An anti-falling and highly stable intelligent patrol robot

Abstract

The present invention provides an anti - tipping high - stability patrol intelligent robot, which relates to the field of patrol intelligent robots. A counterweight is fixedly connected to the top surface of the mobile platform, and a balance assembly is fixedly connected to the top surface of the counterweight, solving the problem that existing patrol intelligent robots are prone to tipping due to the bumps during the traveling process, resulting in unstable center of gravity of the robot. When the robot tips over, on the one hand, it will affect the normal patrol work, and on the other hand, it will also cause damage to the robot body due to tipping. When the balance assembly arranged on the top surface of the mobile platform detects that the current base is tilted, the motor B installed outside the mounting plate can be started to drive the rotation of the helical gear C, and through the meshing transmission between the helical gear C and the helical gear D arranged outside the transmission shaft, the automatic switching operation of the counterweight position can be realized, so that the base can always be kept in a balanced and anti - tilt state.

Description

Technical Field

[0001] The present invention belongs to the field of patrol intelligent robots, and particularly relates to an anti-falling and highly stable patrol intelligent robot. Background Art

[0002] A patrol robot is a semi-autonomous, autonomous or robot that assists humans in completing safety protection work under full human control. As a subdivision of the robot industry, security robots are based on the actual production and living needs to solve security hazards, patrol monitoring, disaster warning, etc., thereby reducing the occurrence of safety accidents and reducing losses of life and property.

[0003] For example, the application number is: "CN202011211933.7", an intelligent robot for security patrol. The present invention belongs to the field of robot technology, specifically an intelligent robot for security patrol, including a machine shell, a motor and rollers; a rotating column is rotatably connected to a position near the lower surface of the machine shell inside the machine shell; planetary brackets are fixedly connected to the front and rear end faces of the rotating column; uniformly arranged rollers are rotatably connected to the surfaces of the planetary brackets; a fixing plate is fixedly connected inside the machine shell; a motor is fixedly connected to the rear side surface of the fixing plate; mounting holes are formed in the surfaces of the rollers on the left side; suction plates are arranged inside the mounting holes; through the present invention, when the rollers of the intelligent robot for security patrol are in pressing contact with the stairs, the rollers can automatically adsorb to the ground of the stairs, improving the grip firmness between the intelligent robot for security patrol and the stair ground, reducing the risk of roller slipping or even slipping backward, and improving the climbing ability and safety of the robot on the stairs.

[0004] Referring to the above patent and the prior art, it is known that when the existing patrol intelligent robot is in use, when it travels uphill or downhill, it is very easy to cause the robot to lose its center of gravity due to the bumps during the traveling process, resulting in overturning. If the robot overturns, on the one hand, it will affect the normal patrol work, and on the other hand, it will also cause damage to the robot body due to the overturning.

[0005] Therefore, in view of the deficiencies of the above solutions in actual production and implementation, they are corrected and improved. At the same time, in the spirit of seeking excellence and with the assistance of professional knowledge and experience, and after various ingenious ideas and tests, the present invention is created. A special anti-falling and highly stable patrol intelligent robot is provided to solve the problem that when the existing patrol intelligent robot is in use, when it travels uphill or downhill, it is very easy to cause the robot to lose its center of gravity due to the bumps during the traveling process, resulting in overturning. If the robot overturns, on the one hand, it will affect the normal patrol work, and on the other hand, it will also cause damage to the robot body due to the overturning. Summary of the Invention

[0006] The present invention provides an anti - tipping and highly stable patrol intelligent robot, which solves the problems that when the existing patrol intelligent robot is in use, when it travels uphill or downhill, it is very easy to cause the robot to lose its center of gravity due to the bumps during the traveling process, resulting in tipping. If the robot tips over, on the one hand, it will affect the normal patrol work, and on the other hand, it will cause damage to the robot body due to tipping.

