A latent park complex terrain patrol monitoring robot

Abstract

The present application relates to the technical field of security patrol equipment, and discloses a lurking park complex terrain patrol monitoring robot, which comprises eight sets of five-bar mechanisms. The five-bar mechanisms are driven by gears connected by internal two-side separate stepping motors, realize the eight-foot walking of the robot, and the two-side stepping motors are fixed on the robot shell. The middle part of the shell is arranged with a battery, an electric control element and a deformation mechanism. The deformation mechanism comprises a high-torque stepping motor, a lifting block, a deformation driving rod and a constraint board. The constraint board 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 block is fixed with a lower semicircular shell. The high-torque stepping motor of the deformation mechanism works by rotating the deformation driving rod. One end of the deformation driving rod slides in the lifting block guide rail and cooperates with the constraint board to realize the controllable lifting of the lifting block in the vertical direction, so as to realize the deformation of the robot. The device after deformation can realize active rolling by driving the relative swing bar through the external two-side rolling motors.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of security patrol equipment, and particularly relates to a lurking park complex terrain patrol monitoring robot. BACKGROUND

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

[0003] Although the existing patrol method has many advantages, these methods have their own limitations. Fixed monitoring equipment is easily limited by the angle of view and cannot effectively cover the dead angle area. Manual patrol has the problems of high labor cost and low efficiency. Wheeled patrol robots can realize automatic patrol, but they are often limited in complex terrain and are difficult to deal with uneven ground, narrow space and park lawn area. In view of these limitations, there is an increasing demand for security equipment with stronger environmental adaptability, concealment and continuous patrol capability in the market. Especially in places with complex terrain such as parks, industrial plants, logistics warehouses and other places with high security requirements, traditional security methods cannot meet the monitoring needs of all directions without dead angles. Therefore, the existing security patrol equipment has the problems of limited performance and insufficient concealment when facing complex terrain, especially at night. Traditional lighting equipment may disturb the environment or attract unnecessary attention. With the increasing demand for intelligent security technology, there is an urgent need for a robot with strong adaptability, high concealment and automatic patrol monitoring in the market. The present application provides a solution to these problems. In order to improve the overall security of the park, a patrol monitoring robot that can adapt to complex environments is needed, which has the functions of remote control movement, patrol monitoring, transformation and low power consumption mode, and can greatly improve the efficiency and coverage of park security management. The design protects the diversified implementation scheme of the patrol monitoring function and can be widely used in complex terrain scenes such as industrial parks and residential areas to make up for the shortcomings of existing security systems. Therefore, the present application provides a lurking park complex terrain patrol monitoring robot to solve the above problems. SUMMARY

[0004] The present application provides a five-bar eight-foot crawling system and a transformation rolling mechanism, which has the function of coping with complex terrain such as park lawns and uneven roads to solve the problem of the limitation of existing security systems.

[0005] In order to achieve the above object, the technical scheme adopted by the present application is as follows: 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, restraint strip 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 restraint strip fixing plate is arranged on one side of the electric control element at the rear end of the main shell, and a strong torque stepper motor is arranged in the middle of the main shell.

[0006] Specifically, the restraint strip fixing plate is provided with a restraint strip at the upper end, the restraint strip is provided with a night vision camera turning holder at the middle end, the night vision camera turning holder comprises a horizontal turning stepper motor, the horizontal turning stepper motor is provided with a night vision camera chassis at the upper end, the night vision camera chassis is provided with a vertical flipping stepper motor, and one end of the vertical flipping stepper motor is connected with the night vision camera.

[0007] Further, the restraint strip is connected with an upper half deformation shell at both ends, and the upper half deformation shell is connected with an outer side shell at the lower end.

[0008] Specifically, each of the outer side shells is provided with a rolling stepper motor, and the rolling stepper motor is completely engaged with the opposite swing strip through inner and outer teeth.

[0009] Further, the strong torque stepper motor is connected with a deformation driving rod, one end of the deformation driving rod is provided with a sliding block, and the sliding block is located in a lifting plate strip guide rail.

