fixing plate 45. During disassembly, the first gimbal ammunition box side mounting plate 41 needs to be detached from the first gimbal ammunition box side fixing plate 44, and the first gimbal ammunition box mounting seat 42 needs to be detached from the first gimbal ammunition box lower fixing plate 45 so that the ammunition box can be removed.

[0055] See also Figure 8 , Fig. 9 , Fig.10 The second visual adjustment gimbal is composed of a second gimbal visual processor 69, a second gimbal camera 61, a second gimbal transmitting module 62, a second gimbal yaw axis driving shaft 63, a second gimbal quick-release ammunition storage box 66, two second ammunition storage box spring hinges 67, 68, an ammunition storage box flip cover 70, a second gimbal ammunition delivery pipeline 71, a second gimbal ammunition storage box side mounting plate 72, a second gimbal ammunition storage box mounting seat 73, a first gimbal ammunition storage box side fixing plate 74, and a first gimbal ammunition storage box lower fixing plate 75; the second pitch control motor 60 is connected to the second pitch motor connecting plate 56 and the second pitch motor fixing plate 58, the second pitch motor connecting plate 56 is connected to the second pitch connecting rod 57, and the second pitch connecting rod 57 is connected to the second visual adjustment gimbal outer plate 59 to form a parallelogram connecting rod gimbal pitch angle control mechanism.

[0056] The second visual adjustment gimbal 106 controls the rotation of the gimbal yaw axis through the second gimbal yaw axis driving shaft 63. The change of the gimbal pitch angle is controlled by the parallelogram linkage gimbal pitch angle control mechanism. The second pitch control motor 60 is a hollow shaft motor, the stator part of the motor is fixed on the second pitch motor fixing plate 58, and the rotor part is fixed on the second pitch motor connecting plate 56. The parallelogram linkage mechanism is deformed by the rotation of the motor, which drives the change of the gimbal pitch angle. This structure is exactly the same as the parallelogram linkage gimbal pitch angle control mechanism of the first visual adjustment gimbal. The projectiles stored in the second gimbal quick-release ammunition storage box 66 are transmitted to the second gimbal launch module 62 through the second gimbal ammunition delivery pipeline 71 for launch. Similar to the ammunition box of the first visual adjustment gimbal 105, the ammunition box of the second visual adjustment gimbal 106 is of detachable design. The installation of the ammunition box can be completed by installing the second gimbal ammunition box side mounting plate 72 on the second gimbal ammunition box side fixing plate 74, and installing the second gimbal ammunition box mounting seat 73 on the second gimbal ammunition box lower fixing plate 75. During disassembly, the second gimbal ammunition box side mounting plate 72 needs to be detached from the second gimbal ammunition box side fixing plate 74, and the second gimbal ammunition box mounting seat 73 needs to be detached from the second gimbal ammunition box lower fixing plate 75 to remove the ammunition box. When the ammunition boxes of the two visual adjustment gimbals are installed, the present invention can be used as a visual strike robot, see Figure 1 ; When the ammunition storage boxes of the two visual adjustment platforms are removed, the present invention can be used as a track inspection visual robot, see Fig.11 .

[0057] The installation process of the present invention on the track is as follows: one person stands in front of the robot and removes the left quick-release buckle 14 and the right quick-release buckle 15 from the left quick-release buckle 19 and the right quick-release buckle 20 respectively, and takes the chassis opening and closing left rotating shaft 10 and the chassis opening and closing right rotating shaft 11 as the rotation center, and opens the robot chassis 104 accordingly. After the robot chassis 104 is opened, the person standing in front of the robot holds the lower surface of the robot chassis 104 or the bottom of the first visual adjustment platform 105 with his hands. One person stands behind the robot, grasps the left handle 3 and the right handle 4 of the chassis with both hands, and lifts the robot. After the two people cooperate to mount the robot on the track 100, the robot chassis 104 is closed, and the left quick-release buckle 14 is placed on the left quick-release buckle 19, and the right quick-release buckle 15 is placed on the right quick-release buckle 20 to complete the installation.

