Submarine park complex terrain patrol monitoring robot

Abstract

The invention relates to the technical field of security patrol equipment, and discloses a submarine park complex terrain patrol monitoring robot which comprises eight sets of five-rod movement mechanisms, the five-rod mechanisms are driven by connecting independent stepping motors on the two sides in the five-rod mechanisms with gears, eight-foot walking of the robot is achieved, and the stepping motors on the two sides are fixed to a robot shell. A battery, an electric control element and a deformation mechanism are arranged in the middle of the shell, the deformation mechanism comprises strong torque stepping motors, a lifting strip block, a deformation driving rod and a restraining batten, the restraining batten is additionally provided with a night vision camera rotating holder, the night vision camera rotating holder is provided with two stepping motors, and the lifting strip block is fixed to the lower semicircular shell. A high-torque stepping motor of the deformation mechanism works by rotating a deformation driving rod, one end of the deformation driving rod slides in a lifting strip block guide rail and is matched with a constraint batten to achieve controllable lifting of a lifting strip block in the vertical direction, and therefore robot deformation is achieved. The deformed device can drive the relative swing strips to achieve active rolling through rolling motors on the two sides of the outside.

Description

Technical Field

[0001] The present application relates to the technical field of security patrol equipment, and in particular to a latent patrol and monitoring robot for complex terrain in a park. Background Art

[0002] With the increasing demand for social security, various monitoring equipment and security robots are widely used in various parks, factories, residential areas, etc. Traditional security systems usually rely on fixed monitoring night vision cameras, security personnel patrols or wheeled robot patrols. Fixed monitoring night vision cameras and wheeled robots have the advantages of simple structure and low cost, while manual patrols have the advantage of stronger adaptability than robots.

[0003] Although the existing patrol methods have many advantages mentioned above, these methods have their own limitations. Fixed monitoring equipment is easily limited by the viewing angle and cannot effectively cover the blind spot area; manual patrol has problems such as high labor cost and low efficiency; although wheeled patrol robots can realize automatic patrol, they are often limited in complex terrain and are difficult to deal with uneven ground, narrow space and lawn area in the park. In view of these limitations, the market has a growing demand for security equipment with stronger environmental adaptability, concealment and continuous patrol capabilities. Especially in places with complex terrain and high security requirements such as parks, industrial plants, logistics warehouses, etc., traditional security methods cannot meet the monitoring needs of all-round and no-dead-spot. Therefore, when facing complex terrain, existing security patrol equipment has problems such as limited performance and insufficient concealment. Especially at night, traditional lighting equipment may disturb the environment or attract unnecessary attention. With the increasing demand for intelligent security technology, the market is in urgent need of a robot with strong adaptability, high concealment and automatic patrol monitoring. The present invention proposes solutions to these problems. In order to improve the overall security of the park, a patrol monitoring robot that can flexibly adapt to complex environments is needed, with functions such as remote control movement, patrol monitoring, and deformable low-power mode, which can greatly improve the efficiency and coverage of park security management. Its design protects the diverse implementation schemes of the patrol monitoring function, and can be widely used in scenes with complex terrain such as industrial parks and residential areas to make up for the shortcomings of existing security systems. In this regard, this application document proposes a lurking complex terrain patrol monitoring robot for the park, aiming to solve the above-mentioned problems. Summary of the invention

[0004] The present application proposes a five-rod eight-legged crawling system and a deformable rolling mechanism, which has the function of coping with complex terrains such as park lawns and uneven roads, so as to solve the problem of limitations of existing security systems.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: comprising: a main shell, walking stepper motors are installed on both sides of the main shell, a power battery pack is arranged at the front end of the main shell, restraining slat fixing plates are arranged on both sides of the power battery pack at the front end of the main shell, an electric control element is arranged at the rear end of the main shell, a restraining slat fixing plate is arranged on one side of the electric control element at the rear end of the main shell, and a high-torque stepper motor is arranged in the middle of the main shell.

