Obstacle-avoiding inspection robot capable of identifying outdoor complex environment

Abstract

The invention provides an obstacle avoidance inspection robot capable of identifying an outdoor complex environment, and relates to the field of inspection robots, the obstacle avoidance inspection robot comprises a support frame, and the middle side of the bottom of a main support plate is provided with a switching mechanism; the switching mechanism comprises a lifting frame, and the left end and the right end of the lifting frame are each provided with a crawler walking mechanism. Through the arrangement of the switching mechanism, the inspection robot can adapt to various working environments, the moving efficiency of a flat road surface is guaranteed, the passing capacity of a complex terrain is also guaranteed, and the adaptability of the inspection robot is improved; the problems that when a traditional inspection robot works in a field, the traditional inspection robot can rapidly move on the flat ground through moving wheels, but is difficult to drive on complex terrains such as furrows and slopes, and although part of inspection robots are provided with crawler walking mechanisms at the bottoms, the parts of inspection robots are low in speed when driving on the flat ground and are not convenient to move on the flat ground are solved. Therefore, the inspection robot is poor in adaptability when dealing with different ground environments.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to an obstacle avoidance inspection robot for identifying complex outdoor environments. Background Art

[0002] The intelligent shared farm is a relatively new agricultural model emerging in China in recent years. It is a new type of agricultural production model that improves agricultural production efficiency, the quality of agricultural products, and interactive fun through the intelligentization and informatization of agricultural production. In the intelligent shared farm, inspection robots are needed to bring a better user experience to users. For example, observing the growth status of agricultural products such as Hami melons in the farmland, the occurrence of pests and diseases, etc., making judgments based on the growth status of agricultural products such as Hami melons and the environmental status, and issuing corresponding instructions to perform interactive function operations.

[0003] When traditional inspection robots carry out mobile inspection operations in the fields, although they can rely on mobile wheels to achieve fast movement on flat ground, however, the ground conditions in outdoor farmlands are intricate and complex, not only including flat ground, but also covering various terrains such as ridges and ditches, slopes, etc. When such inspection robots travel in special environments such as ridges and ditches, slopes, etc. by relying on mobile wheels, they will encounter great obstacles and have difficulty moving forward. Although some inspection robots are equipped with crawler walking mechanisms at the bottom and can easily travel in environments such as ridges and ditches, slopes, etc. by means of the crawler walking mechanisms, however, when the crawler walking mechanisms operate on flat ground, their traveling speed is relatively low. In this way, it causes the inspection robots to have poor adaptability when dealing with different ground environments. In addition, the battery boxes equipped on traditional inspection robots generally have a short battery life. In order to make the inspection robots run for a long time, the battery boxes need to be frequently replaced. And the battery boxes are mostly fixed on the inspection robots by bolts. As a result, when disassembling and replacing the battery boxes, tools such as wrenches are needed to turn the bolts, which is rather troublesome and has low efficiency. Summary of the Invention

[0004] The present invention relates to an obstacle avoidance inspection robot for identifying complex outdoor environments. Through the setting of a switching mechanism, the automatic conversion of the walking mode is realized, enabling the inspection robot of the present invention to adapt to a variety of working environments, ensuring both the moving efficiency on flat roads and the passing ability on complex terrains, and greatly improving the adaptability of the inspection robot of the present invention; through the cooperation of a U-shaped positioning member, a plug-in board, a square jack, and a limiting member, the tool-free and rapid replacement of the battery box is realized, thus abandoning the traditional bolt fixing method and completing the replacement of the battery box without the need for tools, making the entire replacement process simpler and more efficient, and significantly improving the usability and maintenance efficiency of the inspection robot of the present invention.