[0010] Specifically, the lifting plate strip is fixed with a lower half connecting rod at the lower end, and the lower half connecting rod is provided with a lower half deformation shell at both ends.

[0011] Further, the walking stepper motor is fixed with a main drive gear at the power output end, the main drive gear is engaged with two auxiliary drive gears, the auxiliary drive gears are fixed to the drive disc of the five-bar mechanism, each drive disc drives two sets of five-bar mechanisms, one set is arranged in the inner side shell, and the other set is arranged in the outer side shell.

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

[0013] Further, the five-bar mechanism comprises a drive disc, a first rod, a second rod, a third rod and a foot rod, one end of the first rod is connected with the bottom end shaft hole of the outer side shell through a shaft connecting bearing mode, the other end is connected with the middle shaft hole of the third rod through a shaft connecting bearing mode, one end of the second rod is connected with the upper end shaft hole of the outer side shell through a shaft connecting bearing mode, the other end is connected with the top end shaft hole of the foot rod through a shaft connecting bearing mode, one end of the third rod is connected with the drive disc through a shaft connecting bearing mode, and the other end is connected with the lower shaft hole of the foot rod through a shaft connecting bearing mode.

[0014] The application has the following beneficial effects.

[0015] When the robot performs the latent patrol monitoring operation, the eight-legged five-bar crawling mechanism can climb the lawn, gentle slope, narrow corner and other complex terrains that the wheeled robot cannot reach, perform the monitoring task, and deform into a wheel shape to roll down the slope or roll on the flat ground at low power consumption when the operation is completed or the robot needs to be recycled. The robot is not equipped with a lighting device, but is installed with a high-sensitivity night vision camera, which can perform night park patrol monitoring tasks in a concealed manner. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of the specification, illustrate the embodiments of the present application and serve to explain the principles of the present application.

[0017] The principles of the present application disclosed herein can be better understood by referring to the accompanying drawings, in conjunction with the following detailed description, in which:

[0018] Figure 1 is a front side structural view of the structure of the present application;

[0019] Figure 2 is a rear side structural view of the structure of the present application;

[0020] Figure 3 is a structure diagram of the active rolling structure of the present application;

[0021] Figure 4 is an internal front side structural view of the structure of the present application;

[0022] Figure 5 is an internal rear side structural view of the structure of the present application;

[0023] Figure 6 is a structure diagram of the deformation mechanism of the present application;

[0024] Figure 7 is an internal structure diagram of the single-side traveling mechanism of the present application;

[0025] Figure 8 is an external structure diagram of the five-bar mechanism of the present application;

[0026] Figure 9 is an internal structure diagram of the five-bar mechanism of the present application;

[0027] Figure 10 is a structure diagram of the five-bar mechanism of the present application;

[0028] Figure 11 is a structure diagram of the single-side traveling mechanism of the present application;

[0029] Figure 12 is a structure diagram of the rolling shape of the present application;

[0030] In the figure; 1, main shell; 3, outer shell; 31, rolling step motor; 32, relative swing bar; 23, night vision camera chassis; 2, restraint board; 13, restraint board fixing plate; 11, walking step motor; 26, upper half deformation shell; 25, night vision camera; 24, vertical flip step motor; 21, night vision camera steering holder; 22, horizontal steering step motor; 15, strong torque step motor; 12, battery pack; 152, sliding block; 153, lifting board; 151, deformation driving 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 disc; 16, five-bar mechanism; 32, outer shell upper end shaft hole; 1651, foot rod top end shaft hole; 163, No. 2 rod; 165, foot rod; 164, No. 3 rod; 1641, No. 3 rod middle shaft hole; 162, No. 1 rod; 1652, foot rod lower shaft hole; 31, outer shell bottom end shaft hole; DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] A latent park complex terrain patrol monitoring robot, please refer to Figures 1-4 , including: main shell 1, walking step motor 11 is installed on both sides of main shell 1, power battery pack 12 is arranged at the front end of main shell 1, restraint board fixing plate 13 is arranged on both sides of battery pack 12 at the front end of main shell 1, electric control element 14 is arranged at the rear end of main shell 1, restraint board fixing plate 13 is arranged on one side of electric control element 14 at the rear end of main shell 1, strong torque step motor 15 is arranged in the middle of main shell 1.

