A high-flexibility driving module for micro-miniature life search and rescue equipment in a confined space

Abstract

The application discloses a high-flexible driving module for micro-life search and rescue equipment in a limited space, which comprises a shell, an internal driving structure, a pair of planetary track claw wheels and a track claw driving structure; the internal driving structure is installed in the shell and mainly comprises a motor, a flexible transmission structure and a differential structure which are sequentially connected in transmission; the pair of planetary track claw wheels are respectively installed on the two sides of the differential structure and are driven by the differential structure; the track claw driving structure is installed in the shell and is used for cooperating with the planetary track claw wheels and increasing the climbing ability of the planetary track claw wheels. The driving module has the characteristics of high flexibility and miniaturization, the life search and rescue equipment equipped with the driving module has strong obstacle-crossing ability and fast movement speed and can perform rescue operation in a narrow space. The modular design can increase or reduce the modules according to the site needs, and the installation and dismounting of the modules are simple and convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a high-flexibility driving module for micro-life search and rescue equipment in a restricted space. BACKGROUND

[0002] Natural disasters such as earthquakes, volcanic eruptions, and mudslides can cause extensive damage to urban buildings. The post-disaster environment is harsh, the terrain in the disaster area is unstable, the rescue space is narrow, and the blind use of large mechanical equipment can cause secondary damage to the disaster area, endangering the lives of disaster victims and rescue personnel. In addition, there are many dangerous factors in the disaster area, such as explosions, fires, and hazardous material leaks, which can greatly hinder the progress of rescue work. Therefore, it is necessary to use micro-life search and rescue equipment to detect the disaster area environment and provide important information for subsequent rescue work, improving the efficiency of rescue work. SUMMARY

[0003] The present application aims to provide a high-flexibility driving module for micro-life search and rescue equipment in a restricted space, which solves the problem of difficult deployment of rescue work in a narrow space, conducts deep detection, and reduces the number of casualties among disaster victims and rescue personnel.

[0004] The present application is implemented according to the following technical solution:

[0005] The present application discloses a high-flexibility driving module for micro-life search and rescue equipment in a restricted space, comprising:

[0006] a shell for protecting internal parts;

[0007] an internal driving structure installed in the shell, mainly composed of a motor, a flexible transmission structure, and a differential structure connected in sequence;

[0008] a pair of planetary crawler wheels, respectively installed on both sides of the differential structure, driven by the differential structure on both sides of the planetary crawler wheels;

[0009] a crawler drive structure installed in the shell, used in cooperation with the planetary crawler wheels, for increasing the climbing ability of the planetary crawler wheels.

[0010] In some embodiments, the shell includes a rigid shell and a flexible shell; the rigid shell and the flexible shell are installed at a distance from each other, and a metal sheet is wrapped around the connection between the flexible shell and the rigid shell.

[0011] In some embodiments, the flexible transmission structure comprises:

[0012] a right-angle bracket with one side plate fixed to the axial end face at the motor shaft;

[0013] The bevel gear driving wheel is installed on the motor rotating shaft which is out of the right angle support, and the bevel gear driving wheel is driven to rotate by the motor;

[0014] The bevel gear driven wheel is engaged with the bevel gear driving wheel at the front end, and the rear end is out of the other side plate of the right angle support, and the bearings are installed between the opposite circumferential surfaces of the two;

[0015] The special-shaped gear is installed on the rod of the bevel gear driven wheel which is out of the right angle support, and the special-shaped gear is driven to rotate by the two bevel gears;

[0016] The spur gear is engaged with the special-shaped gear.

[0017] In some embodiments, the flexible transmission structure further comprises:

[0018] The spur gear housing is hinged with the right angle support by the pin shaft, and when the relative rotation occurs between the two, the special-shaped gear and the spur gear are always engaged.