[0005] In the first aspect of the present invention, an obstacle avoidance and inspection robot for identifying complex outdoor environments is provided, specifically including: a support frame, the support frame includes a main support plate, a support top plate is fixedly installed above the main support plate, a lidar and a controller are respectively installed on the front and rear sides of the top of the support top plate; a switching mechanism is arranged in the middle of the bottom of the main support plate; the switching mechanism includes a lifting frame, a crawler traveling mechanism is installed at each of the left and right ends of the lifting frame, a lifting slide plate is fixedly connected to each of the left and right sides of the upper end surface of the lifting frame, a slide rail is slidably connected to the front and rear sides of each lifting slide plate, the slide rail is fixedly connected outside the main support plate, a guiding slide opening is formed on the opposite surface of each of the two lifting slide plates, and a T-shaped driving slide rod is slidably connected inside the two guiding slide openings; a battery box is installed on the rear side of the upper end surface of the main support plate, and a limiting component is arranged at the rear end of the main support plate.

[0006] Further, a support bottom plate is fixedly installed on each of the front and rear sides of the bottom of the main support plate. Two vertical rotating shafts are fixedly connected between the upper end surface of the front support bottom plate and the bottom end surface of the main support plate. A steering block is rotatably connected to the lower side of the outside of each vertical rotating shaft. A steering wheel shaft is fixedly connected to the opposite surface of each of the two steering blocks. A steering wheel is rotatably connected to the opposite end of each of the two steering wheel shafts. A steering rod is fixedly connected to the rear end surface of each steering block. A connecting rod is rotatably connected between the upper parts of the rear ends of the two steering rods through a rotating shaft. A steering motor is installed on the upper end surface of the front support bottom plate, and a driving gear is fixedly installed on the upper end of the rotating shaft of the steering motor. A driven gear is fixedly connected to the upper end surface of the right steering block, and the driven gear meshes with the driving gear.

[0007] Further, a driving shaft is rotatably connected to the upper end surface of the rear support bottom plate, a driving wheel is fixedly installed at each of the left and right ends of the driving shaft, a worm gear is installed in the middle of the outside of the driving shaft, a traveling motor is installed on the upper end surface of the rear support bottom plate, and a worm that meshes with the worm gear is installed on the rotating shaft of the traveling motor.

[0008] Further, a vertical rod is fixedly connected to the middle of the upper end surface of the main support plate, an angle adjustment motor is installed at the upper end of the vertical rod, and an inspection camera is fixedly connected to the upper end of the rotating shaft of the angle adjustment motor.

[0009] Further, a binocular infrared camera is installed on the front side of the upper end surface of the front support bottom plate, two ultrasonic sensors are symmetrically installed on the front and rear sides of the upper end surface of the main support plate in a left-right symmetrical manner; a 5G module is installed at the bottom of the controller.

[0010] Further, the front end of the T-shaped driving slide bar is externally provided with threads, and a rotating nut is connected to the outside of the front end of the T-shaped driving slide bar through the threads. The rear end of the rotating nut is rotatably connected to a fixing plate, and the fixing plate is fixedly connected to the bottom end face of the main support plate; a driven pulley is installed outside the rotating nut. A driving motor is installed at the lower part of the rear end face of the fixing plate, and the rotating shaft of the driving motor penetrates through the fixing plate. A driving pulley is installed at the rear end of the rotating shaft of the driving motor, and the driving pulley is in transmission connection with the driven pulley.

[0011] Further, a guiding sliding cylinder is fixedly connected to the front end face of the fixing plate, and a guiding rod penetrating through the fixing plate is slidably connected inside the guiding sliding cylinder. The rear end of the guiding rod is fixedly connected to the front side of the T-shaped driving slide bar.

[0012] Further, a U-shaped positioning member is fixedly connected to the rear side of the upper end face of the main support plate. A strip-shaped sliding groove is opened on each of the left and right side faces inside the U-shaped positioning member. The distance between the rear end face of the U-shaped positioning member and the rear end face of the main support plate is 10 cm to 20 cm; a sliding plate is fixedly installed at the bottom of the battery box, and strip-shaped sliding blocks slidably connected to the strip-shaped sliding grooves inside the U-shaped positioning member are arranged on both the left and right sides of the sliding plate. A plugging plate is fixedly connected to the rear end of the sliding plate, and two square jacks are opened on the upper end face of the plugging plate in a left-right symmetric manner.

