A forest inspection robot

Abstract

The invention discloses a forest inspection robot, comprising a body, two mechanical support arms are arranged on both sides of the body, each mechanical support arm comprises a connecting plate, a horizontal mounting plate, three electric hydraulic support rods rotatably connected between the connecting plate and the horizontal mounting plate, the connecting plate is connected to the side wall of the body, a vertical mounting frame is arranged upward on one side of the horizontal mounting plate away from the body, each vertical mounting frame is installed with a driving wheel, and a hub motor is arranged in each driving wheel; a laser obstacle avoidance sensor is arranged on the front side of the body, a hollow support column is arranged on the upper end of the body, a patrol head capable of horizontal rotation is rotatably connected to the upper end of the hollow support column, a driving motor is arranged in the hollow support column, a power output shaft of the driving motor is connected to the patrol head, and an intelligent patrol camera and an infrared sensing camera are arranged on the side wall of the patrol head. The invention adopts a new traveling mode, can adapt to the complex terrain environment of the forest, and can replace manual forest inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of forest inspection, and in particular to a forest inspection robot. Background Art

[0002] With the intensification of global climate change and the continuous expansion of human activities, forest resources are facing unprecedented challenges. Forests not only play a key role in maintaining ecological balance, but are also the habitat of many rare animals and plants. Therefore, ensuring the health and safety of forests has become one of the important tasks of governments and environmental protection organizations. Forest inspection is an important task in protecting forest resources, which includes monitoring and prevention of forest fires, illegal logging, pests and diseases, etc.

[0003] Traditionally, forest inspections are mainly carried out by forest rangers. These brave guardians need to go deep into the vast and complex forests to perform regular or irregular inspection tasks. However, manual inspections have many limitations: first, due to the vast area of ​​the forest, it is difficult to achieve full coverage by manpower alone; second, the forest environment is complex and changeable, and forest rangers face risks such as bad weather, wild animal attacks, and getting lost when performing their tasks; finally, long-term outdoor work causes great physical exhaustion for forest rangers, reduces work efficiency and increases labor costs.

[0004] In recent years, in order to improve the above problems, the scientific and technological community has begun to explore the use of automated equipment to assist or even replace manual forest inspections. For example, inspection robots are designed to take on some or all of the monitoring duties. Although technological innovation in this field has made significant progress, most existing inspection robots still use traditional roller travel, which makes them perform well on flat and regular ground, but difficult to adapt to the complex terrain that is rugged and full of obstacles commonly found in forest environments. Summary of the invention

[0005] The purpose of the present invention is to provide a forest inspection robot which adopts a new traveling mode, can adapt to the complex terrain environment of the forest, and can replace manual forest inspection.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: A forest inspection robot, comprising a body, two mechanical support arms are arranged on both sides of the body, each mechanical support arm comprises a connecting plate, a horizontal mounting plate, and three electric hydraulic support rods rotatably connected between the connecting plate and the horizontal mounting plate, the connecting plate is connected to the side wall of the body, each electric hydraulic support rod can rotate in a plane perpendicular to the side wall of the body and in a plane parallel to the side wall of the body, a vertical mounting frame is arranged upward on one side of the horizontal mounting plate away from the body, each vertical mounting frame is installed with a driving wheel, and each driving wheel is provided with a hub motor;

[0007] A laser obstacle avoidance sensor is arranged on the front side of the machine body, a hollow support column is arranged upwardly on the upper end of the machine body, a patrol head capable of horizontal rotation is rotatably connected to the upper end of the hollow support column, a driving motor is installed in the hollow support column, a power output shaft of the driving motor is connected to the patrol head, and a smart patrol camera and an infrared sensing camera are arranged on the side wall of the patrol head;

[0008] A power battery and an integrated circuit board are arranged in the body, an AI processing chip, a storage module, a wireless transmission module and a GPS module are arranged on the integrated circuit board, and each electric hydraulic support rod, each wheel hub motor, the laser obstacle avoidance sensor, the drive motor, the intelligent patrol camera, the infrared sensing camera and the power battery are electrically connected to the integrated circuit board.