[0006] Specifically, a constraint strip is provided on the upper end of the constraint strip fixing plate, a night vision camera steering head is provided on the middle end of the constraint strip, the night vision camera steering head includes a horizontal steering stepper motor, a night vision camera chassis is provided on the upper end of the horizontal steering stepper motor, a vertical flip stepper motor is provided on the night vision camera chassis, and one end of the vertical flip stepper motor is connected to the night vision camera.

[0007] Furthermore, both ends of the restraining strip are connected to an upper deformable shell, and the lower end of the upper deformable shell is connected to an outer shell.

[0008] Specifically, each of the outer shells is provided with a rolling stepping motor, and the rolling stepping motor is fully meshed with the relative swing bar through internal and external teeth.

[0009] Furthermore, the high-torque stepper motor is connected to a deformation driving rod, one end of which is provided with a slider, and the slider is located in the lifting slat guide rail.

[0010] Specifically, a lower connecting rod is fixed to the lower end of the lifting strip, and lower deformable shells are arranged at both ends of the lower connecting rod.

[0011] Furthermore, a main drive gear is fixed to the power output end of the walking stepper motor, and the main drive gear is meshed with two auxiliary drive gears. The auxiliary drive gear is fixed to the driving wheel of the five-bar mechanism. Each driving wheel drives two sets of five-bar mechanisms, one set is arranged in the inner shell, and the other set is arranged in the outer shell.

[0012] Specifically, the main drive gear and the auxiliary drive gear are located between the inner housing and the outer housing.

[0013] Furthermore, the five-bar mechanism includes a driving wheel, a No. 1 rod, a No. 2 rod, a No. 3 rod and a foot rod, one end of the No. 1 rod is connected to the bottom axis hole of the outer shell by an axis-connecting bearing, and the other end is connected to the middle axis hole of the No. 3 rod by an axis-connecting bearing, one end of the No. 2 rod is connected to the upper end axis hole of the outer shell by an axis-connecting bearing, and the other end is connected to the top end axis hole of the foot rod by an axis-connecting bearing, one end of the No. 3 rod is connected to the driving wheel by an axis-connecting bearing, and the other end is connected to the lower axis hole of the foot rod by an axis-connecting bearing.

[0014] This application has the following beneficial effects.

[0015] When the robot performs latent patrol and monitoring operations, it can climb up complex terrains such as lawns, gentle slopes, and narrow corners that wheeled robots cannot reach through its eight-legged five-rod crawling mechanism to perform monitoring tasks. When the operation is completed or the machine needs to be recovered, it can be transformed into a wheel and roll down the grass slope or roll on flat ground with low power consumption. This robot is not equipped with a lighting device, but is equipped with a highly sensitive night vision camera, which can covertly perform nighttime park patrol and monitoring tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0017] With reference to the accompanying drawings, the principles disclosed in the present application may be more clearly understood according to the following detailed description, in which: Figure 1 It is a front structural diagram of the structure of the present invention; Figure 2 It is a structural diagram of the rear side of the structure of the present invention; Figure 3 This is a diagram of the active scrolling structure of the present invention; Figure 4 This is a front structural diagram of the interior of the structure of the present invention; Figure 5 This is a diagram of the internal rear side structure of the present invention; Figure 6 It is a structural diagram of the structural deformation mechanism of the present invention; Figure 7 This is the internal structure diagram of the single-side traveling mechanism of the present invention; Figure 8 This is the outer structural diagram of the five-bar mechanism of the present invention; Fig. 9 This is the inner structural diagram of the five-bar mechanism of the present invention; Fig.10 This is a simplified structural diagram of the five-bar mechanism of the present invention; Fig.11 This is a structural diagram of the single-side traveling mechanism of the present invention; Fig.12 This is a structural diagram of the rolling morphology of the structure of the present invention; In the figure; 1, main shell; 3, outer shell; 31, rolling stepper motor; 32, relative swing bar; 23, night vision camera chassis; 2, restraining slats; 13, restraining slat fixing plate; 11, walking stepper motor; 26, upper half deformation shell; 25, night vision camera; 24, vertical flip stepper motor; 21, night vision camera steering gimbal; 22, horizontal steering stepper motor; 15, high torque stepper motor; 12, battery pack; 152, sliding block; 153, lifting strip; 151, deformation drive rod; 14, electric control element; 154, lower half connecting rod; 155, lower half deformation shell; 4, inner shell; 112, main drive gear; 113, auxiliary drive gear; 161, drive wheel; 16, five-bar mechanism; 32, shaft hole at the upper end of the outer shell; 1651, shaft hole at the top of the foot rod; 163, No. 2 rod; 165, foot rod; 164, No. 3 rod; 1641, shaft hole in the middle of the No. 3 rod; 162, No. 1 rod; 1652, shaft hole at the lower end of the foot rod; 31, shaft hole at the bottom end of the outer shell; DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] A lurking patrol and monitoring robot for complex terrain in the park, please refer to Figure 1-Figure 4 , including: a main housing 1, a walking stepper motor 11 is installed on both sides of the main housing 1, a power battery pack 12 is arranged at the front end of the main housing 1, a restraining slat fixing plate 13 is arranged on both sides of the battery pack 12 at the front end of the main housing 1, an electric control element 14 is arranged at the rear end of the main housing 1, a restraining slat fixing plate 13 is arranged on one side of the electric control element 14 at the rear end of the main housing 1, and a high-torque stepper motor 15 is arranged in the middle of the main housing 1; See also Figure 4 A constraint slat 2 is arranged at the upper end of the constraint slat fixing plate 13, a night vision camera steering platform 21 is arranged at the middle end of the constraint slat 2, the night vision camera steering platform 21 includes a horizontal steering stepper motor 22, a night vision camera chassis 23 is arranged at the upper end of the horizontal steering stepper motor 22, the night vision camera chassis 23 is provided with a vertical flip stepper motor 24, and one end of the vertical flip stepper motor 24 is connected to the night vision camera 25.