[0058] The disassembly process of the present invention from the track is as follows: one person stands behind the robot, and holds the left handle 3 and the right handle 4 of the chassis with both hands to ensure that the robot chassis will not slide off the track after opening. One person stands in front of the robot and removes the left quick-release buckle 14 and the right quick-release buckle 15 from the left quick-release buckle 19 and the right quick-release buckle 20, respectively, and takes the chassis opening and closing left rotating shaft 10 and the chassis opening and closing right rotating shaft 11 as the rotation center, and opens the robot chassis 104. After the two people cooperate to take the present invention off the track 100, close the robot chassis 104, and put the left quick-release buckle 14 on the left quick-release buckle 19, and the right quick-release buckle 15 on the right quick-release buckle 20 to complete the disassembly.

[0059] The first visual adjustment pan-tilt ammunition box filling process of the present invention is as follows: after lifting the ammunition box buckle 37, slide out the first ammunition box slide cover 36. After filling with full projectiles, align the first ammunition box slide cover 36 with the ammunition box chute 39 and slide it in. After the first ammunition box slide cover 36 is fully in place, put down the ammunition box buckle 37, and the first ammunition box spring hinge 38 will press the first ammunition box slide cover 36 through the ammunition box buckle 37 to limit the up and down movement of the first ammunition box slide cover 36. The first ammunition box slide cover 36 has a limiting hole, which cooperates with the ammunition box buckle 37 and the ammunition box chute 39 to limit the forward, backward, left and right movement of the first ammunition box slide cover 36. After completion, the first ammunition box slide cover 36 will firmly cover the first pan-tilt quick-release ammunition box 35.

[0060] The process of loading the second visual adjustment pan-tilt ammunition storage box of the present invention is as follows: the ammunition storage box flap 70 is opened with the rotation axis of the two second ammunition storage box spring hinges 67, 68 as the rotation center. After the ammunition storage box is filled with bullets, the ammunition storage box flap 70 is released. After completion, the two second ammunition storage box spring hinges 67, 68 will make the ammunition storage box flap 70 firmly press the second pan-tilt quick-release ammunition storage box 66.

[0061] The patrol and identification working mode of the present invention on the track is as follows: the robot as a whole can perform reciprocating motion or random disguised motion on the track 100 through the robot chassis 104 following the planned motion mode. During the motion process, the first visual adjustment pan-tilt 105 makes a 360-degree circular rotation through the first pan-tilt yaw axis drive shaft 40, and at the same time, the parallelogram linkage pan-tilt pitch angle control mechanism drives the pan-tilt to perform reciprocating pitch motion; the second visual adjustment pan-tilt 106 makes a 180-degree reciprocating rotation through the second pan-tilt yaw axis drive shaft 63, and the second visual adjustment pan-tilt 106 is always facing the front of the track during the patrol process, and at the same time, the parallelogram linkage pan-tilt pitch angle control mechanism drives the pan-tilt to perform reciprocating pitch motion. The patrol work of the two visual adjustment pan-tilts is independent of each other, and the target can be quickly locked after being identified. See the three-dimensional schematic diagram of the present invention when it is loaded on the robot track for work. Fig.12 .

