Sensitivity integrated quadruped robot integrating multiple sensors

Abstract

The invention belongs to the technical field of intelligent communication, and particularly relates to a communication and sensing integrated quadruped robot integrating multiple sensors, which comprises a robot body, a communication base station and a top protection assembly, the communication base station is used for building a communication network, the top protection assembly is arranged at the top of the robot body, and a main body structure comprises a bottom plate, an inner frame and a protection cover, the two side protecting covers are used for protecting the top of the robot when being used, the two side protecting covers are used for assisting the robot in getting out when being limited when being unfolded, and the two protecting covers are used for providing an operation space for disassembling and assembling the communication base station when being disassembled and opened; a coiled dragon water pipe used for cooling the communication base station is laid on the surface of the bottom plate. And a soil penetrating needle is assembled at the bottom of the heat exchange chamber in a pop-up telescopic manner. On the premise of realizing multi-path communication, the top protection assembly with the advantages of protection, escape and detachability is provided, and the heat exchange effect is improved by adopting a water flow and soil heat exchange mode.

Description

Technical Field

[0001] This invention relates to the field of intelligent communication technology, specifically to a quadruped robot integrating multiple sensors. Background Technology

[0002] With the rapid development of information technology, the innovation and upgrading of communication technology has become a key force driving the progress of modern society, especially in the fields of emergency communication, power industry and Internet of Things. Research on the next-generation integrated air-space-ground multi-mode digital emergency communication system architecture, key technologies of air-ground collaborative communication, and key technologies of low-Earth orbit constellation and satellite Internet of Things in the power industry has important strategic significance and practical application value. Research on a new generation of integrated air-space-ground multi-mode digital emergency communication system architecture is an essential requirement for coping with complex and ever-changing communication environments and improving communication efficiency and quality. Traditional communication methods are often limited by factors such as geographical environment and natural disasters, making it difficult to meet communication needs in complex environments. In the research on the system architecture of the new generation of integrated air-space-ground communication, a ground communication architecture using a quadruped robot to carry communication base station components was adopted. However, it still faces the following problems: Due to communication disruptions caused by natural disasters, quadruped robots may still face damage and entrapment due to falling objects or temporary collapses when they enter the accident site. How to safely establish a communication infrastructure at the accident site is a problem that needs to be overcome. After prolonged operation, traditional fan cooling methods are insufficient to meet the heat dissipation requirements of robot-assisted base stations. To ensure that ground communication base stations can operate for longer periods, optimizing the internal cooling effect is also an area that needs improvement. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-sensor integrated quadruped robot that can achieve multi-path communication, and provides a top protection component with advantages such as protection, escape from obstacles and disassembly. It also uses water flow and soil heat exchange to improve the heat exchange effect.

[0004] The specific technical solution adopted by this invention is as follows: A multi-sensor integrated quadruped robot includes the robot body and a communication base station for building a communication network. The top protection assembly is located on the top of the machine body, and the main structure includes a base plate, an inner frame, and a cover. The communication base station is stored inside the inner frame. The two covers are symmetrically and movablely assembled on both sides of the top of the inner frame. When in use, the two covers are used to protect the top of the robot. When unfolded, the two covers are used to assist the robot in getting out of trouble when it is restricted. When disassembled and opened, the two covers are used to provide operating space for disassembling and assembling the communication base station. The surface of the bottom plate is paved with the dragon-shaped water pipe for cooling the communication base station. The heat exchange chamber is arranged at the bottom of the machine body, and the bottom of the heat exchange chamber is elastically and retractably assembled with the earth-penetrating needle.

[0005] The four sides of the machine body are assembled with the bionic feet through the internal driving mechanism.

[0006] The head of the machine body is provided with the camera and the infrared temperature measurement probe, the two sides of the head and the two sides of the tail of the machine body are embeddedly provided with the radar probe, and the top of the head of the machine body is provided with the three-dimensional scanner.

[0007] The inner frame is integrally arranged on the surface of the bottom plate, the two sides of the head and the tail of the bottom plate are hingedly provided with the supporting arms, the ends of the supporting arms on the same side are hingedly connected with the corresponding protective cover, and the head and the tail of the bottom plate are provided with the hydraulic cylinders.