[0007] The technical solution of the present invention is realized as follows. An anti - tipping and highly stable patrol intelligent robot includes a support base. The cross - section of the support base is a circular structure, and a transverse groove is opened on the top surface of the support base. An adjusting push rod is fixedly connected inside the transverse groove. The adjusting push rod is horizontally arranged, and a moving platform is installed at the output end of the adjusting push rod. The main body of the moving platform is a rectangular block structure, and sliders are fixedly connected to the outside of the moving platform. The sliders protrude from the moving platform, and there are two sliders in total. The two sliders are respectively fixedly connected to the front and rear side surfaces of the moving platform. The moving platform is slidably connected inside the transverse groove opened in the support base through the sliders fixedly connected to its outer side surface. A counterweight is fixedly connected to the top surface of the moving platform, and a balance component is fixedly connected to the top surface of the counterweight. The balance component and the counterweight together form an adjusting structure. The support base is located inside a groove opened on the top surface of the base. A bracket is fixedly connected to the top surface of the base. The main body of the bracket is an L - shaped structure, and there are two brackets in total. The two brackets are fixedly connected to the front and rear sides of the top surface of the base in an opposing manner. Two connecting shafts A are installed inside the two brackets. There are two connecting shafts A in total, and the two connecting shafts A are arranged longitudinally in an array. A balance frame A is also fixedly connected to the inner sides of the two connecting shafts A. The main body of the balance frame A is a rectangular frame structure, and a connecting shaft B is rotatably connected to the inside of the balance frame A. There are two connecting shafts B in total. The two connecting shafts B are installed in an opposing manner on the left and right sides inside the balance frame A. The two connecting shafts B are arranged horizontally in a linear array. A balance frame B is also fixedly connected to the inner sides of the two connecting shafts B. The main body of the balance frame B is a rectangular frame structure. The balance frame B and the balance frame A together form an anti - tilt structure;

[0008] As a preferred embodiment, the main body of the base is a rectangular plate structure, and anti - collision beams are fixedly connected to the outside of the base. There are two anti - collision beams in total, and the two anti - collision beams are fixedly connected to the left and right side surfaces of the base in an opposing manner. The base and the anti - collision beams together form a protection structure. A guide shaft is installed inside the base, and the guide shaft is rotatably connected to the inside of the base through a bearing seat.

[0009] As a preferred embodiment, there are two guiding shafts in total, and the two guiding shafts are installed in a linear array on the left and right sides inside the base. Two moving wheels are respectively fixedly connected to the outer sides of the two guiding shafts, and there is a gap between the bottom end surfaces of the moving wheels and the bottom end surface of the base. The guiding shafts and the moving seats together form an auxiliary moving structure, and a through groove is opened inside the base.

[0010] As a preferred embodiment, a partition is fixedly connected inside the through groove opened in the base. The partition is longitudinally arranged, and a motor A is installed on the left end surface of the partition. An output shaft is arranged on the right side of the motor A, and a helical gear B is installed on this output shaft. The motor A and the helical gear B together form a driving structure. A helical gear A is fixedly connected to the outer side of the guiding shaft on the left side. The helical gear A and the helical gear B together form a transmission structure.

[0011] As a preferred embodiment, a mounting plate is fixedly connected to the bottom end surface of the base, and the mounting plate is longitudinally arranged. A motor B is installed on the right end surface of the mounting plate. An output shaft is arranged on the left side of the motor B, and this output shaft passes through the mounting plate to the left and is connected to the mounting plate through a bearing seat. A through hole is opened at the central position inside the base, and a transmission shaft is installed inside this through hole. The main body of the transmission shaft is longitudinally arranged, and a helical gear D is fixedly connected to the bottom end of the transmission shaft. The helical gear D and the helical gear C together form a transmission structure.

[0012] As a preferred embodiment, a connecting plate is fixedly connected to the inner side of the balance frame B, and the connecting plate is perpendicular to the inner wall of the balance frame B. There are four connecting plates in total, and the four connecting plates are fixedly connected to the inner wall of the balance frame B in an annular array. The balance frame B and the connecting plates together form a connecting structure.

[0013] As a preferred embodiment, a controller is also fixedly connected to the inner sides of the four connecting plates, and a plumb bob is fixedly connected to the bottom end surface of the controller. The main body of the plumb bob is a rectangular block structure. The plumb bob and the controller together form a balancing structure, and the weight of the plumb bob is greater than the weight of the controller.

[0014] As a preferred embodiment, a lighting lamp is fixedly connected to the outer side of the controller. There are four lighting lamps in total, and the four lighting lamps are fixedly connected to the outer side surface of the controller in an annular array. A camera is also fixedly connected to the inner sides of the four lighting lamps. The camera is electrically connected to the controller and transmits the recorded data outward through the controller.