[0020] See also Figure 4 The two ends of the restraining strip 2 are connected with the upper deformable shell 26, and the lower end of the upper deformable shell 26 is connected with the outer shell 3.

[0021] See also Figure 1-Figure 3 The outer shells 3 are each provided with a rolling stepping motor 31, and the rolling stepping motor 31 is fully meshed with the relative swing bar 32 through internal and external teeth.

[0022] See also Figure 5-Figure 6 The high torque stepping motor 15 is connected to a deformation driving rod 151 , and a slider 152 is provided at one end of the deformation driving rod 151 , and the slider 152 is located in the guide rail of the lifting strip 153 .

[0023] See also Figure 6 A lower connecting rod 154 is fixed to the lower end of the lifting strip 153, and lower deformable shells 155 are arranged at both ends of the lower connecting rod.

[0024] See also Figure 7 A main driving gear 112 is fixed to the power output end of the walking stepper motor 11, and the main driving gear 112 is meshed with two auxiliary driving gears 113. The auxiliary driving gear 113 is fixed to the driving wheel 161 of the five-bar mechanism 16. Each driving wheel 161 drives two sets of five-bar mechanisms 16, one set is arranged in the inner shell 4, and the other set is arranged in the outer shell 3.

[0025] See also Fig.10 The main driving gear 112 and the auxiliary driving gear 113 are located between the inner housing 4 and the outer housing 3 .

[0026] See also Figure 7-Figure 9 The five-bar mechanism 16 includes a driving wheel 161, a first rod 162, a second rod 163, a third rod 164 and a foot rod 165. One end of the first rod 162 is connected to the shaft hole 31 at the bottom end of the outer shell, and the other end is connected to the middle shaft hole 1641 of the third rod. One end of the second rod 163 is connected to the shaft hole 32 at the upper end of the outer shell, and the other end is connected to the shaft hole 1651 at the top end of the foot rod. One end of the third rod 164 is connected to the driving wheel 161, and the other end is connected to the lower shaft hole 1652 of the foot rod. The connection methods involved in the five-bar mechanism are all shaft-bearing connections.