[0008] One end of the hydraulic cylinder is hingedly provided with the adapter seat, the two sides of the head and the tail of the bottom plate are provided with the falling installation holes, the adapter seat is detachably installed in the corresponding falling installation hole, the inner wall of the falling installation hole is integrally provided with the clamping block for clamping the adapter seat, one end of the falling installation hole is elastically and slidingly assembled with the top block, and the surface of the top block is integrally provided with the extension body.

[0009] The inside of the hydraulic cylinder is retractably assembled with the piston rod, one end of the piston rod away from the adapter seat is provided with the telescopic rod, the outer surface of the telescopic rod is simultaneously sleeved with the spring one, and the end of the telescopic rod away from the piston rod is hingedly connected with the inner wall of the corresponding protective cover.

[0010] The inside of the machine body is provided with the oil pump and the oil tank, one interface of the oil pump is connected with the oil tank through the oil pipe three, the top of the oil tank is connected with the oil pipe one, the oil pipe one is connected with one end of each hydraulic cylinder away from the adapter seat through each branch pipe, the other interface of the oil pump is connected with the oil pipe two, and the oil pipe two is connected with one end of each hydraulic cylinder close to the adapter seat through each branch pipe.

[0011] One end of the inside of the heat exchange chamber is fixedly installed with the motor, the output end of the motor is connected with the speed reducer, the output end of the speed reducer is connected with the driving shaft, the inside of the heat exchange chamber is rotationally assembled with the transmission shaft which is vertically arranged with the driving shaft, the two ends of the driving shaft are fixedly installed with the worm, the middle parts of the two transmission shafts are fixedly installed with the worm gears, and the worm is engaged with the corresponding worm gear.

[0012] Both ends of the transmission shaft are fixedly installed with local gears, toothed rods are slidably assembled at four corners inside the heat exchange chamber, and the local gears are engaged with the corresponding toothed rods, the earth-penetrating needles are integrally arranged at the bottom end of the corresponding toothed rods, limiting plates are fixedly arranged at both ends inside the heat exchange chamber, and springs two are connected between the earth-penetrating needles and the limiting plates.

[0013] A partition is integrally arranged inside the earth-penetrating needle, and a liquid channel is formed in the earth-penetrating needle, liquid pipes one and two are connected to the first and last ends of the liquid channel at the top of the earth-penetrating needle, the ends of all the liquid pipes one are commonly connected with a total pipe one, and the ends of all the liquid pipes two are commonly connected with a total pipe two. A water tank is installed at one end of the heat exchange chamber away from the motor, a water pump is installed inside the machine body, the end of the total pipe one is in communication with one end of a dragon-shaped water pipe, one interface of the water pump is connected with the end of the dragon-shaped water pipe, the end of the total pipe two is connected with the water tank, a liquid pipe three is connected to the top of the water tank, and the other interface of the water pump is connected with the liquid pipe three.

[0014] The technical effects obtained by the application are as follows: The application overcomes the limitations of geographical environment, natural disasters and other factors, and is difficult to meet the communication needs in complex environments.

[0015] In a conventional use state, the protective cover is deflected after being hit by a falling object, the telescopic rod at one end of the liquid cylinder is retracted, and the spring one is simultaneously extruded, thereby weakening the impact of the falling object on the robot, so that the robot has certain pressure resistance, and the top of the robot is protected. When the robot suddenly encounters a collapse accident and is blocked, after the robot senses that it cannot move forward, the internal oil pump is started, and the two protective covers are finally stretched outward to push away the foreign matter blocking the robot, thereby providing sufficient space for the robot to escape, so that the robot can autonomously escape when limited by an accident. During the process of disassembling the communication base station, the top block is pulled, then the adapter seat is moved to be taken out from the falling hole, at this time, the disassembly of the liquid cylinder is completed, and then the protective cover is turned outward to provide space for taking the communication base station. The top protective assembly has three use modes, and has the advantages of protection, escape and disassembly.