Claims

1. A quick-detachable visual robot that moves along a track, characterized in that: It comprises a robot chassis (104), the robot chassis (104) is used to be fixed on the track (100), and the robot chassis (104) is used to carry all components of the visual robot; A first visual adjustment platform (105), the first visual adjustment platform (105) being fixed to the left side of the lower surface of the robot chassis (104) through a mounting plate on the first platform yaw axis driving shaft (40); A second visual adjustment platform (106), the second visual adjustment platform (106) is fixed to the right side of the upper surface of the robot chassis (104) through a mounting plate on the second platform yaw axis driving shaft (63); The two pan-tilt yaw axis drive axes are bilaterally symmetrical about the central vertical plane of the robot chassis (104); The robot chassis (104) comprises a driving wheel drive motor (1), a driving wheel (2), a chassis left handle (3), a chassis right handle (4), a chassis front protection plate (7), a chassis rear protection plate (8), a positioning module (9), a chassis opening and closing left rotating shaft (10), a chassis opening and closing right rotating shaft (11), a left laser distance measuring sensor (12), a right laser distance measuring sensor (13), an energy storage battery (16), a mode status display lamp (17), two chassis quick release modules, and a chassis auxiliary wheel system (18); The robot chassis (104) comprises two brackets that can be opened and closed up and down, and the two brackets are hinged through a chassis opening and closing left rotating shaft (10) and a chassis opening and closing right rotating shaft (11). The main structure of the robot chassis (104) is constructed of aluminum profiles and carbon fiber plates. There are 8 sets of chassis auxiliary wheel trains (18) respectively arranged on the upper bracket and the lower bracket. When the upper bracket and the lower bracket are closed, the chassis auxiliary wheel train (18) matches the track (100); the driving wheel (2) is a customized wear-resistant rubber coated roller, and all driven wheels in the chassis auxiliary wheel train (18) are plastic coated bearing pulleys; The lower bracket is provided with a slide rail, a left laser distance measuring sensor (12) and a right laser distance measuring sensor (13) are provided on the slide rail, and a left quick release buckle (14) and a right quick release buckle (15) are provided at the end of the lower bracket. The upper bracket is provided with a positioning module (9), an energy storage battery (16) and a mode status display lamp (17), wherein the energy storage battery (16) is used to supply power to all electrical devices, the mode status display lamp (17) is used to display the mode status of the quick-detachable visual robot that moves along the track, and the positioning module (9) is used for positioning; The driving wheel (2) is arranged on the output shaft of the driving wheel driving motor (1), and the driving wheel driving motor (1) is fixedly arranged on the upper bracket and electrically connected to the energy storage battery (16); A chassis left handle (3) and a chassis right handle (4) are respectively arranged on the left and right sides of the robot chassis (104); a chassis front protection plate (7) and a chassis rear protection plate (8) are respectively arranged on the front and rear sides of the robot chassis (104); The two chassis quick-release modules are respectively a first quick-release module and a second quick-release module, wherein the first quick-release module comprises a left quick-release buckle (14), a left quick-release snap buckle (19), and a right movable limiting plate (21) of the chassis quick-release module; wherein the left quick-release buckle (14) is arranged on a lower bracket, the left quick-release snap buckle (19) is arranged on an upper bracket, the right movable limiting plate (21) of the chassis quick-release module is fixed on the left quick-release snap buckle (19), the position of the right movable limiting plate (21) of the chassis quick-release module matches the position of the left quick-release buckle (14), and the left quick-release buckle (14) can lock or open the first quick-release module by locking or loosening the right movable limiting plate (21) of the chassis quick-release module; The second quick-release module comprises a right quick-release buckle (15), a right quick-release buckle (20), and a chassis quick-release module left-shift limit plate (22); wherein the right quick-release buckle (15) is arranged on the lower bracket, the right quick-release buckle (20) is arranged on the upper bracket, the chassis quick-release module left-shift limit plate (22) is fixed on the right quick-release buckle (20), the position of the chassis quick-release module left-shift limit plate (22) matches the position of the right quick-release buckle (15), and the right quick-release buckle (15) can lock or open the second quick-release module by locking or loosening the chassis quick-release module left-shift limit plate (22); The first visual adjustment gimbal (105) comprises a first gimbal connecting rod gimbal pitch angle control mechanism, the first gimbal connecting rod gimbal pitch angle control mechanism is electrically connected to a first pitch control motor (55), a first gimbal camera (33) and a first gimbal transmitting module (34) are arranged at the front end of the first gimbal connecting rod gimbal pitch angle control mechanism, a first gimbal quick-release bullet storage system is arranged on the first gimbal connecting rod gimbal pitch angle control mechanism, the first gimbal quick-release bullet storage system is used