[0015] After adopting the above technical solutions, the beneficial effects of the present invention are:

[0016] 1. In the present invention, by providing a balance frame A rotatably connected to the inner side of the bracket and a balance frame rotatably connected to the balance frame A through a connecting shaft B, when the controller equipped with a camera is assembled to the inner side position of the connecting plate fixedly connected to the inner side of the balance frame B, if the base moves to an uneven position through the movement of the moving wheels, the automatic leveling operation of the current controller and the plumb bob fixedly connected to the bottom end surface of the controller can be achieved by utilizing the settings of the balance frame A and the balance frame B, so that the camera can always record horizontal images, thereby achieving a more practical purpose.

[0017] 2. In the present invention, by providing a support base that can rotate around the base, when the balance component provided on the top end surface of the moving platform detects that the current base (i.e., the patrol robot) is tilted, the motor B installed on the outer side of the mounting plate can be started to drive the rotation of the helical gear C, and the automatic switching operation of the counterweight position can be achieved through the meshing transmission between the helical gear C and the helical gear D provided on the outer side of the transmission shaft, so that the base can always maintain a balanced and anti-tilt state, thereby achieving a more practical purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a front side view structure schematic diagram of a partial structure of the patrol intelligent robot of the present invention after being sectioned;

[0020] Figure 2 It is a right side view structure schematic diagram of the patrol intelligent robot of the present invention;

[0021] Figure 3 It is a bottom side view structure schematic diagram of the patrol intelligent robot of the present invention;

[0022] Figure 4 It is a front view structure schematic diagram of the patrol intelligent robot of the present invention;

[0023] Figure 5 It is a combined structure schematic diagram of the balance frame A and the balance frame B of the patrol intelligent robot of the present invention;

[0024] Figure 6 It is a combined structure schematic diagram of the support base and the adjustment push rod of the patrol intelligent robot of the present invention;

[0025] Figure 7 Schematic left view structure diagram of the patrol intelligent robot of the present invention;

[0026] Figure 8 Schematic top view structure diagram of the patrol intelligent robot of the present invention;

[0027] In the figure, 1, base; 2, anti-collision beam; 3, guide shaft; 4, moving wheel; 5, partition; 6, helical gear A; 7, motor A; 8, helical gear B; 9, mounting plate; 10, motor B; 11, helical gear C; 12, transmission shaft; 13, helical gear D; 14, support seat; 15, adjusting push rod; 16, moving platform; 17, counterweight; 18, balance assembly; 19, connecting shaft A; 20, balance frame A; 21, connecting shaft B; 22, balance frame B; 23, connecting plate; 24, controller; 25, plumb bob; 26, lighting lamp; 27, camera; 28, bracket; 29, slider. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] As Figures 1-8 shown, a high-stability anti-toppling patrol intelligent robot includes: a support seat 14. The cross-section of the support seat 14 is a circular structure, and a transverse groove is opened on the top end surface of the support seat 14. An adjusting push rod 15 is fixedly connected inside the transverse groove. The adjusting push rod 15 is horizontally arranged, and a moving platform 16 is installed on the output end of the adjusting push rod 15. The main body of the moving platform 16 is a rectangular block structure, and sliders 29 are fixedly connected to the outside of the moving platform 16. The sliders 29 protrude from the moving platform 16, and there are two sliders 29 in total. The two sliders 29 are respectively fixedly connected to the front and rear side surfaces of the moving platform 16. The moving platform 16 is movably connected in the transverse groove opened in the support seat 14 through the sliders 29 fixedly connected to its outer side surface. A counterweight 17 is fixedly connected to the top end surface of the moving platform 16, and a balance assembly 18 is fixedly connected to the top end surface of the counterweight 17. The balance assembly 18 and the counterweight 17 together form an adjusting structure. The support seat 14 is located inside the groove opened on the top end surface of the base 1. A lighting lamp 26 is fixedly connected to the outside of the controller 24, and there are four lighting lamps 26 in total. The four lighting lamps 26 are fixedly connected to the outer side surface of the controller 24 in an annular array. A camera 27 is also fixedly connected to the inside of the four lighting lamps 26. The camera 27 is electrically connected to the controller 24 and transmits the recorded data outward through the controller 24.