[0019] In some embodiments, the differential structure comprises:

[0020] The differential housing is connected with the spur gear housing in the flexible transmission structure;

[0021] The inner end cover is located in the differential housing and connected with the spur gear in the spur gear housing, and the inner end cover is driven to rotate by the spur gear;

[0022] The inner support is installed in the differential housing and connected with the inner end cover, and the inner support can rotate with the inner end cover;

[0023] The differential is installed in the differential housing, connected with the inner support on one side and connected with the planetary track wheel on the other side, and the rotating inner support can drive the differential to rotate, thereby driving the planetary track wheel.

[0024] In some embodiments, the differential comprises:

[0025] A pair of planetary gears are symmetrically arranged in the inner support with the axial center line of the differential housing as the reference line, and the two planetary gears are connected with the inner support by the radial pin shaft;

[0026] A pair of differential bevel gears are symmetrically arranged in the inner support with the radial line of the differential housing as the reference line, the front end of the differential bevel gear is engaged with the two planetary gears, and the rear end of the differential bevel gear is sequentially out of the inner end cover, the spur gear, the spur gear housing and connected with the planetary track wheel.

[0027] In some embodiments, the planetary spur wheel includes:

[0028] The spur structure includes:

[0029] The track telescopic frame has multiple track grooves evenly spaced along the circumference on the axial surface facing away from the track drive structure, and multiple through-hole grooves connected to the track grooves are evenly spaced along the circumference on the axial surface facing the track drive structure.

[0030] The track bar consists of a push rod and a telescopic rod. Each track groove has a telescopic rod, and the push rod is located in the corresponding through-hole groove. The track bar drive structure drives the push rod to move, so that the telescopic rod can extend and retract in the track groove.

[0031] The spur cover plate is fixed to the spur telescopic frame with screws, and together with the spur telescopic frame, it wraps around the spur and limits the length of the spur extension and retraction.

[0032] Planetary reduction wheels, including:

[0033] An internal gear is located in the spur cover plate, and the two are fixed together;

[0034] Multiple planetary gears are rotatably supported in the internal gear and mesh with the internal gear;

[0035] The sun gear, located at the center of the internal gear, is mounted on the differential bevel gear in the differential structure and meshes with the plurality of planetary gears.

[0036] In some embodiments, the spur drive structure includes:

[0037] The barb lever is an arc-shaped lever arranged inside a circular surface formed by a ring of barbs. The corresponding barb movement is actuated by rotating the outer arc surface of the barb lever.

[0038] The intermediate transmission structure is used to connect the pawl levers in the planetary pawl wheels on both sides together, and is used to rotate the pawl levers on both sides.

[0039] A DC motor is connected to the intermediate transmission structure via a reduction gear set, which drives the pawl lever to rotate to a designated position.

[0040] In some embodiments, the intermediate transmission structure includes:

[0041] A pair of spur gear transmission structure, consisting of a large spur gear and a small spur gear meshing together, wherein the small spur gear is mounted on a reduction gear set connected to the shaft of a DC motor;

[0042] A pair of bevel gear transmission structures, consisting of a bevel gear driving gear and a bevel gear driven gear meshing together, wherein the bevel gear driving gear is mounted on the large spur gear;

[0043] The stab lever drive shaft has its two ends connected to the corresponding stab levers, and the bevel gear driven wheel is installed in the middle area;

[0044] An electromagnetic brake is installed on the drive shaft of the stab lever, which can brake the drive shaft of the stab lever when power is cut off.

[0045] In some embodiments, the highly flexible drive module is also equipped with an infrared camera and an environmental monitoring sensor.

[0046] Beneficial effects of this invention:

[0047] Compared with existing technologies, the drive module in this invention features high flexibility and miniaturization. Life-saving search and rescue equipment equipped with this drive module exhibits strong obstacle-crossing capabilities, high movement speed, and the ability to perform rescue operations in confined spaces. Its modular design allows for the addition or removal of modules as needed on-site, and the installation and disassembly of these modules are simple and convenient. Attached Figure Description

[0048] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0049] In the attached diagram:

[0050] Figure 1 This is a schematic diagram of the overall structure of the highly flexible drive module of the present invention;

[0051] Figure 2 This is a diagram showing the internal structure of the highly flexible drive module of the present invention.