[0013] Further, the limiting member includes a guiding frame. The number of the guiding frames is two, and the two guiding frames are fixedly connected to the rear end of the main support plate. A rectangular sliding block is slidably connected inside each guiding frame. A square plugging rod penetrating through the top of the guiding frame is fixedly connected to the upper end of each rectangular sliding block. A U-shaped stepping rod penetrating through the bottom of the guiding frame is fixedly connected between the lower ends of the two rectangular sliding blocks. A spring is sleeved outside the upper end of the U-shaped stepping rod, and the spring is located inside the guiding frame.

[0014] Further, when the battery box is in the installed state on the upper part of the main support plate, the upper ends of the two square plugging rods are respectively plugged into the two square jacks.

[0015] The present invention provides an obstacle avoidance inspection robot for identifying complex outdoor environments, and has the following beneficial effects:

[0016] First, through the setting of the switching mechanism, the automatic conversion of the walking mode is realized. When encountering a flat ground, it can directly move quickly through two driving wheels and two steering wheels. When encountering complex terrains such as furrows and slopes, the two crawler walking mechanisms are switched to the state of contacting the ground through the switching mechanism, and then the two crawler walking mechanisms can be used to drive in complex environments such as furrows and slopes. This innovative dual-mode switching design enables this inspection robot to adapt to a variety of working environments, not only ensuring the moving efficiency on flat roads but also ensuring the passing ability on complex terrains, and greatly improving the adaptability of this inspection robot.

[0017] II. Through the cooperation of the C-shaped positioning member, the plug-in board, the square jack, and the limiting member, the tool-free and quick replacement of the battery box is realized. The specific operation is as follows: When replacing the battery box, just vertically pull out the two square plug-in rods from the two square jacks, and then the battery box can be translated backward and taken out; when installing the fully charged battery box, just place the front end of the fully charged battery box on the rear side of the upper end face of the main support plate. Under the action of the self-weight of the battery box, the two square plug-in rods will automatically press down in place. Then, push the battery box forward, and the plug-in rods will be accurately docked and locked with the square jacks. Thus, the traditional bolt fixing method is abandoned, and the replacement of the battery box can be completed without the aid of tools, making the entire replacement process more convenient and efficient, and significantly improving the usability and maintenance efficiency of this inspection robot.

[0018] III. Through the setting of the C-shaped stepping rod, when it is necessary to pull out the two square plug-in rods from the two square jacks respectively, people only need to step on the C-shaped stepping rod downward with their feet, and then the two rectangular sliding blocks and the two square plug-in rods can be moved downward, so that the two square plug-in rods can be pulled out from the two square jacks respectively, thereby improving the convenience of disassembling the battery box.

[0019] IV. By designing the distance between the rear end face of the C-shaped positioning member and the rear end face of the main support plate to be ten centimeters to twenty centimeters, a certain placement space can be reserved for the battery box. And after the front end of the battery box is placed on the rear side of the upper end face of the main support plate, the two square plug-in rods will be pressed downward, so there is no need to step on the C-shaped stepping rod downward. Therefore, the convenience of disassembling the battery box is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the present invention, the drawings of the present invention will be briefly introduced below.