for storing bullets and transmitting them to the first gimbal transmitting module (34), a first gimbal yaw axis driving shaft (40) is arranged at the top of the first gimbal quick-release bullet storage system, and a first gimbal visual processor (32) is also arranged on the first gimbal connecting rod gimbal pitch angle control mechanism, the first gimbal visual processor (32) is connected to the first gimbal camera (33) by signal. The first pan-tilt quick-detachable ammunition storage system comprises a first pan-tilt quick-detachable ammunition storage box (35), the first pan-tilt quick-detachable ammunition storage box (35) is a box-mounted part, a first ammunition storage box slide cover (36) is arranged at the top end of the first pan-tilt quick-detachable ammunition storage box (35), the first ammunition storage box slide cover (36) is fixedly connected to the side wall of the first pan-tilt quick-detachable ammunition storage box (35) through a first ammunition storage box spring hinge (38), an ammunition storage box press buckle (37) is arranged on the first pan-tilt quick-detachable ammunition storage box (35), and an ammunition storage box slide groove (39) is also arranged on the first pan-tilt quick-detachable ammunition storage box (35), and the first ammunition storage box slide cover (36) can slide along the direction of the ammunition storage box slide groove (39); The bottom surface of the first pan-tilt quick-detachable ammunition storage system is a first pan-tilt ammunition storage box side mounting plate (41), a projectile passage hole is arranged on the first pan-tilt ammunition storage box side mounting plate (41), a first pan-tilt ammunition delivery pipeline (43) is arranged on the projectile passage hole, the first pan-tilt ammunition delivery pipeline (43) is connected to the first pan-tilt launching module (34), the first pan-tilt ammunition storage box side mounting plate (41) and the first pan-tilt ammunition delivery pipeline (43) are both arranged on the first pan-tilt ammunition storage box mounting seat (42), and the first pan-tilt ammunition storage box mounting seat (42) is fixedly connected to the connecting rod pan-tilt pitch angle control mechanism The first pan-tilt quick-release ammunition storage system also includes a first pan-tilt ammunition storage box side fixing plate (44) and a first pan-tilt ammunition storage box lower fixing plate (45) for reinforcement; the first pan-tilt connecting rod pan-tilt pitch angle control mechanism is a parallelogram structure, and the four sides of the parallelogram are respectively formed by a first pitch control motor (55) connected to a first pitch motor connecting plate (51) and a first pitch motor fixing plate (53), the first pitch motor connecting plate (51) connected to a first pitch connecting rod (52), and the first pitch connecting rod (52) connected to a first visual adjustment pan-tilt outer plate (54); The second visual adjustment gimbal (106) comprises a second gimbal connecting rod gimbal pitch angle control mechanism, the second gimbal connecting rod gimbal pitch angle control mechanism is electrically connected to a second pitch control motor (60), a second gimbal camera (61) and a second gimbal transmitting module (62) are arranged at the front end of the second gimbal connecting rod gimbal pitch angle control mechanism, a second gimbal quick-release bullet storage system is arranged on the second gimbal connecting rod gimbal pitch angle control mechanism, the second gimbal quick-release bullet storage system is used for storing bullets and transmitting them to the second gimbal transmitting module (62), a second gimbal yaw axis driving shaft (63) is arranged at the bottom end of the second gimbal connecting rod gimbal pitch angle control mechanism, a second gimbal visual processor (69) is also arranged on the second gimbal quick-release bullet storage system, and the second gimbal visual processor (69) is connected to the second gimbal camera (61) by signal. The second pan-tilt quick-detachable ammunition storage system comprises a second pan-tilt quick-detachable ammunition storage box (66), the second pan-tilt quick-detachable ammunition storage box (66) being a box-mounted part, a storage box flip cover (70) being arranged at the top end of the second pan-tilt quick-detachable ammunition storage box (66), the storage box flip cover (70) being connected to the axis of the second pan-tilt quick-detachable ammunition storage box (66) through second storage box spring hinges (67, 68); the second pan-tilt quick-detachable ammunition storage box (66) being arranged on a second pan-tilt ammunition storage box mounting seat (73); The side wall of the second pan-tilt quick-release ammunition storage system is provided with a second pan-tilt ammunition delivery pipeline (71), and the second pan-tilt ammunition delivery pipeline (71) is connected to the second pan-tilt launch module (62); the first pan-tilt quick-release ammunition storage system also includes a second pan-tilt ammunition storage box side fixing plate (74) and a second pan-tilt ammunition storage box lower fixing plate (75) for reinforcement; the second pan-tilt connecting rod pan-tilt pitch angle control mechanism is a parallelogram structure, and the four sides of the parallelogram are respectively formed by connecting the second pitch motor connecting plate (56) and the second pitch motor fixing plate (58) through the second pitch control motor (60), the second pitch motor connecting plate (56) is connected to the second pitch connecting rod (57), and the second pitch connecting rod (57) is connected to the second visual adjustment pan-tilt outer plate (59).

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