[0030] Among them, the main body of the base 1 is a rectangular plate structure, and an anti-collision beam 2 is fixedly connected to the outside of the base 1. There are two anti-collision beams 2 in total, and the two anti-collision beams 2 are fixedly connected to the left and right side surfaces of the base 1 in an opposite direction. The base 1 and the anti-collision beam 2 together form a protective structure. A guide shaft 3 is installed inside the base 1. The guide shaft 3 is rotationally connected to the inside of the base 1 through a bearing seat. There are two guide shafts 3 in total, and the two guide shafts 3 are installed in a linear array on the left and right sides inside the base 1. Two moving wheels 4 are respectively fixedly connected to the outside of the two guide shafts 3, and there is a gap between the bottom end surface of the moving wheel 4 and the bottom end surface of the base 1. The guide shaft 3 and the moving wheel 4 together form an auxiliary moving structure. A through groove is opened inside the base 1.

[0031] Among them, a partition 5 is fixedly connected inside the through groove opened in the base 1. The partition 5 is arranged longitudinally. A motor A7 is installed on the left end surface of the partition 5. There is an output shaft on the right side of the motor A7, and a helical gear B8 is installed on this output shaft. The motor A7 and the helical gear B8 together form a driving structure. A helical gear A6 is fixedly connected to the outside of the guide shaft 3 on the left side. The helical gear A6 and the helical gear B8 together form a transmission structure. An installation plate 9 is fixedly connected to the bottom end surface of the base 1. The installation plate 9 is arranged longitudinally. A motor B10 is installed on the right end surface of the installation plate 9. There is an output shaft on the left side of the motor B10. This output shaft passes through the installation plate 9 to the left and is connected to the installation plate 9 through a bearing seat. A through hole is opened at the central position inside the base 1. A transmission shaft 12 is installed inside this through hole. The main body of the transmission shaft 12 is arranged longitudinally. A helical gear D13 is fixedly connected to the bottom end of the transmission shaft 12. The helical gear D13 and the helical gear C11 together form a transmission structure.

[0032] Among them, a bracket 28 is fixedly connected to the top end surface of the base 1. The main body of the bracket 28 is an L-shaped structure. There are two brackets 28 in total, and the two brackets 28 are fixedly connected to the front and rear sides of the top end surface of the base 1 in an opposite direction. Two connecting shafts A19 are installed inside the two brackets 28. There are two connecting shafts A19 in total, and the two connecting shafts A19 are arranged in a longitudinal array. Two balance frames A20 are also fixedly connected to the inside of the two connecting shafts A19. The main body of the balance frame A20 is a rectangular frame structure. A connecting shaft B21 is rotationally connected to the inside of the balance frame A20. There are two connecting shafts B21 in total, and the two connecting shafts B21 are installed in an opposite direction on the left and right sides inside the balance frame A20. The two connecting shafts B21 are arranged in a linear array horizontally. Two balance frames B22 are also fixedly connected to the inside of the two connecting shafts B21. The main body of the balance frame B22 is a rectangular frame structure. The balance frame B22 and the balance frame A20 together form an anti-tilting structure.

[0033] Among them, a connecting plate 23 is fixedly connected to the inner side of the balance frame B22, and the connecting plate 23 is perpendicular to the inner wall of the balance frame B22. There are four connecting plates 23 in total, and the four connecting plates 23 are fixedly connected to the inner wall of the balance frame B22 in an annular array. The balance frame B22 and the connecting plate 23 together form a connecting structure. A controller 24 is also fixedly connected to the inner side of the four connecting plates 23, and a plumb bob 25 is fixedly connected to the bottom end surface of the controller 24. The main body of the plumb bob 25 is a rectangular block structure. The plumb bob 25 and the controller 24 together form a balancing structure, and the weight of the plumb bob 25 is greater than the weight of the controller 24.

[0034] When in use, when the patrol intelligent robot is in use, the base 1 can be placed on the ground by using the moving wheels 4 installed on the outer side of the guide shaft 3, and the motor A7 installed on the outer side of the partition 5 can be started to rotate and drive the helical gear B8 arranged on its output shaft. The helical gear B8 meshes with the helical gear A6 arranged on the outer side of the guide shaft 3 to drive the moving wheels 4 to rotate, and the friction between the moving wheels 4 and the ground is used to drive the movement of the base 1.