[0033] Please refer to Figure 4 , restraint board fixing plate 13 is arranged on both sides of the restraint board 2, the night vision camera steering holder 21 is arranged in the middle of the restraint board 2, the night vision camera steering holder 21 includes horizontal steering step motor 22, the night vision camera chassis 23 is arranged on the upper end of the horizontal steering step motor 22, the night vision camera chassis 23 is provided with vertical flip step motor 24, and the vertical flip step motor 24 is connected with night vision camera 25 at one end.

[0034] Please refer to Figure 4 , the restraint board 2 is connected with upper half deformation shell 26 at both ends, and the upper half deformation shell 26 is connected with outer shell 3 at the lower end.

[0035] Please refer to Figures 1-3 , each outer shell 3 is provided with a rolling step motor 31, and the rolling step motor 31 is fully engaged with the opposite swing bar 32 through inner and outer teeth.

[0036] Please refer to Figures 5-6 , the strong torque step motor 15 is connected with a deformation driving rod 151, one end of the deformation driving rod 151 is provided with a sliding block 152, and the sliding block 152 is located in the guide rail of the lifting plate bar 153.

[0037] Please refer to Figure 6 , the lower end of the lifting plate bar 153 is fixed with a lower half connecting rod 154, and the two ends of the lower half connecting rod are provided with a lower half deformation shell 155.

[0038] Please refer to Figure 7 , the power output end of the walking step motor 11 is fixed with a main drive gear 112, the main drive gear 112 is engaged with two auxiliary drive gears 113, the auxiliary drive gears 113 are fixed on the drive wheel disc 161 of the five-bar mechanism 16, and each drive wheel disc 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.

[0039] Please refer to Figure 10 , the main drive gear 112 and the auxiliary drive gear 113 are located between the inner shell 4 and the outer shell 3.

[0040] Please refer to Figures 7-9 , the five-bar mechanism 16 includes a drive wheel disc 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 with the outer shell bottom end shaft hole 31, the other end is connected with the middle part shaft hole 1641 of the third rod, one end of the second rod 163 is connected with the outer shell upper end shaft hole 32, the other end is connected with the top end shaft hole 1651 of the foot rod, one end of the third rod 164 is connected with the drive wheel disc 161, and the other end is connected with the lower shaft hole 1652 of the foot rod. The connection mode involved in the five-bar mechanism is all shaft bearing connection.

[0041] Please refer to Figures 7-10 , when the device uses eight-foot five-bar mechanism to walk, the walking step motor 11 transmits power to the main drive gear 112, the main drive gear 112 transmits power to the two auxiliary drive gears 113 engaged with it, the auxiliary drive gears 113 are fixed with the drive wheel disc 161 through key connection, so as to realize that one walking step motor 11 drives two drive wheel discs 161, the two ends of the drive wheel disc 161 are connected with the third rod 164 through crank structure, so as to realize that one drive wheel disc 161 drives two sets of five-bar mechanisms 16, one set of five-bar mechanism 16 can drive one foot of the eight-foot, the whole device is provided with two walking step motors 11, and the eight-foot five-bar mechanisms driven by the two walking step motors 11 are symmetrically arranged in structure.

[0042] The principle of the specific five-bar mechanism is described in detail in Figures 7-10 When power is transmitted to the driving wheel 161, refer to Figure 10 The foot bar freedom can be calculated: this mechanism has five movable bars, which are the driving wheel 161, the first bar 162, the second bar 163, the third bar 164, and the foot bar 165. Therefore, this mechanism includes five movable bars plus the frame, i.e., the inner shell 4, a total of six components, and the total component number n = 6; the number of low pairs in this mechanism is the number of rotating pairs. Since this mechanism does not involve composite hinges, the number of low pairs is the number of hinges, a total of 7 hinges, j1 = 7; there is no high pair in this mechanism, so j2 = 0; the freedom F = 3(n-1)-2j1-j2 = 1. The freedom of this mechanism is 1, and this single freedom mechanism can control the movement of the entire mechanism by driving one of the bars, i.e., the driving wheel 161, so the active rotation of the driving wheel 161 can control the regular movement of the foot bar 165. The foot bar 165 has a roughly irregular elliptical one-way rotation, and the entire robot has eight five-bar mechanisms 16 that can be driven together to achieve eight-legged five-bar walking.