[0021] In the drawings:

[0022] Figure 1 shows the structural schematic diagram of the overall structure of the present application;

[0023] Figure 2 shows the structural schematic diagram of the rear view angle of the present application;

[0024] Figure 3 shows the structural schematic diagram of the bottom view angle of the present application;

[0025] Figure 4 shows the structural schematic diagram of the present application in a disassembled state;

[0026] Figure 5 shows the structural schematic diagram of the vertical rotating shaft, the steering block, the steering rod, and the connecting rod of the present application;

[0027] Figure 6 Shows a schematic structural diagram of the drive shaft, drive wheel and driving motor of the present application;

[0028] Figure 7 Shows a schematic structural diagram of the lifting mechanism and the bottom view of the crawler walking mechanism of the present application;

[0029] Figure 8 Shows a schematic structural diagram of the lifting mechanism of the present application;

[0030] Figure 9 Shows a schematic structural diagram of the battery box, ultrasonic sensor and limit component of the present application;

[0031] Figure 10 Shows a schematic structural diagram of the rectangular slider, square plug rod and C-shaped stepping rod of the present application;

[0032] Figure 11 Shows the Figure 4 Schematic diagram of the partial enlargement at A in the present application.

[0033] List of reference numerals

[0034] 1. Support frame; 101. Main support plate; 102. Support top plate; 103. Support bottom plate; 104. Lidar; 105. Vertical rod; 106. Angle adjustment motor; 107. Inspection camera; 108. Controller; 109. C-shaped positioning member; 1010. Ultrasonic sensor; 1011. 5G module; 1012. Binocular infrared camera; 1013. Vertical rotating shaft; 1014. Steering block; 1015. Steering wheel shaft; 1016. Steering wheel; 1017. Steering motor; 1018. Steering rod; 1019. Link; 1020. Drive shaft; 1021. Drive wheel; 1022. Driving motor;

[0035] 2. Switching mechanism; 201. Lifting frame; 202. Lifting slide plate; 203. Slide rail; 204. Guide sliding opening; 205. T-shaped driving slide rod; 206. Rotating nut; 207. Fixed plate; 208. Driving motor; 209. Guide rod; 2010. Guide sliding cylinder;

[0036] 3. Crawler walking mechanism;

[0037] 4. Battery box; 401. Slide plate; 402. Plugging plate; 403. Square jack;

[0038] 5. Limit component; 501. Guide frame; 502. Rectangular slider; 503. Square plug rod; 504. C-shaped stepping rod. Detailed implementation manners

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0040] Embodiment 1: Please refer to Figures 1 to 11 :

[0041] The present invention provides an obstacle avoidance and inspection robot for identifying complex outdoor environments, including: a support frame 1, the support frame 1 includes a main support plate 101, a support top plate 102 is fixedly installed above the main support plate 101, a lidar 104 and a controller 108 are respectively installed on the front and rear sides of the top of the support top plate 102; a switching mechanism 2 is arranged in the middle of the bottom of the main support plate 101; the switching mechanism 2 includes a lifting frame 201, a crawler traveling mechanism 3 is installed at both the left and right ends of the lifting frame 201, a lifting slide plate 202 is fixedly connected to both the left and right sides of the upper end surface of the lifting frame 201, a slide rail 203 is slidably connected to the front and rear sides of each lifting slide plate 202, the slide rail 203 is fixedly connected to the outside of the main support plate 101, a guiding slide opening 204 is opened on the opposite surfaces of the two lifting slide plates 202, and a T-shaped driving slide rod 205 is slidably connected inside the two guiding slide openings 204, and the two guiding slide openings 204 are both inclined; through the setting of the switching mechanism 2, the automatic conversion of the walking mode is realized. This innovative dual-mode switching design enables this inspection robot to adapt to a variety of working environments, ensuring both the moving efficiency on flat roads and the passing ability on complex terrains, and greatly improving the practical value and reliability of this inspection robot during operation.

[0042] A battery box 4 is installed on the rear side of the upper end surface of the main support plate 101, and a limiting component 5 is arranged at the rear end of the main support plate 101. Through the setting of the limiting component 5, it is used to fix the battery box 4.