[0035] During the movement of the moving wheels 4, the camera 27 installed on the outer side of the controller 24 can be started to capture and identify the surrounding images during the patrol. When patrolling in an environment with weak light such as at night, the lighting lamp 26 installed on the outer side of the controller 24 can be started for auxiliary lighting to assist in illuminating the surrounding images of the current base 1 (i.e., the patrol robot) to improve the recognition effect, thereby achieving a more practical purpose.

[0036] During the patrol process, when the controller 24 arranged inside the balance frame B22 and the connecting plate 23 is in use, it will float with the movement of the vehicle. By using the connecting shaft B21 arranged on the outer side of the balance frame B22 to rotate around the balance frame A20 and the balance frame A20 to rotate around the two brackets 28 fixedly connected to the top end surface of the base 1 by using the connecting shaft A19 fixedly connected to its outer side, a balance adaptive adjustment work is carried out, so that when the robot is moving forward, the camera 27 can always be kept in a horizontal state for recording work by using the settings of the balance frame A20 and the balance frame B22, so that it can be comprehensive during recording. During the recording process, the balance component 18 installed on the top end surface of the counterweight 17 can be started to identify the current driving road conditions of the robot in real time.

[0037] And when the balance assembly 18 provided on the top surface of the counterweight 17 detects that the current robot tilts to one side, for example, tilts to the left during the downhill process, the motor B10 installed outside the mounting plate 9 can be started to drive the rotation of the helical gear C11, and the helical gear C11 is meshed with the helical gear D13 provided outside the transmission shaft 12 to drive the support seat 14 to rotate. At the same time, the adjusting push rod 15 installed inside the support seat 14 is started to push the moving platform 16, and the lead weight 25 fixedly connected to the outer side surface of the moving platform 16 is driven to move automatically to the right (i.e., the opposite direction of the tilting direction) through the moving platform 16 to achieve automatic trimming operation, thereby achieving a more practical purpose.

Claims

1. An anti-collapse high stability patrol intelligent robot, characterized in that: The invention comprises a support seat (14), wherein the cross section of the support seat (14) is a circular structure, and a transverse groove is provided on the top surface of the support seat (14), an adjusting push rod (15) is fixedly connected inside the transverse groove, the adjusting push rod (15) is arranged transversely, and a moving platform (16) is installed on the output end of the adjusting push rod (15), the main body of the moving platform (16) is a rectangular block structure, and a slider (29) is connected to the outer fixed wheel of the moving platform (16), the slider (29) is a structure protruding from the moving platform (16), and the slider (29) is provided at two locations, and the two sliders (29) are provided at two locations. The sliders (29) are respectively fixedly connected to the front and rear side positions of the moving platform (16), and the moving platform (16) is connected to the transverse groove opened in the support seat (14) through the sliders (29) fixedly connected to the outer side surface thereof, and the top surface of the moving platform (16) is fixedly connected to a counterweight (17), and the top surface of the counterweight (17) is fixedly connected to a balancing assembly (18), and the balancing assembly (18) and the counterweight (17) together constitute an adjustment structure, and the support seat (14) is located at an inner position of the groove opened on the top surface of the base (1). The top surface of the base (1) is fixedly connected with a bracket (28), and the main body of the bracket (28) is an L-shaped structure, and the bracket (28) is provided at two locations, and the two brackets (28) are fixedly connected to the front and rear sides of the top surface of the base (1) in opposite directions, and the inner sides of the two brackets (28) are both installed with connecting shafts A (19), and the connecting shafts A (19) are provided at two locations, and the two connecting shafts A (19) are arranged in a longitudinal array, and the inner sides of the two connecting shafts A (19) are also fixedly connected with a balancing frame A (20), and the balancing frame A (20) The main body is a rectangular frame structure, and the inner side of the balancing frame A (20) is rotatably connected to a connecting shaft B (21), and the connecting shaft B (21) is provided at two locations, and the two connecting shafts B (21) are installed oppositely at the left and right sides of the inside of the balancing frame A (20), and the two connecting shafts B (21) are arranged horizontally in a linear array, and the inner sides of the two connecting shafts B (21) are also fixedly connected to a balancing frame B (22), and the main body of the balancing frame B (22) is a rectangular frame structure, and the balancing frame B (22) and the balancing frame A (20) together form an anti-tilt structure.