[0009] By adopting the above technical solution, when the robot is walking, it mainly relies on the driving wheels to move quickly. When encountering an obstacle, the three electric hydraulic support rods on the mechanical support arm cooperate to extend and retract to bypass the obstacle. When the three electric hydraulic support rods are extended and retracted synchronously, the driving wheel can be lifted or lowered. When the three electric hydraulic support rods are not extended and retracted synchronously, the driving wheel can be moved in the direction of the shorter electric hydraulic support rod to achieve the forward, backward, left and right movement of the driving wheel. With the support of the other three mechanical support arms, the active mechanical support arms can drive the driving wheel to steadily bypass the obstacle to continue moving forward in the forest.

[0010] During the process, the patrol head is driven by a driving motor to rotate back and forth continuously, driving the intelligent patrol camera and infrared sensing camera to patrol the surrounding environment. The intelligent patrol camera takes pictures of the surrounding environment, and the AI ​​processing chip makes intelligent judgments on the shooting results. The infrared sensing camera senses whether there are animals or fire hazards, and then transmits the patrol results to the cloud or surrounding base stations in real time for manual real-time monitoring.

[0011] The present invention is further configured as follows: a top support block is disposed outwardly at the upper end of each vertical mounting frame, each top support block is downwardly connected to a hydraulic shock absorber, and the lower end of each hydraulic shock absorber is connected to the hub motor of the corresponding driving wheel.

[0012] The present invention is further configured as follows: a slide rail arranged along its height direction is arranged on the outer side of each vertical mounting frame below the corresponding top support block, a connecting slider slidably connected to the corresponding slide rail is arranged at the lower end of each hydraulic shock absorber, and each connecting slider is connected to the hub motor of the corresponding driving wheel.

[0013] The present invention is further configured as follows: each connecting plate is rotatably connected to three first rotating seats that rotate parallel to its plane on one side away from the machine body, each horizontal mounting plate is rotatably connected to three second rotating seats that rotate parallel to its plane on the upper end, and each electric hydraulic support rod has two ends that are rotatably connected to the corresponding first rotating seat and the corresponding second rotating seat respectively.

[0014] The present invention is further configured as follows: a visual obstacle avoidance camera electrically connected to the integrated circuit board is disposed on the front side of the machine body tilted downward.

[0015] In summary, the present invention has the following beneficial effects:

[0016] First, the inspection robot of the present invention can replace manual inspections in the forest and can effectively perform patrols and inspections without human intervention. Such a system can not only improve inspection efficiency and reduce the workload and risk factor of forest rangers, but also provide more scientific and reliable technical support for forest protection.

[0017] Secondly, the present invention, through the cooperation of the three electric hydraulic support rods on the mechanical support arm, can drive the driving wheel to smoothly bypass the obstacles when encountering obstacles, so that it can adapt to the complex terrain environment in the forest and patrol the forest more effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 Used to demonstrate the connection between the mechanical support arm and the driving wheel;

[0020] Figure 3 Used to demonstrate the connection of the hydraulic shock absorber to the vertical mounting frame;

[0021] Figure 4 Used to demonstrate the drive motor inside the hollow support column;

[0022] Figure 5 Used to display the internal structure of the body.