[0016] The heat exchange chamber is designed to insert the earth-penetrating needle into the soil to provide a heat exchange mode between the cooling water and the soil, thereby improving the cooling effect of the internal equipment of the robot, wherein the frequently ejected earth-penetrating needle can penetrate into the soil to maximize the heat exchange area, and the unique internal structure of the earth-penetrating needle serves as a place for heat exchange between the water flow and the soil, thereby greatly improving the heat exchange effect. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a front view of a quadruped robot provided by an embodiment of the present application; Figure 2 is a rear view of a quadruped robot provided by an embodiment of the present application; Figure 3 is a structure diagram of a top protection assembly in a working state provided by an embodiment of the present application; Figure 4 is a structure diagram of a top protection assembly in an unfolded state provided by an embodiment of the present application; Figure 5 is a combined structure diagram of a liquid cylinder and an extension rod provided by an embodiment of the present application; Figure 6 is Figure 4 is a partial enlarged structure diagram of A in FIG. 8; Figure 7 is a combined schematic diagram of a top protection assembly, an oil pump and an oil tank provided by an embodiment of the present application; Figure 8 is an installation schematic diagram of a dragon-shaped water pipe provided by an embodiment of the present application; Figure 9 is an internal structure diagram of a heat exchange chamber provided by an embodiment of the present application; Figure 10 is a sectional structure diagram of an earth-penetrating needle provided by an embodiment of the present application.

[0018] In the drawings, the components represented by each reference numeral are listed as follows: 1. Machine body; 2. Bionic foot; 3. Camera; 4. Infrared temperature probe; 5. Radar probe; 6. 3D scanner; 7. Top protection assembly; 701. Base plate; 702. Inner frame; 703. Support arm; 704. Protective cover; 705. Hydraulic cylinder; 706. Piston rod; 707. Telescopic rod; 708. Spring 1; 709. Adapter; 710. Drop hole; 711. Locking block; 712. Top block; 713. Extension body; 714. Oil pipe 1; 715. Oil pipe 2; 8. Communication base station; 9. 901. Heat exchange chamber; 902. Motor; 903. Reducer; 904. Drive shaft; 905. Worm gear; 906. Transmission shaft; 907. Worm wheel; 908. Partial gear; 909. Gear rack; 900. Limiting plate; 910. Insertion needle; 911. Spring 2; 912. Partition plate; 913. Liquid passage; 914. Liquid pipe 1; 915. Liquid pipe 2; 916. Main pipe 1; 917. Main pipe 2; 918. Water tank; 919. Liquid pipe 3; 10. Oil pump; 11. Oil tank; 12. Coiled water pipe. Detailed Implementation

[0019] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0020] like Figures 1-10 As shown, a multi-sensor integrated quadruped robot includes a robot body 1 and a communication base station 8 for building a communication network. The four sides of the robot body 1 are equipped with bionic feet 2 through an internal drive mechanism. The main control chip and battery are also installed inside the robot body 1. See attached document Figures 1-2 The head of the machine body 1 is equipped with a camera 3 and an infrared temperature probe 4. Radar probes 5 are embedded on both sides of the head and both sides of the tail of the machine body 1. A 3D scanner 6 is installed on the top of the head of the machine body 1.

[0021] Based on the above structure, the quadruped robot's on-site perception and recognition system can be equipped with a perception, communication, and computing platform to achieve rapid on-site perception and recognition. The quadruped robot is equipped with no fewer than four solid-state radar probes 5, which can identify obstacles within a 2-meter radius around the device. After detecting an obstacle, it completes intelligent identification and analysis of the obstacle within one second. Depending on the obstacle type, it can autonomously implement two intelligent obstacle-avoidance methods: stopping at the obstacle or bypassing the obstacle. The onboard infrared temperature measurement probe 4 can achieve thermal imaging function, completing thermal imaging mapping of targets within a 16-meter range. At the same time, with the help of a 3D scanner 6, it can scan and image the environment beyond a 30-meter range. The above content is all existing technology and will not be elaborated further here.

[0022] Refer to the drawings Figures 3-5 , the top cover assembly 7 is arranged on the top of the machine body 1, and the main body structure comprises a bottom plate 701, an inner frame 702 and a cover 704, the communication base station 8 is stored inside the inner frame 702, and the two covers 704 are symmetrically and movably assembled on the two sides of the top of the inner frame 702. The inner frame 702 is integrally arranged on the surface of the bottom plate 701, the support arms 703 are hinged on the two sides of the head and tail ends of the bottom plate 701, the ends of the support arms 703 on the same side are hinged with the corresponding cover 704, the liquid cylinders 705 are arranged at the head and tail ends of the bottom plate 701, and the liquid cylinders 705 on the same side are connected with the corresponding cover 704. One end of the liquid cylinder 705 is hinged with an adapter seat 709.