[0027] See also Figure 7-10 When the device uses the eight-legged five-bar mechanism to move, the walking stepper motor 11 transmits power to the main driving gear 112, and the main driving gear 112 transmits power to two auxiliary driving gears 113 meshing therewith. The auxiliary driving gear 113 is fixed to the driving wheel 161 through a key connection, so that one walking stepper motor 11 drives two driving wheel discs 161. The two ends of the driving wheel disc 161 are connected to the third rod 164 with a crank structure, so that one driving wheel disc 161 drives two sets of five-bar mechanisms 16. One set of five-bar mechanisms 16 can drive one of the eight legs. The entire device is provided with two walking stepper motors 11, and the eight-legged five-bar mechanism driven by the two walking stepper motors 11 is symmetrical in structure.

[0028] For the specific five-bar mechanism principle, please refer to Figure 7-10 When the power is transmitted to the driving wheel 161, refer to Fig.10 The degree of freedom of the foot rod can be calculated: the mechanism has five movable rods, namely the driving wheel 161, the first rod 162, the second rod 163, the third rod 164 and the foot rod 165. Therefore, this mechanism includes five movable rods plus the frame, i.e., the inner shell 4, a total of six components, and the total number of components n=6; the number of low pairs in this mechanism is the number of rotating pairs. Since this mechanism does not involve compound hinges, the number of low pairs is the number of hinges, a total of 7 hinges, j 1 =7; There is no high vice in this organization, so j 2 =0; degrees of freedom F=3(n-1)-2j 1 -j 2 =1. The degree of freedom of this mechanism is 1. This single-degree-of-freedom mechanism can control the movement of the entire mechanism by driving one of the rods, namely the driving wheel 161. Therefore, the active rotation of the driving wheel 161 can control the foot rod 165 to move regularly. The foot movement trajectory of the foot rod 165 is roughly a one-way rotation along an irregular ellipse. The entire robot has eight five-bar mechanisms 16 that can be driven together, thereby realizing eight-legged five-bar walking.

[0029] See also Figure 1 , Figure 4 and Figure 5 When the device is turning, the two walking stepper motors 11 and the two rolling stepper motors 31 can be controlled separately through the electronic control element 14 and the remote control system. First, the two rolling stepper motors 31 are remotely controlled to lift the two relative swing bars 32 to be perpendicular to the main shell 1, and then the two walking stepper motors 11 are remotely controlled to rotate in opposite directions to achieve on-the-spot turning. The control terminal where the staff is located can receive the real-time image transmitted by the night vision camera 25, and the staff can judge the direction and image information processing through the real-time image.

[0030] See also Fig.12When the device needs to go downhill, move in a straight line on flat ground, or get stuck in complex terrain, it can be deformed into a low-power rolling form. The staff controls the high-torque stepper motor 15 through remote control to drive the deformation drive rod 151 to rotate, and the slider 152 slides in the guide rail of the lifting slat 153 until the deformation drive rod 151 is perpendicular to the guide rail of the lifting slat 153, and the deformation is completed. At this time, the device will roll downhill under gravity to achieve the purpose of reducing power consumption; if the device needs to actively roll on flat ground, the staff can control the device to deform on flat ground through remote control, and then remotely control the two rolling stepper motors 31 to actively rotate. The rolling stepper motor 31 drives the relative pendulum bar 32 to rotate clockwise. The relative pendulum bar 32 will contact the ground and cannot continue to rotate clockwise. At this time, the rolling stepper motor 31 fixed to the outer shell 3 will rotate counterclockwise due to the reaction force, thereby driving the entire device to achieve the active forward rolling of the device.

[0031] See also Figure 4 When the device is performing monitoring operations, the night vision camera 25 will transmit real-time image information to the control terminal where the staff is located through the electronic control element 14. The staff can control the horizontal steering stepper motor 22 through remote control to make the night vision camera chassis 23 turn horizontally. The staff can also control the vertical flip stepper motor 24 through remote control to make the night vision camera 25 continue to flip up and down, thereby realizing monitoring with real-time adjustable angles.