[0023] In the figure: 1. body; 11. laser obstacle avoidance sensor; 12. visual obstacle avoidance camera; 2. mechanical support arm; 21. connecting plate; 22. horizontal mounting plate; 23. electric hydraulic support rod; 24. first rotating seat; 25. second rotating seat; 26. vertical mounting frame; 27. top support block; 28. slide rail; 3. hydraulic shock absorber; 31. connecting slider; 4. driving wheel; 41. hub motor; 5. hollow support column; 51. patrol head; 52. driving motor; 53. intelligent patrol camera; 54. infrared sensing camera; 6. power battery; 7. integrated circuit board; 71. AI processing chip; 72. storage module; 73. wireless transmission module; 74. GPS module. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0025] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0026] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Example, see Figure 1-5A forest inspection robot comprises a body 1, two mechanical support arms 2 are arranged on both sides of the body 1, each mechanical support arm 2 comprises a connecting plate 21, a horizontal mounting plate 22, and three electric hydraulic support rods 23 rotatably connected between the connecting plate 21 and the horizontal mounting plate 22, the connecting plate 21 is connected to the side wall of the body 1, and each connecting plate 21 is rotatably connected to three first rotating seats 24 rotating parallel to its plane on the side away from the body 1, and each horizontal mounting plate 22 is rotatably connected to three second rotating seats 25 rotating parallel to its plane at the upper end, and each electric hydraulic support rod 23 has two ends rotatably connected to the corresponding first rotating seat 24 and the corresponding second rotating seat 25, so that each electric hydraulic support rod 23 can rotate in a plane perpendicular to the side wall of the body 1 and in a plane parallel to the side wall of the body 1.

[0029] A vertical mounting frame 26 is upwardly arranged on one side of the horizontal mounting plate 22 away from the machine body 1, a top support block 27 is arranged outwardly at the upper end of each vertical mounting frame 26, and each top support block 27 is downwardly connected to a hydraulic shock absorber 3, and a slide rail 28 arranged along its height direction is arranged on the outer side of each vertical mounting frame 26 below the corresponding top support block 27, and a connecting slider 31 slidably connected to the corresponding slide rail 28 is arranged at the lower end of each hydraulic shock absorber 3, a driving wheel 4 is installed on the outer side of each connecting slider 31, and a hub motor 41 is arranged in each driving wheel 4, and each connecting slider 31 is connected to the hub motor 41 of the corresponding driving wheel 4, so that the driving wheel 4 has a good shock absorbing function through the hydraulic shock absorber 3.

[0030] A laser obstacle avoidance sensor 11 is provided on both the left and right sides of the front side of the machine body 1, and a visual obstacle avoidance camera 12 is provided on the front side of the machine body 1 tilted downward, combining laser obstacle avoidance with visual obstacle avoidance to improve the obstacle avoidance capability when traveling through the forest. A hollow support column 5 is provided upward at the upper end of the machine body 1, and a patrol head 51 capable of horizontal rotation is rotatably connected to the upper end of the hollow support column 5. A driving motor 52 is installed in the hollow support column 5, and the power output shaft of the driving motor 52 is connected to the patrol head 51. The side wall of the patrol head 51 is provided with an intelligent patrol camera 53 and an infrared sensing camera 54, which perform multi-directional visual patrols, and use the infrared sensing camera 54 to sense whether there are animals or fire hazards.

[0031] A power battery 6 and an integrated circuit board 7 are arranged in the body 1. An AI processing chip 71, a storage module 72, a wireless transmission module 73 and a GPS module 74 are arranged on the integrated circuit board 7 to facilitate remote control of the robot. Each electric hydraulic support rod 23, each hub motor 41, laser obstacle avoidance sensor 11, visual obstacle avoidance camera 12, drive motor 52, intelligent patrol camera 53, infrared sensing camera 54 and power battery 6 are electrically connected to the integrated circuit board 7.

[0032] Working principle: When the robot is walking, it mainly relies on the driving wheel 4 to move quickly. When encountering an obstacle, the three electric hydraulic support rods 23 on the mechanical support arm 2 cooperate to extend and retract to bypass the obstacle. When the three electric hydraulic support rods 23 are extended and retracted synchronously, the driving wheel 4 can be lifted or lowered. When the three electric hydraulic support rods 23 are not extended and retracted synchronously, the driving wheel 4 can be moved in the direction of the shorter electric hydraulic support rod 23 to achieve the forward, backward, left and right movement of the driving wheel 4. With the support of the other three mechanical support arms 2, the active mechanical support arms 2 can drive the driving wheel 4 to steadily bypass the obstacle and continue to move forward in the forest.