[0023] Embodiment one: Refer to the drawings Figures 3-6 , the two side covers 704 are used to protect the top of the robot during use, the piston rod 706 is movably assembled in the liquid cylinder 705, the telescopic rod 707 is arranged at the end of the piston rod 706 away from the adapter seat 709, and the outer surface of the telescopic rod 707 is sleeved with a spring 708 at the same time. The end of the telescopic rod 707 away from the piston rod 706 is hinged with the inner wall of the corresponding cover 704.

[0024] According to the above structure, in the conventional use state, as shown in the drawings Figure 3 , the two side covers 704 are used to protect the top of the robot to prevent the robot from being damaged by falling objects from above. After the cover 704 is hit by falling objects, the cover 704 is deflected, the telescopic rod 707 at one end of the corresponding liquid cylinder 705 is retracted, and the spring 708 is simultaneously extruded. By means of this buffer structure, the impact of the falling object on the robot is weakened, so that the robot has certain pressure resistance.

[0025] Embodiment two: Refer to the drawings Figure 3 , Figure 5 and Figure 7 , the two side covers 704 are used to assist the robot to escape when it is restricted. The oil pump 10 and the oil tank 11 are installed in the machine body 1. One interface of the oil pump 10 is connected with the oil tank 11 through the oil pipe three. The oil pipe one 714 is connected with the oil tank 11 at the top, and the oil pipe one 714 is connected with the end of each liquid cylinder 705 away from the adapter seat 709 through the branch pipes. The other interface of the oil pump 10 is connected with the oil pipe two 715, and the oil pipe two 715 is connected with the end of each liquid cylinder 705 close to the adapter seat 709 through the branch pipes.

[0026] According to the above structure, when the robot is stuck in the ruins due to a collapse accident during the robot advancing, after the robot senses that it cannot move forward, the internal oil pump 10 is started, which pumps out the hydraulic oil in the oil tank 11 and injects it into the inside of each hydraulic cylinder 705 through the oil pipe two 715, each piston rod 706 will extend from the inside of the corresponding hydraulic cylinder 705, finally, the two side covers 704 jointly extend outward, thereby prying open the foreign matter that traps the robot, providing enough space for the robot body 1 to escape, facilitating the robot to escape autonomously when it is accidentally limited.

[0027] Embodiment three: Referring to the accompanying Figure 4 and Figure 6 , when disassembling and opening, the two side covers 704 are used to provide an operation space for disassembling the communication base station 8, the bottom plate 701 is provided with a falling and mounting hole 710 at both ends, the adapter seat 709 is detachably mounted in the corresponding falling and mounting hole 710, and the inner wall of the falling and mounting hole 710 is integrally provided with a clamping block 711 for clamping the adapter seat 709, and one end of the falling and mounting hole 710 is elastically and slidingly assembled with a top block 712, and the surface of the top block 712 is integrally provided with an extension body 713.

[0028] According to the above structure, as shown in the accompanying Figure 4 , in the process of disassembling the communication base station 8, the operator holds the extension body 713 and pulls the top block 712, then moves the adapter seat 709 to make it separate from the clamping block 711 and then takes it out from the falling and mounting hole 710, at this time, the disassembly of the hydraulic cylinder 705 is completed, and then the side cover 704 is turned outward, thereby providing a space for taking the communication base station 8.