[0052] Figure 3 This is a cross-sectional view of the internal drive structure of the present invention;

[0053] Figure 4 This is a schematic diagram of the overall structure of the planetary track wheel of the present invention;

[0054] Figure 5 This is a schematic diagram of the interaction between the planetary track wheel and the track drive structure of the present invention;

[0055] Figure 6 This is a schematic diagram of the specific structure of the trebuchet telescopic frame of the present invention;

[0056] Figure 7Fig. 1 is a schematic diagram of the track structure of the present application.

[0057] Fig. 1 is a schematic diagram of the track structure of the present application. Fig. 2 is a schematic diagram of the track structure of the present application. Fig. 3 is a schematic diagram of the track structure of the present application.

[0058] It should be noted that the drawings and the detailed description are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Embodiment

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0060] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0061] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] As Figure 1 , Figure 2As shown in the figure, a high-flexible driving module for micro life search and rescue equipment in confined space includes a shell, an internal driving structure, a pair of planetary track claw wheels and a track claw driving structure; the internal driving structure is installed in the shell and mainly consists of a motor, a flexible transmission structure and a differential structure connected in sequence; the pair of planetary track claw wheels are respectively installed on both sides of the differential structure and are driven by the differential structure; the track claw driving structure is installed in the shell and is used to cooperate with the planetary track claw wheels to increase the climbing ability of the planetary track claw wheels.

[0063] Continuing to refer to Figure 1 As shown in the figure, the rigid shell 1 is installed at intervals with the flexible shell 2, and a metal sheet is wrapped around the connection between the flexible shell 2 and the rigid shell 1, so that the driving module will not appear to be separated and disintegrated.

[0064] The following gives a preferred embodiment of the flexible transmission structure of the above embodiment:

[0065] As Figure 3 shown, the flexible transmission structure includes a right-angle bracket 4, a bevel gear driving wheel 15, a bevel gear driven wheel 14, a special-shaped gear 5, a straight gear 6 and a straight gear shell 8; one side plate of the right-angle bracket 4 is fixed on the axial end face at the motor shaft; the bevel gear driving wheel 15 is installed on the motor shaft passing through the right-angle bracket 4 and is rotated by the motor 3 to drive the bevel gear driving wheel 15 to rotate; the front end head of the bevel gear driven wheel 14 is engaged with the bevel gear driving wheel 15, and the rear end rod passes through the other side plate of the right-angle bracket 4, and bearings are assembled between the facing peripheral surfaces of the two; the special-shaped gear 5 is installed on the rod of the bevel gear driven wheel 14 outside the right-angle bracket 4 and is rotated by the transmission of the two bevel gears 14, 15; the straight gear 6 is engaged with the special-shaped gear 5 and is used to provide power for the differential structure. The straight gear 6 is assembled in the straight gear shell 8, and the right-angle bracket 4 and the straight gear shell 8 are connected by a pin shaft, and relative rotation can occur between the two.

[0066] When the right-angle bracket 4 and the straight gear shell 8 rotate relative to each other, the special-shaped gear 5 and the straight gear 6 are always in engagement, and the motor 3 is fixed inside the shell. When the rescue equipment encounters rough sections during the journey, the whole body will bend at a certain angle, at which time the coaxial state between the rigid shell 1 changes, and the motor as a whole produces a slight swing with the state change of the rigid shell 1, and the right-angle bracket 4 and the straight gear shell 8 move relative to each other, and the engagement state of the special-shaped gear 5 and the straight gear 6 remains unchanged, and the life search and rescue equipment continues to move forward.