[0033] During the process, the patrol head 51 is driven by the driving motor 52 to rotate back and forth and left and right continuously, driving the intelligent patrol camera 53 and the infrared sensing camera 54 to patrol the surrounding environment. The intelligent patrol camera 53 takes pictures of the surrounding environment, and the AI ​​processing chip 71 makes intelligent judgments on the shooting results. The infrared sensing camera 54 senses whether there are animals or fire hazards, and then transmits the patrol results to the cloud or surrounding base stations in real time to facilitate manual real-time monitoring.

[0034] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A forest inspection robot, comprising a body (1), characterized in that: Two mechanical support arms (2) are arranged on both sides of the machine body (1), and each mechanical support arm (2) comprises a connecting plate (21), a horizontal mounting plate (22), and three electric hydraulic support rods (23) rotatably connected between the connecting plate (21) and the horizontal mounting plate (22); the connecting plate (21) is connected to the side wall of the machine body (1); each electric hydraulic support rod (23) can rotate in a plane perpendicular to the side wall of the machine body (1) and in a plane parallel to the side wall of the machine body (1); a vertical mounting frame (26) is arranged upward on one side of the horizontal mounting plate (22) away from the machine body (1); each vertical mounting frame (26) is mounted with a driving wheel (4), and each driving wheel (4) is provided with a wheel hub motor (41); A laser obstacle avoidance sensor (11) is arranged on the front side of the machine body (1); a hollow support column (5) is arranged upward at the upper end of the machine body (1); a patrol head (51) capable of horizontal rotation is rotatably connected to the upper end of the hollow support column (5); a drive motor (52) is installed in the hollow support column (5); a power output shaft of the drive motor (52) is connected to the patrol head (51); and a smart patrol camera (53) and an infrared sensing camera (54) are arranged on the side wall of the patrol head (51); A power battery (6) and an integrated circuit board (7) are arranged in the body (1); an AI processing chip (71), a storage module (72), a wireless transmission module (73) and a GPS module (74) are arranged on the integrated circuit board (7); each electric hydraulic support rod (23), each wheel hub motor (41), the laser obstacle avoidance sensor (11), the drive motor (52), the intelligent patrol camera (53), the infrared sensing camera (54) and the power battery (6) are all electrically connected to the integrated circuit board (7).

2. A forest inspection robot according to claim 1, characterized in that: A top support block (27) is disposed outwardly at the upper end of each vertical mounting frame (26), each top support block (27) is downwardly connected to a hydraulic shock absorber (3), and the lower end of each hydraulic shock absorber (3) is connected to a wheel hub motor (41) of a corresponding driving wheel (4).

3. A forest inspection robot according to claim 2, characterized in that: A slide rail (28) is arranged along the height direction of each vertical mounting frame (26) below the corresponding top support block (27), and a connecting slider (31) is arranged at the lower end of each hydraulic shock absorber (3) and is slidably connected to the corresponding slide rail (28). Each connecting slider (31) is connected to the hub motor (41) of the corresponding driving wheel (4).

4. The forest inspection robot according to claim 1, characterized in that: Each connecting plate (21) is rotatably connected to one side away from the machine body (1) with three first rotating seats (24) rotating parallel to its plane, and the upper end of each horizontal mounting plate (22) is rotatably connected to three second rotating seats (25) rotating parallel to its plane, and both ends of each electric hydraulic support rod (23) are rotatably connected to the corresponding first rotating seat (24) and the corresponding second rotating seat (25), respectively.

5. The forest inspection robot according to claim 1, characterized in that: A visual obstacle avoidance camera (12) electrically connected to the integrated circuit board (7) is disposed on the front side of the machine body (1) in an inclined manner downward.

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