[0043] A support base plate 103 is fixedly installed on both the front and rear sides of the bottom of the main support plate 101. Two vertical rotating shafts 1013 are fixedly connected between the upper end surface of the front support base plate 103 and the bottom end surface of the main support plate 101. A steering block 1014 is rotatably connected to the lower side of the outside of each vertical rotating shaft 1013. A steering wheel shaft 1015 is fixedly connected to the opposite surface of the two steering blocks 1014. A steering wheel 1016 is rotatably connected to the opposite end of the two steering wheel shafts 1015. A steering rod 1018 is fixedly connected to the rear end surface of each steering block 1014. A connecting rod 1019 is rotatably connected between the upper parts of the rear ends of the two steering rods 1018 through a rotating shaft. A steering motor 1017 is installed on the upper end surface of the front support base plate 103. A driving gear is fixedly installed on the upper end of the rotating shaft of the steering motor 1017. A driven gear is fixedly connected to the upper end surface of the right steering block 1014. The driven gear meshes with the driving gear. The steering of the steering wheel 1016 can be realized through the steering motor 1017.

[0044] A driving shaft 1020 is rotatably connected to the upper end surface of the rear support base plate 103. A driving wheel 1021 is fixedly installed at both the left and right ends of the driving shaft 1020. A worm gear is installed in the middle of the outside of the driving shaft 1020. A traveling motor 1022 is installed on the upper end surface of the rear support base plate 103. A worm that meshes with the worm gear is installed on the rotating shaft of the traveling motor 1022. Through the setting of the traveling motor 1022, it is used to drive the two driving wheels 1021 to rotate, so as to realize rapid movement on a flat ground.

[0045] A vertical rod 105 is fixedly connected to the middle of the upper end surface of the main support plate 101. An angle adjustment motor 106 is installed at the upper end of the vertical rod 105. A patrol camera 107 is fixedly connected to the upper end of the rotating shaft of the angle adjustment motor 106, which is used to photograph and observe the growth status, pest and disease conditions, etc. of agricultural products such as Hami melons in the farmland.

[0046] A binocular infrared camera 1012 is installed on the front side of the upper end surface of the front support base plate 103. Two ultrasonic sensors 1010 are symmetrically installed on the front and rear sides of the upper end surface of the main support plate 101 in a left-right symmetrical manner; a 5G module 1011 is installed at the bottom of the controller 108, which is used to communicate with the staff's smart phone through an external base station, and can remotely control the operation of this patrol robot through the staff's smart phone. The specific principle is: the command signal transmitted by the smart phone is transmitted to the controller 108 through the 5G module 1011, and the free controller 108 controls the steering motor 1017, the traveling motor 1022, the driving motor 208 and the motors on the crawler walking mechanism 3 to perform corresponding operations.

[0047] The outer front end of the T-shaped drive slide bar 205 is provided with threads, and a rotating nut 206 is connected to the outer front end of the T-shaped drive slide bar 205 through threads. The rear end of the rotating nut 206 is rotatably connected to a fixing plate 207, and the fixing plate 207 is fixedly connected to the bottom end face of the main support plate 101. A driven pulley is installed outside the rotating nut 206, and a drive motor 208 is installed at the lower part of the rear end face of the fixing plate 207. The rotating shaft of the drive motor 208 penetrates through the fixing plate 207, and a driving pulley is installed at the rear end of the rotating shaft of the drive motor 208. The driving pulley is in transmission connection with the driven pulley for driving the T-shaped drive slide bar 205 to move linearly back and forth.

[0048] A guiding sliding cylinder 2010 is fixedly connected to the front end face of the fixing plate 207, and a guiding rod 209 penetrating through the fixing plate 207 is slidably connected inside the guiding sliding cylinder 2010. The rear end of the guiding rod 209 is fixedly connected to the front side of the T-shaped drive slide bar 205. Through the cooperation of the guiding rod 209 and the guiding sliding cylinder 2010, the T-shaped drive slide bar 205 is effectively guided.