[0029] The working principle of the present application is that the side covers 704 on the top of the robot are used to protect the top of the robot, when it is used normally, the side covers 704 are used to reduce the accidental damage of the robot caused by falling objects from above, after the side cover 704 is impacted by falling objects, the telescopic rod 707 at one end of the corresponding hydraulic cylinder 705 will be retracted, and the spring one 708 will be simultaneously pressed, thereby weakening the impact of the falling objects on the robot by means of this buffering structure; when the robot is stuck in the ruins due to a collapse accident, after the robot senses that it cannot move forward, the internal oil pump 10 is started, which pumps out the hydraulic oil in the oil tank 11 and injects it into the inside of each hydraulic cylinder 705 through the oil pipe two 715, each piston rod 706 will extend from the inside of the corresponding hydraulic cylinder 705, finally, the two side covers 704 jointly extend outward, thereby prying open the foreign matter that traps the robot, providing enough space for the robot body 1 to escape; in the process of disassembling the communication base station 8, the operator holds the extension body 713 and pulls the top block 712, then moves the adapter seat 709 to make it separate from the clamping block 711 and then takes it out from the falling and mounting hole 710, at this time, the disassembly of the hydraulic cylinder 705 is completed, and then the side cover 704 is turned outward, thereby providing a space for taking the communication base station 8.

[0030] Referring to the drawings Figure 8 The surface of the base plate 701 is paved with the dragon water pipe 12 for cooling the communication base station 8.

[0031] According to the above structure, the dragon water pipe 12 in direct contact with the communication base station 8 is used to take away the heat generated by the communication base station 8 during operation.

[0032] Referring to the drawings Figure 2 The heat exchange chamber 9 is provided at the bottom of the machine body 1, and the bottom of the heat exchange chamber 9 is pop-up telescopic assembled with the earth penetration needle 910, which is inserted into the soil to provide a heat exchange mode between the cooling water and the soil.

[0033] Referring to the drawings Figure 9 One end of the inside of the heat exchange chamber 9 is fixedly installed with the motor 901, and the output end of the motor 901 is connected with the speed reducer 902, the output end of the speed reducer 902 is connected with the driving shaft 903, the inside of the heat exchange chamber 9 is rotationally assembled with the transmission shaft 905 which is vertically arranged with the driving shaft 903, both ends of the driving shaft 903 are fixedly installed with the worm 904, the middle part of the two transmission shafts 905 are fixedly installed with the worm gear 906, and the worm 904 is engaged with the corresponding worm gear 906.

[0034] Referring to the drawings Figure 9 Both ends of the transmission shaft 905 are fixedly installed with the local gear 907, the inside of the heat exchange chamber 9 is liftably and slidably assembled with the toothed rod 908 at the four corners, the local gear 907 is engaged with the corresponding toothed rod 908, the earth penetration needle 910 is integrally arranged at the bottom end of the corresponding toothed rod 908, both ends of the inside of the heat exchange chamber 9 are fixedly provided with the limiting plate 909, the earth penetration needle 910 penetrates through the limiting plate 909 and the spring two 911 is connected between the earth penetration needle 910 and the limiting plate 909.

[0035] According to the above structure, when the robot moves to a specified position or needs to be stationary, the quadruped robot can be in a "cave" posture, which ensures that the heat exchange chamber 9 is attached to the ground. After the ground is determined to be soil by artificial, the motor 901 can be selectively started, which works by driving the driving shaft 903 to rotate through the speed reducer 902, and by the engagement between the worm 904 and the corresponding worm gear 906, the two transmission shafts 905 are simultaneously driven to rotate, the local gears 907 at both ends of the two transmission shafts 905 are simultaneously rotated, when the toothed part of the local gear 907 is engaged with the toothed rod 908, the toothed rod 908 carries the corresponding earth penetration needle 910 to move upward, and the corresponding spring two 911 is compressed, when the toothed part of the local gear 907 is separated from the toothed rod 908, the earth penetration needle 910 will quickly move downward under the elastic force of the spring two 911, so as to extend from the heat exchange chamber 9 and insert into the soil, and thus repeated several times, the depth of insertion into the soil can be increased until the limit position.

[0036] Referring to the drawings Figure 10 The inner part of the earth-penetrating needle 910 is integrally provided with a partition 912, and the inner part of the earth-penetrating needle 910 is provided with a liquid channel 913, and the top of the earth-penetrating needle 910 is connected with liquid pipe one 914 and liquid pipe two 915 at the first end and the last end of the liquid channel 913 respectively, the ends of all liquid pipe one 914 are connected with a total pipe one 916, and the ends of all liquid pipe two 915 are connected with a total pipe two 917. Referring to the drawings Figures 9-10 The inner part of the heat exchange chamber 9 is installed with a water tank 918 at the end far away from the motor 901, the inner part of the machine body 1 is installed with a water pump, the end of the total pipe one 916 is connected with one end of the coiled water pipe 12, one interface of the water pump is connected with the end of the coiled water pipe 12, the end of the total pipe two 917 is connected with the water tank 918, and the top of the water tank 918 is connected with liquid pipe three 919, and the other interface of the water pump is connected with the liquid pipe three 919.

