Bionic multi-legged patrol robot suitable for complex terrains in forest areas

Abstract

The invention relates to the technical field of patrol robots, and provides a bionic multi-legged patrol robot suitable for forest complex terrains, which comprises a base, one end of the base is provided with an active walking mechanism, the outer edge of the outer side of the base is provided with an auxiliary walking mechanism, and the auxiliary walking mechanism and the active walking mechanism are distributed at the same angle. A rotating motor is fixedly mounted at the bottom of the mounting frame, an output shaft of the rotating motor is fixedly connected with the base, a visual monitoring mechanism for inspecting the forest area is also arranged at the top of the mounting frame, a plurality of guide mechanisms for guiding the base are arranged on the outer edge of the top of the mounting frame, and the guide mechanisms are distributed around the base at equal angles. Through the bionics principle and the intelligent control technology, stable movement, comprehensive monitoring and energy efficiency optimization of the robot under the complex terrain of the forest region are achieved, the beneficial effects are remarkable, and technical support is provided for forest resource management.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of patrol robots, in particular to a bionic multi-legged patrol robot suitable for complex terrains in forest areas. BACKGROUND

[0002] Forest area patrol is an important link of forest resource management, ecological environment protection and disaster prevention, involving forest fire prevention, wildlife monitoring, illegal activity patrol and other tasks. However, the terrain in forest areas is complex and changeable, including rugged mountains, dense trees, exposed tree roots, gravel obstacles and the like. Traditional manual patrol is low in efficiency and high in risk. Therefore, the development of patrol robots has become a technical hotspot.

[0003] Existing robots often have difficulty in adapting to complex environments in forest areas, and there are some technical problems, including the following problems: Firstly, existing wheeled or tracked robots have simple structures, but are prone to sinking or slipping in soft soil, slopes or obstacle-dense areas, resulting in blocked movement. For example, wheeled robots cannot simulate the flexible posture adjustment of biological legs and are difficult to cross tree roots or gullies; tracked robots have certain obstacle-crossing ability, but are large in size, difficult to turn in forest gaps and high in energy consumption; Secondly, existing multi-legged robots mostly adopt fixed joint design and lack dynamic posture adjustment capability. When encountering uneven terrain, they are prone to overturning due to uneven support points and cannot realize stable patrol. In addition, the driving system is often concentrated at one end, resulting in unstable center of gravity and affecting long-distance travel; Thirdly, the visual monitoring system mostly uses fixed cameras or limited rotating mechanisms, and the field of view is narrow, which cannot cover the three-dimensional space in forest areas. For example, if the wide-angle camera cannot perform pitching and horizontal scanning, it will miss the details of the tree canopy or the ground, affecting the patrol effect; In view of this, the present application proposes a bionic multi-legged patrol robot suitable for complex terrains in forest areas. SUMMARY

[0004] The present application proposes a bionic multi-legged patrol robot suitable for complex terrains in forest areas, which solves the problem of difficult walking and turning of wheeled or tracked robots in complex terrains in forest areas in the prior art.

[0005] The technical scheme of the present application is as follows: a bionic multi-legged patrol robot suitable for complex terrains in forest areas, comprising a base, one end of the base being provided with a main walking mechanism, the outer side of the base being provided with auxiliary walking mechanisms distributed at equal angles with the main walking mechanism, the upper portion of the base being provided with a mounting frame, the bottom of the mounting frame being fixedly provided with a rotary motor, the output shaft of the rotary motor being fixedly connected with the base, the top of the mounting frame being provided with a visual monitoring mechanism for patrolling the forest area, the outer side of the top of the mounting frame being provided with a plurality of guide mechanisms for guiding the base, the plurality of guide mechanisms being distributed at equal angles around the base.

[0006] Preferably, the main walking mechanism comprises a first mounting seat rotatably connected to the end of the base, one end of the inner side of the base being fixedly provided with a first steering engine, the output shaft of the first steering engine being fixedly connected with the first mounting seat, the inner side of the first mounting seat being rotatably connected with a second steering engine, one end of the second steering engine being fixedly connected with a third steering engine, the output shaft of the third steering engine being fixedly connected with a third mounting seat, the bottom end of the inner side of the third mounting seat being fixedly provided with a driving motor, the output shaft of the driving motor being fixedly connected with a driving wheel.