[0043] Please refer to 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 by the electronic control element 14 and the remote control system. First, the two rolling stepper motors 31 are controlled by the remote control to lift the two opposite swing bars 32 to be perpendicular to the main shell 1, and then the two walking stepper motors 11 are controlled in opposite directions to achieve turning in place. The control terminal of the staff can receive real-time images transmitted by the night vision camera 25, and the staff can determine the direction and image information through real-time images.

[0044] Please refer to Figure 12 When the device needs to go downhill, travel straight on flat ground, or get stuck in complex terrain, it can be deformed into a low-power rolling shape. The staff can control the strong torque stepper motor 15 to drive the deformation driving rod 151 to rotate by remote control, and the sliding block 152 slides in the guide rail of the lifting plate 153 until the deformation driving rod 151 is perpendicular to the guide rail of the lifting plate 153, and the deformation is completed. At this time, the device will roll down the hill under the action of 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 by remote control, and then control the two rolling stepper motors 31 to actively rotate by remote control. The rolling stepper motor 31 drives the opposite swing bar 32 to rotate clockwise, and the opposite swing bar 32 will contact the ground, causing it to stop rotating 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 actively roll forward.

[0045] Please refer toFigure 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 component 14. The staff can use remote control to control the horizontal steering stepper motor 22 to make the night vision camera chassis 23 turn horizontally. The staff can also use remote control to control the vertical flip stepper motor 24 to make the night vision camera 25 continue to flip up and down, thereby realizing monitoring with real-time adjustable angles.

[0046] This stealthy campus patrol and monitoring robot is primarily designed for nighttime campus patrol and surveillance. To ensure its stealth and minimal disruption to the environment, the robot is not equipped with any lighting. Instead, it features a highly sensitive night vision camera, enabling effective monitoring in low-light or even no-light environments, ensuring security and covert patrols at night. Furthermore, the night vision camera enables the robot to accurately identify and record potential anomalies without relying on external light sources.

Claims

1. A lurking complex terrain patrol and monitoring robot, characterized by: 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 provided at the front end of the main housing (1), a restraining strip fixing plate (13) is provided on both sides of the battery pack (12) at the front end of the main housing (1), an electric control element (14) is provided at the rear end of the main housing (1), a restraining strip fixing plate (13) is provided 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 provided in the middle of the main housing (1); The upper end of the constraint slat fixing plate (13) is provided with a constraint slat (2), the middle end of the constraint slat (2) is provided with a night vision camera steering platform (21), the night vision camera steering platform (21) includes a horizontal steering stepper motor (22), the upper end of the horizontal steering stepper motor (22) is provided with a night vision camera chassis (23), 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); 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); Each of the outer shells (3) is 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; The high-torque stepping motor (15) is connected to a deformation driving rod (151), one end of which is provided with a slider (152), and the slider (152) is located in a guide rail of a lifting slat (153); 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; A main drive gear (112) is fixed to the power output end of the walking stepping motor (11), the main drive gear (112) is meshed with two auxiliary drive gears (113), and the auxiliary drive gears (113) are fixed to the driving wheel disc (161) of the five-bar mechanism (16). 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).

2. A lurking complex terrain patrol and monitoring robot according to claim 1, characterized in that: The main drive gear (112) and the auxiliary drive gear (113) are located between the inner housing (4) and the outer housing (3).

3. The lurking complex terrain patrol and monitoring robot according to claim 1, characterized in that: The five-bar mechanism (16) comprises 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.

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