[0037] According to the above structure, after the earth-penetrating needle 910 is fully inserted into the soil, the water pump in the machine body 1 is started, which pumps out the water in the water tank 918 into the coiled water pipe 12, so that the water flow is formed in the coiled water pipe 12, and the heat generated by the communication base station 8 is taken away by the water flow, and the water flow finally enters into each liquid pipe one 914 through the total pipe one 916, as shown in the water flow direction in the drawings Figure 10 The water flow then enters into the liquid channel 913 in each earth-penetrating needle 910, and when flowing in the liquid channel 913, the heat of the water flow is taken away by the soil to achieve the cooling effect, and the water flow finally flows back to the water tank 918, so as to realize the recycling of the cooling water.

[0038] The working principle of the application is as follows: after it is artificially determined that the ground is soil, the four-legged robot is controlled to be in a "crouching position" and the heat exchange chamber 9 is ensured to be attached to the ground, the motor 901 is started to drive the driving shaft 903 to rotate, the meshing between the worm 904 and the corresponding worm gear 906 is utilized to drive the two transmission shafts 905 and the local gears 907 at the two ends thereof to rotate, when the toothed part of the local gear 907 is meshed with the toothed rod 908, the toothed rod 908 carries the corresponding earth-penetrating needle 910 to move upward, and the corresponding spring two 911 is compressed, when the toothed part of the local gear 907 is separated from the toothed rod 908, the earth-penetrating needle 910 quickly moves downward under the elastic force of the spring two 911, so as to be stretched out from the heat exchange chamber 9 and inserted into the soil, and thus repeated for several times, so as to improve the depth of insertion into the soil until the limit position, when the water pump works, the water flow is formed in the coiled water pipe 12, and the heat generated by the communication base station 8 is taken away by the water flow, and the water flow finally enters into each liquid pipe one 914 through the total pipe one 916, as shown in the water flow direction in the drawings Figure 10The water flow direction is inside, and the water flow enters the liquid channel 913 in each soil needle 910. When flowing in the liquid channel 913, the water flow takes away the heat of the soil, so as to achieve the cooling effect. The water flow finally returns to the water tank 918, so as to realize the recycling of the cooling water.

[0039] The above description is only the preferred embodiments of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application are implemented according to the conventional means in the art, unless otherwise specified and limited.

Claims

1. A multi-sensor integrated quadruped robot, comprising a robot body (1) and a communication base station (8) for constructing a communication network, characterized in that: Top protection assembly (7), the top protection assembly (7) is set on the top of the machine body (1), and the main structure includes a base plate (701), an inner frame (702) and a cover (704). The communication base station (8) is stored inside the inner frame (702). The two covers (704) are symmetrically and movablely assembled on both sides of the top of the inner frame (702). The two covers (704) are used to protect the top of the robot when in use. When the two covers (704) are unfolded, they are used to assist the robot in getting out of trouble when it is restricted. When the two covers (704) are disassembled and opened, they are used to provide operating space for disassembling and assembling the communication base station (8). The surface of the base plate (701) is covered with a coiled water pipe (12) for cooling the communication base station (8). The heat exchange chamber (9) is located at the bottom of the machine body (1), and the bottom of the heat exchange chamber (9) is popped up and telescopically assembled with a soil insertion needle (910). The soil insertion needle (910) is inserted into the soil to provide a way for cooling water to exchange heat with the soil.

2. The integrated multi-sensor quadruped robot according to claim 1, characterized in that: The four sides of the machine body (1) are equipped with bionic feet (2) through an internal drive mechanism.

3. The integrated multi-sensor quadruped robot according to claim 1, characterized in that: The head of the machine body (1) is equipped with a camera (3) and an infrared temperature probe (4). Radar probes (5) are embedded on both sides of the head and both sides of the tail of the machine body (1). A three-dimensional scanner (6) is installed on the top of the head of the machine body (1).