[0032] This hidden campus patrol monitoring robot is mainly suitable for patrolling and monitoring campuses at night. In order to ensure its concealment and not disturbing the environment, the robot itself is not equipped with any lighting devices, but is equipped with a highly sensitive night vision camera, which can effectively monitor in low-light or even no-light environments, ensuring the safety and covert patrol of the campus at night. At the same time, the use of night vision cameras enables the robot to accurately identify and record potential abnormal situations without relying on external light sources.

Claims

1. A lurking complex terrain patrol monitoring robot, characterized in that: include: A main housing (1), a walking stepper motor (11) is installed on both sides of the main housing (1), a power battery pack (12) is arranged at the front end of the main housing (1), a restraining slat fixing plate (13) is arranged on both sides of the battery pack (12) at the front end of the main housing (1), an electric control element (14) is arranged at the rear end of the main housing (1), a restraining slat fixing plate (13) is arranged on one side of the electric control element (14) at the rear end of the main housing (1), and a high-torque stepper motor (15) is arranged in the middle of the main housing (1).

2. A lurking complex terrain patrol monitoring robot according to claim 1, characterized in that: A constraint slat (2) is disposed at the upper end of the constraint slat fixing plate (13); a night vision camera steering platform (21) is disposed at the middle end of the constraint slat (2); the night vision camera steering platform (21) comprises a horizontal steering stepper motor (22); a night vision camera chassis (23) is disposed at the upper end of the horizontal steering stepper motor (22); a vertical flip stepper motor (24) is disposed on the night vision camera chassis (23); one end of the vertical flip stepper motor (24) is connected to the night vision camera (25).

3. A lurking complex terrain patrol monitoring robot according to claim 2, characterized in that: The two ends of the restraining strip (2) are connected to an upper half deformable shell (26), and the lower end of the upper half deformable shell (26) is connected to the outer shell (3).

4. The lurking complex terrain patrol monitoring robot according to claim 3 is characterized in that: The outer shells (3) are each provided with a rolling stepping motor (31), and the rolling stepping motor (31) is fully meshed with the relative swing bar (32) via internal and external teeth.

5. The lurking complex terrain patrol monitoring robot according to claim 1 is characterized in that: The high-torque stepping motor (15) is connected to a deformation driving rod (151), one end of the deformation driving rod (151) is provided with a slider (152), and the slider (152) is located in a guide rail of a lifting slat (153).

6. The lurking complex terrain patrol monitoring robot according to claim 5 is characterized in that: A lower connecting rod (154) is fixed to the lower end of the lifting strip (153), and lower deformable shells (155) are provided at both ends of the lower connecting rod.

7. The lurking complex terrain patrol monitoring robot according to claim 1 is characterized in that: A main driving gear (112) is fixed to the power output end of the walking stepper motor (11), the main driving gear (112) meshes with two auxiliary driving gears (113), the auxiliary driving gears (113) are fixed to the driving wheel disc (161) of the five-bar mechanism (16), and each driving wheel disc (161) drives two sets of five-bar mechanisms (16), one set is arranged on the inner shell (4), and the other set is arranged on the outer shell (3).

8. The lurking complex terrain patrol monitoring robot according to claim 6 is characterized in that: The main driving gear (112) and the auxiliary driving gear (113) are located between the inner housing (4) and the outer housing (3).

9. The lurking complex terrain patrol monitoring robot according to claim 6 is characterized in that: The five-bar mechanism (16) comprises a driving wheel disc (161), a first rod (162), a second rod (163), a third rod (164) and a foot rod (165), wherein one end of the first rod (162) is connected to the shaft hole (31) at the bottom end of the outer shell, and the other end is connected to the shaft hole (1641) in the middle of the third rod, one end of the second rod (163) is connected to the shaft hole (32) at the upper end of the outer shell, and the other end is connected to the shaft hole (1651) at the top end of the foot rod, and one end of the third rod (164) is connected to the driving wheel disc (161), and the other end is connected to the shaft hole (1652) at the bottom end of the foot rod. The connection methods involved in the five-bar mechanism (16) are all shaft-bearing connections.

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