[0007] Preferably, the auxiliary walking mechanism comprises a fourth mounting seat rotatably connected to the end of the base, the inner side of the base being fixedly provided with a fourth steering engine, the output shaft of the fourth steering engine being fixedly connected with the fourth mounting seat, one end of the fourth mounting seat being fixedly connected with a fifth mounting seat, the inner side of the fifth mounting seat being rotatably connected with a fifth steering engine, one end of the fifth steering engine being fixedly provided with a sixth steering engine, the output shaft of the sixth steering engine being fixedly connected with a sixth mounting seat, the bottom end of the sixth mounting seat being rotatably connected with a universal wheel.

[0008] Preferably, the inner side of the base is fixedly connected with a gyroscope, the inner side of the base is fixedly connected with a control panel, the control panel comprising a processor, a power module electrically connected with the processor, the gyroscope being signal connected with the processor, the first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine and the sixth steering engine all being electrically connected with the processor.

[0009] Preferably, the visual monitoring mechanism comprises a turntable rotatably connected to the top of the mounting frame, the top of the turntable being fixedly provided with a fixed seat, the inner side of the fixed seat being rotatably connected with a rotating seat, the top of the rotating seat being fixedly provided with a wide-angle camera, the inner side of the mounting frame being provided with an adjusting piece for driving the turntable and the rotating seat to rotate.

[0010] Preferably, the adjusting part comprises a hollow shaft penetrating the mounting frame, the hollow shaft is rotationally connected with the mounting frame, the top of the hollow shaft is fixedly connected with the rotating disc, the bottom of the hollow shaft is fixedly connected with a first gear, the inner side of the mounting frame is fixedly installed with a first adjusting motor, the output shaft of the first adjusting motor is fixedly connected with a second gear, and the second gear is engaged with the first gear.

[0011] Preferably, the second gear and the first gear have a tooth number ratio of 1:4.

[0012] Preferably, the adjusting part further comprises a second adjusting motor fixedly installed on the inner side of the mounting frame, the output shaft of the second adjusting motor is fixedly connected with a rotating shaft, the rotating shaft penetrates the hollow shaft and extends above the rotating disc, the top of the rotating shaft is fixedly connected with a first bevel gear, and the rotating seat is coaxially fixedly connected with a second bevel gear engaged with the first bevel gear.

[0013] Preferably, the wide-angle camera is electrically connected with the processor, and the first adjusting motor and the second adjusting motor are electrically connected with the processor.

[0014] Preferably, the guiding mechanism comprises a sleeve fixedly connected at the bottom of the mounting frame, the bottom of the sleeve is slidingly connected with a plug rod penetrating the bottom of the sleeve, the bottom of the plug rod is fixedly connected with an assembly seat, the inner side of the assembly seat is rotationally connected with a ball, the top wall of the base is provided with a guide groove in rolling cooperation with the ball, the top of the plug rod is fixedly installed with a friction block, the friction block is slidingly connected with the inner wall of the sleeve, the inner side of the sleeve is sleeved with a pressure spring, and the two ends of the pressure spring are respectively in abutment with the friction block and the inner wall of the sleeve.

[0015] The working principle and beneficial effects of the present application are as follows:

[0016] 1. Through the cooperative work of the active walking mechanism and the auxiliary walking mechanism, the multi-joint movement of the insect leg is simulated, and the rugged terrain of the forest area such as tree roots, gullies and gravel zones can be flexibly adapted; the active walking mechanism realizes three-dimensional attitude adjustment of pitching, yawing and rolling through multiple servos (such as a first servo, a second servo and a third servo), so that the driving wheel can dynamically adjust the angle according to the terrain, and slipping or falling is avoided; the auxiliary walking mechanism is distributed at equal angles, and provides additional support points through universal wheels to form stable triangular support and effectively prevent overturning.