[0049] Embodiment 2, on the basis of Embodiment 1, as Figures 9 to 11 shown, a C-shaped positioning member 109 is fixedly connected to the rear side of the upper end face of the main support plate 101. A strip-shaped sliding groove is formed on each of the left and right inner side faces of the C-shaped positioning member 109. The distance between the rear end face of the C-shaped positioning member 109 and the rear end face of the main support plate 101 is 10 cm to 20 cm. A sliding plate 401 is fixedly installed at the bottom of the battery box 4, and strip-shaped sliding blocks slidably connected to the strip-shaped sliding grooves inside the C-shaped positioning member 109 are arranged on both the left and right sides of the sliding plate 401. A plug-in plate 402 is fixedly connected to the rear end of the sliding plate 401, and two square jacks 403 are symmetrically arranged on the upper end face of the plug-in plate 402 in the left-right direction. The limiting member 5 includes guiding frames 501. The number of the guiding frames 501 is two, and the two guiding frames 501 are fixedly connected to the rear end of the main support plate 101. A rectangular sliding block 502 is slidably connected inside each guiding frame 501. A square plug-in rod 503 penetrating through the top of the guiding frame 501 is fixedly connected to the upper end of each rectangular sliding block 502. A C-shaped stepping rod 504 penetrating through the bottom of the guiding frame 501 is fixedly connected between the lower ends of the two rectangular sliding blocks 502. A spring is sleeved outside the upper end of the C-shaped stepping rod 504, and the spring is located inside the guiding frame 501. When the battery box 4 is in the installed state on the upper part of the main support plate 101, the upper ends of the two square plug-in rods 503 are respectively inserted into the two square jacks 403. Through the cooperation of the C-shaped positioning member 109, the plug-in plate 402, the square jacks 403 and the limiting member 5, the traditional bolt fixing method is abandoned, so that the replacement work of the battery box 4 can be completed without tools, thus improving the use convenience and maintenance efficiency of this inspection robot.

[0050] Working principle of the present invention: During the process of the mobile inspection robot carrying out mobile inspection operations in the field, when encountering flat ground, the driving motor 1022 drives the drive shaft 1020 and the two drive wheels 1021 to rotate, thereby driving the mobile inspection robot to move quickly on the flat ground. When encountering complex terrains such as furrows and slopes, by controlling the forward rotation of the rotating shaft of the driving motor 208, the driving pulley, the driven pulley and the rotating nut 206 are driven to rotate forward. At this time, the T-shaped driving slide rod 205 moves linearly backward under the action of the thread. At this time, through the cooperation of the left and right ends of the T-shaped driving slide rod 205 and the two inclined guiding slide openings 204, the two lifting slide plates 202 are forced to drive the lifting frame 201 and the two crawler traveling mechanisms 3 to move downward at the same time. When the two crawler traveling mechanisms 3 come into contact with the ground, the two drive wheels 1021 and the two steering wheels 1016 are separated from the ground, and then the two crawler traveling mechanisms 3 can be used to drive on complex environments such as furrows and slopes. In this way, the adaptability of the mobile inspection robot to different ground environments is effectively improved.

[0051] During the process of mobile inspection in the field, the growth status and pest and disease conditions of agricultural products such as Hami melons in the farmland can be observed through the inspection camera 107; the distance of obstacles can be calculated by measuring the flight time of ultrasonic waves through the ultrasonic sensors 1010 on the front and rear sides, and then in cooperation with the controller 108, the speed or steering can be adjusted in real time. When steering, the controller 108 controls the forward and reverse rotation of the rotating shaft of the steering motor 1017, driving the driving gear, the driven gear and a steering block 1014 on the right side to rotate forward and backward, and then through the two steering rods 1018 and the connecting rod 1019, the other steering block 1014 is driven to rotate synchronously, thereby driving the two steering wheel shafts 1015 to rotate synchronously, so that the two steering wheels 1016 can be steered; the binocular infrared camera 1012 is used to identify the complex outdoor environment to realize functions such as environment perception, obstacle avoidance, and target detection. The specific principle is as follows: The scene is synchronously photographed through two infrared cameras (the distance between the left and right lenses is fixed), and the depth information is calculated by using the parallax (pixel offset) of the object in the left and right images in combination with the triangulation method to generate a three-dimensional point cloud or a depth map. The infrared imaging part realizes clear imaging in harsh environments such as darkness and haze by capturing the thermal radiation or reflected infrared light (active or passive) of the target. Therefore, the safety of the mobile inspection robot during driving is further improved.