4. The integrated multi-sensor quadruped robot according to claim 1, characterized in that: The inner frame (702) is integrally set on the surface of the base plate (701). Both ends of the base plate (701) are hinged with support arms (703). The ends of the support arms (703) on the same side are hinged to the corresponding covers (704). Both ends of the base plate (701) are provided with hydraulic cylinders (705). The hydraulic cylinders (705) on the same side are connected to the corresponding covers (704).

5. The integrated multi-sensor quadruped robot according to claim 4, characterized in that: One end of the hydraulic cylinder (705) is hinged to an adapter seat (709). Both ends of the base plate (701) are provided with mounting holes (710). The adapter seat (709) is detachably installed inside the corresponding mounting hole (710). The inner wall of the mounting hole (710) is integrally provided with a locking block (711) for locking the adapter seat (709). One end of the mounting hole (710) is elastically slidably assembled with a top block (712). The surface of the top block (712) is integrally provided with an extension body (713).

6. The integrated multi-sensor quadruped robot according to claim 5, characterized in that: The cylinder (705) is internally telescopically assembled with a piston rod (706). A telescopic rod (707) is provided at the end of the piston rod (706) away from the adapter seat (709), and a spring (708) is sleeved on the outer surface of the telescopic rod (707). The end of the telescopic rod (707) away from the piston rod (706) is hinged to the inner wall of the corresponding cover (704).

7. A multi-sensor integrated quadruped robot according to claim 6, characterized in that: The machine body (1) is equipped with an oil pump (10) and an oil tank (11). One of the interfaces of the oil pump (10) is connected to the oil tank (11) through an oil pipe three. The top of the oil tank (11) is connected to an oil pipe one (714), and the oil pipe one (714) is connected to the end of each hydraulic cylinder (705) away from the adapter seat (709) through each branch pipe. The other interface of the oil pump (10) is connected to an oil pipe two (715), and the oil pipe two (715) is connected to the end of each hydraulic cylinder (705) near the adapter seat (709) through each branch pipe.

8. The integrated multi-sensor quadruped robot according to claim 1, characterized in that: A motor (901) is fixedly installed at one end inside the heat exchange chamber (9), and a reducer (902) is connected to the output end of the motor (901). The output end of the reducer (902) is connected to a drive shaft (903). A transmission shaft (905) is rotatably assembled inside the heat exchange chamber (9) and is perpendicular to the drive shaft (903). Worms (904) are fixedly installed at both ends of the drive shaft (903), and worm wheels (906) are fixedly installed in the middle of the two transmission shafts (905). The worm (904) meshes with the corresponding worm wheel (906).

9. A multi-sensor integrated quadruped robot according to claim 8, characterized in that: Both ends of the drive shaft (905) are fixedly installed with local gears (907). The four corners inside the heat exchange chamber (9) are equipped with sliding racks (908) in a lifting manner. The local gears (907) mesh with the corresponding racks (908). The soil-penetrating needle (910) is integrally set at the bottom end of the corresponding rack (908). Both ends inside the heat exchange chamber (9) are fixedly installed with limiting plates (909). The soil-penetrating needle (910) passes through the limiting plate (909), and a spring (911) is connected between the soil-penetrating needle (910) and the limiting plate (909).

10. A multi-sensor integrated quadruped robot according to claim 9, characterized in that: The soil-penetrating needle (910) is integrally provided with a partition (912), and a liquid channel (913) is opened inside the soil-penetrating needle (910). The top of the soil-penetrating needle (910) and the two ends of the liquid channel (913) are respectively connected to a liquid pipe one (914) and a liquid pipe two (915). The ends of all liquid pipes one (914) are connected to a main pipe one (916), and the ends of all liquid pipes two (915) are connected to a main pipe two (917). A water tank (918) is installed at the end of the heat exchange chamber (9) away from the motor (901). A water pump is installed inside the machine body (1). The end of the main pipe (916) is connected to one end of the coiled water pipe (12). One of the interfaces of the water pump is connected to the end of the coiled water pipe (12). The end of the main pipe (917) is connected to the water tank (918). A liquid pipe (919) is connected to the top of the water tank (918). The other interface of the water pump is connected to the liquid pipe (919).

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