[0067] The following gives a preferred embodiment of the differential structure of the above embodiment:

[0068] As Figure 3As shown in the figure, the differential structure includes a differential, an inner end cover 7, an inner support 12 and a differential housing 13; the differential housing 13 is connected with the straight gear housing 8 in the flexible transmission structure; the inner end cover 7 is located in the differential housing 13 and connected with the straight gear 6 in the straight gear housing 8, and rotates by the straight gear 6; the inner support 12 is installed in the differential housing 13 and connected with the inner end cover 7, and can rotate with the inner end cover 7; the differential is installed in the differential housing 13, connected with the inner support 12 on one side and connected with the planetary crawler wheel on the other side, and the rotating inner support 12 can drive the differential to rotate, thereby driving the planetary crawler wheel.

[0069] The following gives a preferred embodiment of the differential in the above embodiment:

[0070] As shown in the figure, Figure 3 The differential includes a pair of planetary gears 11 and a pair of differential bevel gears 10; the pair of planetary gears 11 are symmetrically arranged in the inner support 12 with the axial center line of the differential housing 13 as the reference line, and the two planetary gears 11 are connected with the inner support 12 through the radial pin shaft 9; the pair of differential bevel gears 10 are symmetrically arranged in the inner support 12 with the radial line of the differential housing 13 as the reference line, the front end head of the differential bevel gear 10 is engaged with the two planetary gears 11, and the rear end rod of the differential bevel gear 10 is connected with the planetary crawler wheel in sequence through the inner end cover 7, the straight gear 6 and the straight gear housing 8.

[0071] The following gives a preferred embodiment of the planetary crawler wheel in the above embodiment:

[0072] As shown in the figure, Figure 4 , Figure 6 , Figure 7As shown in the figure, the planetary track wheel comprises a track structure and a planetary reduction wheel; the track structure comprises a track telescopic frame 18, a track cover plate 16 and a track 17; the track telescopic frame 18 is provided with a plurality of track grooves 28 on the circumferential surface of the axial surface away from the track driving structure and a plurality of through-hole grooves 29 on the circumferential surface of the axial surface facing the track driving structure; the track 17 is composed of a push rod 30 and a telescopic rod 31, one telescopic rod 31 is arranged in each track groove 28, the push rod 30 is located in the corresponding through-hole groove 29, the track driving structure drives the push rod 30 to move, and the telescopic rod 31 is extended and retracted in the track groove 28; the track cover plate 16 is fixed on the track telescopic frame 18 by screws, and the track cover plate 16 and the track telescopic frame 18 wrap the track 17 together to limit the length of the track 17 extended and retracted. The planetary reduction wheel comprises a sun gear 20, a planetary gear 21 and an internal gear 19; the internal gear 19 is located in the track cover plate 16 and fixed together by screws; a plurality of planetary gears 21 are rotationally supported in the internal gear 19 and meshed with the internal gear 19; the sun gear 20 located in the center of the internal gear 19 is installed on the bevel gear 10 in the differential structure and meshed with the plurality of planetary gears 21.

[0073] It should be noted that the track 17 can reduce the specific pressure of the wheel on the non-hard ground and strengthen the interaction force between the wheel and the non-hard ground; when the search and rescue equipment climbs, the track 17 is extended, the adhesion of the whole search and rescue equipment is increased, the wheel is prevented from slipping, and the passing rate of the search and rescue equipment when climbing is improved. The outer layer of the planetary track wheel is covered with a circle of rubber tires, the side plate is arranged on the outer side of the wheel, the side plate does not rotate with the wheel, and the internal gear 19 is separated from the side plate by a thin-wall bearing.

[0074] The following gives a preferred embodiment of the track driving structure of the above-mentioned embodiment:

[0075] As shown in the figure, Figure 5 The track driving structure comprises a track push rod 26, a DC motor 27 and an intermediate transmission structure; the track push rod 26 is an arc-shaped rod, which is arranged on the inner side of the circular surface formed by a circle of tracks 17 and drives the corresponding track 17 to move by the outer arc surface of the rotating track push rod 26; the intermediate transmission structure is used for connecting the track push rods 26 in the two planetary track wheels on the same side and rotating the track push rods 26 on the two sides; the DC motor 27 is connected with the intermediate transmission structure through a reduction gear set and drives the track push rod 26 to rotate to a specified position through the intermediate transmission structure.