[0052] When the inspection robot needs to replace the battery box 4 during long-term operation, first step on the inverted U-shaped pedal rod 504 downward with the feet, driving the two rectangular sliding blocks 502 and the two square insertion rods 503 downward, so that the two square insertion rods 503 are respectively pulled out from the two square insertion holes 403. At this time, the battery box 4 loses its fixing function on the upper part of the main support plate 101. Then move the battery box 4 backward to remove it. Next, place the front end of the fully charged battery box 4 on the rear side of the upper end surface of the main support plate 101. Then, under the action of the gravity of the battery box 4, press the two square insertion rods 503 downward until the upper ends of the two square insertion rods 503 are pressed flush with the upper end surface of the main support plate 101. Then directly push the battery box 4 forward. When the battery box 4 is pushed forward to the limit position, the upper ends of the two square insertion rods 503 are respectively inserted into the two square insertion holes 403, so as to quickly fix the battery box 4. Therefore, when disassembling and replacing the battery box 4, there is no need to use tools such as wrenches to turn bolts, which makes the disassembly and replacement work of the battery box 4 more convenient, and thus greatly improves the replacement efficiency.

[0053] In this article, the following points need to be noted:

[0054] 1. The attached drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0055] 2. Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0056] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An obstacle avoidance and inspection robot for identifying complex outdoor environments, comprising: Support frame (1), the support frame (1) includes a main support plate (101), a support top plate (102) is fixedly installed above the main support plate (101), and a lidar (104) and a controller (108) are respectively installed on the front and rear sides of the top of the support top plate (102); characterized in that a switching mechanism (2) is arranged in the middle of the bottom of the main support plate (101); the switching mechanism (2) includes a lifting frame (201), a crawler traveling mechanism (3) is installed at both the left and right ends of the lifting frame (201), a lifting slide plate (202) is fixedly connected to both the left and right sides of the upper end surface of the lifting frame (201), a slide rail (203) is slidably connected to the front and rear sides of each lifting slide plate (202), the slide rail (203) is fixedly connected to the outside of the main support plate (101), a guiding slide opening (204) is formed on the opposite surface of the two lifting slide plates (202), and a T-shaped driving slide rod (205) is slidably connected inside the two guiding slide openings (204); a battery box (4) is installed on the rear side of the upper end surface of the main support plate (101), and a limiting component (5) is arranged at the rear end of the main support plate (101).

2. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, wherein: A support bottom plate (103) is fixedly installed on both the front and rear sides of the bottom of the main support plate (101). Two vertical rotating shafts (1013) are fixedly connected between the upper end surface of the front support bottom plate (103) and the bottom end surface of the main support plate (101). A steering block (1014) is rotatably connected to the lower side of the outside of each vertical rotating shaft (1013). A steering wheel shaft (1015) is fixedly connected to the opposite surface of the two steering blocks (1014), and a steering wheel (1016) is rotatably connected to the opposite ends of the two steering wheel shafts (1015). A steering rod (1018) is fixedly connected to the rear end surface of each steering block (1014), and a connecting rod (1019) is rotatably connected between the upper parts of the rear ends of the two steering rods (1018) through a rotating shaft. A steering motor (1017) is installed on the upper end surface of the front support bottom plate (103), and a driving gear is fixedly installed on the upper end of the rotating shaft of the steering motor (1017). A driven gear is fixedly connected to the upper end surface of the right steering block (1014), and the driven gear meshes with the driving gear.

3. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, characterized in that: A driving shaft (1020) is rotatably connected to the upper end surface of the rear support bottom plate (103), and a driving wheel (1021) is fixedly installed at both the left and right ends of the driving shaft (1020). A worm gear is installed in the middle of the outside of the driving shaft (1020). A traveling motor (1022) is installed on the upper end surface of the rear support bottom plate (103), and a worm meshing with the worm gear is installed on the rotating shaft of the traveling motor (1022).

4. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, characterized in that: A vertical rod (105) is fixedly connected to the middle of the upper end surface of the main support plate (101), and an angle adjustment motor (106) is installed at the upper end of the vertical rod (105). A patrol camera (107) is fixedly connected to the upper end of the rotating shaft of the angle adjustment motor (106).

5. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, characterized in that: In front of the upper end face of the support base plate (103), a binocular infrared camera (1012) is installed. On the front and rear sides of the upper end face of the main support plate (101), two ultrasonic sensors (1010) are symmetrically installed on the left and right; at the bottom of the controller (108), a 5G module (1011) is installed.

6. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, wherein: The front end of the T-shaped driving slide rod (205) is externally threaded, and a rotating nut (206) is connected to the outside of the front end of the T-shaped driving slide rod (205) through threads. The rear end of the rotating nut (206) is rotatably connected to a fixing plate (207), and the fixing plate (207) is fixedly connected to the bottom end face of the main support plate (101); a driven pulley is installed outside the rotating nut (206). At the lower part of the rear end face of the fixing plate (207), a driving motor (208) is installed, and the rotating shaft of the driving motor (208) penetrates through the fixing plate (207). At the rear end of the rotating shaft of the driving motor (208), a driving pulley is installed, and the driving pulley is in transmission connection with the driven pulley.

7. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 6, wherein: The front end face of the fixing plate (207) is fixedly connected with a guiding sliding cylinder (2010), and a guiding rod (209) penetrating through the fixing plate (207) is slidably connected inside the guiding sliding cylinder (2010). The rear end of the guiding rod (209) is fixedly connected to the front side of the T-shaped driving slide rod (205).

8. An obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 1, characterized in that: At the rear side of the upper end face of the main support plate (101), a C-shaped positioning member (109) is fixedly connected. On the left and right side faces inside the C-shaped positioning member (109), a strip-shaped sliding groove is opened respectively. The distance between the rear end face of the C-shaped positioning member (109) and the rear end face of the main support plate (101) is 10 cm to 20 cm; at the bottom of the battery box (4), a sliding plate (401) is fixedly installed, and strip-shaped sliding blocks which are slidably connected with the strip-shaped sliding grooves inside the C-shaped positioning member (109) are arranged on the left and right sides of the sliding plate (401). At the rear end of the sliding plate (401), a plug-in plate (402) is fixedly connected, and two square jacks (403) are symmetrically opened on the upper end face of the plug-in plate (402).

9. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 8, wherein: The limiting member (5) includes guiding frames (501). The number of the guiding frames (501) is two, and the two guiding frames (501) are fixedly connected to the rear end of the main support plate (101). Inside each guiding frame (501), a rectangular sliding block (502) is slidably connected. At the upper end of each rectangular sliding block (502), a square plugging rod (503) penetrating through the top of the guiding frame (501) is fixedly connected. Between the lower ends of the two rectangular sliding blocks (502), a C-shaped stepping rod (504) penetrating through the bottom of the guiding frame (501) is fixedly connected, and a spring is sleeved outside the upper end of the C-shaped stepping rod (504), and the spring is located inside the guiding frame (501).

10. The obstacle avoidance and inspection robot for identifying complex outdoor environments according to claim 9, characterized in that: When the battery box (4) is in the installed state on the upper part of the main support plate (101), the upper ends of the two square plugging rods (503) are respectively plugged into the two square jacks (403).

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