2. The anti-collapse high stability patrol intelligent robot according to claim 1, characterized in that: The main body of the base (1) is a rectangular plate structure, and an anti-collision beam (2) is fixedly connected to the outer side of the base (1), and the anti-collision beam (2) is provided at two locations, and the two anti-collision beams (2) are fixedly connected to the left and right side positions of the base (1) in opposite directions, and the base (1) and the anti-collision beam (2) together form a protective structure, and a guide shaft (3) is installed on the inner side of the base (1), and the guide shaft (3) is rotatably connected to the inner side of the base (1) through a bearing seat.

3. The anti-collapse high stability patrol intelligent robot according to claim 2, characterized in that: The guide shafts (3) are provided at two locations in total, and the two guide shafts (3) are installed in a linear array at left and right sides of the interior of the base (1), and the outer sides of the two guide shafts (3) are respectively fixedly connected to two moving wheels (4), and there is a gap between the bottom end surface of the moving wheel (4) and the bottom end surface of the base (1), and the guide shafts (3) and the moving wheels (4) together form an auxiliary moving structure, and a through groove is provided inside the base (1).

4. The anti-collapse high stability patrol intelligent robot according to claim 3, characterized in that: A partition plate (5) is fixedly connected to the interior of the through slot provided in the base (1), the partition plate (5) is arranged longitudinally, a motor A (7) is mounted on the left end surface of the partition plate (5), an output shaft is arranged on the right side of the motor A (7), a bevel gear B (8) is mounted on the output shaft, the motor A (7) and the bevel gear B (8) together form a driving structure, and a bevel gear A (6) is fixedly connected to the outer side of the guide shaft (3) located on the left side, the bevel gear A (6) and the bevel gear B (8) together form a transmission structure.

5. The anti-collapse high stability patrol intelligent robot according to claim 1, characterized in that: A mounting plate (9) is fixedly connected to the bottom end surface of the base (1), and the mounting plate (9) is arranged longitudinally. A motor B (10) is mounted on the right end surface of the mounting plate (9), and an output shaft is arranged on the left side of the motor B (10). The output shaft passes through the mounting plate (9) toward the left and is connected to the mounting plate (9) through a bearing seat. A through hole is opened at the center position of the interior of the base (1), and a transmission shaft (12) is installed inside the through hole. The main body of the transmission shaft (12) is arranged longitudinally. A bevel gear D (13) is fixedly connected to the bottom end of the transmission shaft (12), and the bevel gear D (13) and the bevel gear C (11) together form a transmission structure.

6. The anti-collapse high stability patrol intelligent robot according to claim 1, characterized in that: A connecting plate (23) is fixedly connected to the inner side of the balancing frame B (22), and the connecting plate (23) and the inner wall of the balancing frame B (22) are arranged vertically. There are four connecting plates (23) in total, and the four connecting plates (23) are fixedly connected to the inner wall of the balancing frame B (22) in a ring array. The balancing frame B (22) and the connecting plate (23) together form a connecting structure.

7. The anti-collapse high stability patrol intelligent robot according to claim 6, characterized in that The inner side of the connecting plate (23) is fixedly connected to a controller (24), and a lead pendant (25) is fixedly connected to the bottom end surface of the controller (24), and the main body of the lead pendant (25) is a rectangular block structure. The lead pendant (25) and the controller (24) together form a balance structure, and the weight of the lead pendant (25) is greater than the weight of the controller (24).

8. The anti-collapse high stability patrol intelligent robot according to claim 7, characterized in that: The controller (24) is fixedly connected to an outer side thereof with an illuminating lamp (26), and the illuminating lamp (26) is provided at four locations in total. The four illuminating lamps (26) are fixedly connected to the outer side of the controller (24) in a circular array, and the inner sides of the four illuminating lamps (26) are also fixedly connected to a camera (27), and the camera (27) is electrically connected to the controller (24), and transmits recorded data to the outside through the controller (24).

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