[0076] It should be noted that the reduction gear set is used to reduce the rotation speed of the DC motor, increase the torque, and then increase the driving torque of the track push rod, so that the track can be smoothly pushed.

[0077] The intermediate transmission structure comprises a pair of spur gear transmission structures 22, a pair of bevel gear transmission structures 23, a spike shoveling rod driving shaft 24 and an electromagnetic brake 25, the pair of spur gear transmission structures 22 is composed of a large spur gear and a small spur gear, the small spur gear is installed on a speed reduction gear set connected with the rotating shaft of the DC motor; the pair of bevel gear transmission structures 23 is composed of a bevel gear driving wheel and a bevel gear driven wheel, the bevel gear driving wheel is installed on the large spur gear; the spike shoveling rod driving shaft 24 is connected with the corresponding spike shoveling rod 26 at two ends, and the bevel gear driven wheel is installed in the middle region; the electromagnetic brake 25 is installed on the spike shoveling rod driving shaft 24, and the spike shoveling rod driving shaft 24 can be braked by being powered off. The rigid shell 1 close to the wheel has a protruding stop block, which can block the spike shoveling rod 26 from continuing to rotate. During the life search and rescue movement, the spike shoveling rod 25 can push out the spikes 17, thereby increasing the climbing ability of the life search and rescue equipment.

[0078] Further scheme: an infrared camera, a temperature and humidity sensor, an oxygen concentration sensor and the like are additionally installed on the driving module, the detection function of the life search and rescue equipment is increased, the rescue personnel can master the disaster situation on the scene and formulate a rescue scheme, and the rescue personnel can make contingency plans according to the situation in the rescue process.

[0079] As can be seen from the above, the driving module in the application has the characteristics of high flexibility and miniaturization, the life search and rescue equipment equipped with the driving module has strong obstacle crossing ability and fast movement speed, and can perform rescue operations in a small space. The modular design can increase or reduce the modules according to the needs on the scene, and the installation and disassembly of the modules are simple and convenient.

[0080] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0081] In addition, those skilled in the art can understand that although some embodiments described herein include certain features contained in other embodiments but not others, combinations of features of different embodiments are also meant to be within the scope of the present application and form different embodiments. For example, in the above embodiments, those skilled in the art can use the features in a combined manner according to the known technical solutions and the technical problems to be solved by the present application.

[0082] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application, and any skilled person in the art can make some changes or modifications to the above-mentioned technical content with the above-mentioned prompt without departing from the technical solution of the present application, and any simple modification, equivalent change and modification of the above-mentioned embodiments made according to the technical essence of the present application without departing from the technical solution of the present application still belong to the scope of the present application.

Claims

1. A high-flexible driving module for micro-miniature life search and rescue equipment in a confined space, characterized in that, Comprise: A shell for protecting internal parts; An internal drive structure installed in the shell, mainly composed of a motor, a flexible transmission structure and a differential structure connected in sequence; A pair of planetary track wheels, respectively installed on both sides of the differential structure, driven by the differential structure; A track drive structure installed in the shell, used to cooperate with the planetary track wheels to increase the climbing ability of the planetary track wheels; The planetary track wheel comprises: A track structure comprising: A track telescopic frame, a plurality of track grooves are uniformly and alternately opened on the axial surface away from the track drive structure along the circumference, and a plurality of through hole grooves communicating with the track grooves are uniformly and alternately opened on the axial surface facing the track drive structure along the circumference; A track, composed of a push rod and a telescopic rod, one telescopic rod is arranged in each track groove, and the push rod is located in the corresponding through hole groove, the push rod is driven to move by the track drive structure, and the telescopic rod is extended and retracted in the track groove; A track cover plate is fixed on the track telescopic frame by screws, and the track cover plate and the track telescopic frame wrap the track to limit the length of the track extension and retraction; A planetary reduction wheel comprising: An internal gear located in the track cover plate and fixed together; A plurality of planetary gears rotatably supported in the internal gear and meshed with the internal gear; A sun gear located at the center of the internal gear, installed on the differential bevel gear in the differential structure, and meshed with the plurality of planetary gears; The track drive structure comprises: A track push rod, which is an arc-shaped rod arranged inside the circular surface formed by a ring of tracks, and moves the corresponding track by the outer arc surface of the rotating track push rod; An intermediate transmission structure for connecting the track push rods in the two planetary track wheels together, for rotating the track push rods on both sides; A DC motor connected to the intermediate transmission structure through a reduction gear set, and driving the track push rod to rotate to a specified position through the intermediate transmission structure; The intermediate transmission structure comprises: A pair of spur gear transmission structures, composed of a large spur gear and a small spur gear meshing with each other, the small spur gear is installed on the reduction gear set connected with the rotating shaft of the DC motor; A pair of bevel gear transmission structures, composed of a bevel gear driving wheel and a bevel gear driven wheel meshing with each other, the bevel gear driving wheel is installed on the large spur gear; A track push rod drive shaft, both ends of which are connected with the corresponding track push rod, and the middle part is provided with the bevel gear driven wheel; An electromagnetic brake installed on the track push rod drive shaft, which can brake the track push rod drive shaft when power is off.

2. The high-flexible driving module for the micro-miniature life search and rescue equipment in the confined space according to claim 1, characterized in that: The shell comprises a rigid shell and a flexible shell; the rigid shell and the flexible shell are installed at a distance from each other, and a metal sheet is wrapped around the connection between the flexible shell and the rigid shell. 3.The high-flexible driving module for the micro life search and rescue equipment in a confined space according to claim 1, wherein, The flexible transmission structure comprises: A right-angle bracket, one side plate of which is fixed on the axial end surface at the rotating shaft of the motor; A bevel gear driving wheel installed on the motor rotating shaft passing through the right-angle bracket, driven to rotate by the motor; The bevel gear driven wheel is engaged with the bevel gear driving wheel at the front end, and the rear end is connected with the bevel gear driving wheel through the straight gear. The special-shaped gear is installed on the rod of the bevel gear driven wheel outside the right-angle support, and is driven to rotate by the two bevel gears. The straight gear is engaged with the special-shaped gear.

4. The high-flexible driving module for the micro-miniature life search and rescue equipment in the confined space according to claim 3, characterized in that, The flexible transmission structure further comprises: The straight gear shell is connected with the right-angle support through the pin shaft, and when the two rotate relative to each other, the special-shaped gear and the straight gear are always engaged.

5. The high-flexible driving module for the micro-miniature life search and rescue equipment in the confined space according to claim 1, characterized in that, The differential structure comprises: The differential shell is connected with the straight gear shell in the flexible transmission structure. The inner end cover is located in the differential shell and is connected with the straight gear in the straight gear shell, and is driven to rotate by the straight gear. The inner support is installed in the differential shell and is connected with the inner end cover, and can rotate with the inner end cover. The differential is installed in the differential shell, is connected with the inner support on one side, and is connected with the planetary track wheel on the other side, and the rotating inner support can drive the differential to rotate, thereby driving the planetary track wheel.

6. The high-flexible driving module for the micro-miniature life search and rescue equipment in the confined space according to claim 5, characterized in that, The differential comprises: A pair of planetary gears are symmetrically arranged in the inner support with the axial center line of the differential shell as the reference line, and the two planetary gears are connected with the inner support through the radial pin shaft. A pair of differential bevel gears are symmetrically arranged in the inner support with the radial line of the differential shell as the reference line, the front end of the differential bevel gear is engaged with the two planetary gears, and the rear end of the differential bevel gear is connected with the planetary track wheel through the inner end cover, the straight gear, and the straight gear shell in sequence.

7. The high-flexible driving module for the micro-miniature life search and rescue equipment in the confined space according to claim 1, characterized in that: The high-flexibility driving module is further provided with an infrared camera and an environment monitoring sensor.

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