[0017] 2、The gyroscope built-in the base and the control panel (including the processor) constitute a closed-loop control system, continuously monitoring the state of the body. Through the electrically connected rudders (fourth rudder, fifth rudder, sixth rudder), the robot can adjust the extension height and angle of the auxiliary legs in real time, ensuring the stability of the center of gravity. For example, when crossing obstacles, the auxiliary walking mechanism can automatically compensate for the height difference, reducing vibration and shaking; the guide mechanism provides buffering and guidance for the rotation of the base through the rolling cooperation of the pressure spring and the ball with the guide groove. This not only reduces the friction loss of the rotating motor when working, but also avoids the mechanical stress concentration caused by sudden turning, prolonging the service life of the robot.

[0018] 3、The visual monitoring mechanism adopts a double adjustment mechanism of rotating disc and rotating seat, which drives the wide-angle camera to perform horizontal 360° slow scanning and pitch angle adjustment through adjusting parts (such as first adjusting motor and second adjusting motor); the wide-angle camera electrically connected with the processor can capture three-dimensional images of the forest area, support fire warning, wild animal monitoring and other tasks, and greatly improve the patrol effect. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0020] Figure 1 is a three-dimensional structure schematic diagram of a bionic multi-legged patrol robot suitable for complex terrain in forest areas according to the present application; Figure 2 is a three-dimensional structure schematic diagram of a bionic multi-legged patrol robot suitable for complex terrain in forest areas according to the present application; Figure 3 is a structure schematic diagram of the active walking mechanism according to the present application; Figure 4 is a structure schematic diagram of the auxiliary walking mechanism according to the present application; Figure 5 is a structure schematic diagram of the visual monitoring mechanism according to the present application; Figure 6 is a structure schematic diagram of the adjusting part according to the present application; Figure 7 is a structure schematic diagram of the guide mechanism according to the present application; Figure 8 is a system block diagram of the present application.

[0021] In the diagram: 1. Base; 2. Active walking mechanism; 21. First mounting base; 22. First servo motor; 23. Second mounting base; 24. Second servo motor; 25. Third servo motor; 26. Third mounting base; 27. Drive motor; 28. Drive wheel; 3. Auxiliary walking mechanism; 31. Fourth mounting base; 32. Fourth servo motor; 33. Fifth mounting base; 34. Fifth servo motor; 35. Sixth servo motor; 36. Sixth mounting base; 37. Caster wheel; 4. Mounting bracket; 5. Rotary motor; 6. Vision monitoring mechanism; 61. 62. Turntable; 63. Fixed base; 64. Rotating base; 65. Wide-angle camera; 66. Adjusting component; 67. Hollow shaft; 68. First gear; 69. First adjusting motor; 60. Second gear; 61. Second adjusting motor; 62. Rotating shaft; 63. First bevel gear; 64. Second bevel gear; 75. Guide mechanism; 76. Sleeve; 77. Insert rod; 78. Assembly base; 79. Ball bearing; 70. Friction block; 71. Pressure spring; 8. Guide groove; 9. Gyroscope; 10. Control panel. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figures 1 to 8 As shown, this embodiment proposes a biomimetic multi-legged patrol robot suitable for complex terrain in forest areas. It includes a base 1, an active walking mechanism 2 at one end of the base 1, and auxiliary walking mechanisms 3 distributed at equal angles to the active walking mechanism 2 along the outer edge of the base 1. A mounting frame 4 is provided above the base 1, and a rotary motor 5 is fixedly installed at the bottom of the mounting frame 4. The output shaft of the rotary motor 5 is fixedly connected to the base 1. A visual monitoring mechanism 6 for patrolling the forest area is also provided at the top of the mounting frame 4. Several guide mechanisms 7 for guiding the base 1 are provided along the outer edge of the top of the mounting frame 4. The guide mechanisms 7 are distributed at equal angles around the base 1.

[0024] In this embodiment, the base 1 serves as the core support platform. The mounting frame 4 is driven to rotate relative to the base 1 by the rotary motor 5. The active walking mechanism 2 provides the main driving force, while the auxiliary walking mechanism 3 enhances stability by being distributed at equal angles. The active walking mechanism 2 is responsible for power output, and the auxiliary walking mechanism 3 dynamically adjusts the support points according to the terrain to avoid single-point collapse. The visual monitoring mechanism 6 is responsible for environmental perception, and the guiding mechanism 7 ensures the trajectory accuracy of the base 1 during rotation through the cooperation of the ball bearings 74 and the guide groove 8. Through the collaboration of multiple mechanisms, the system achieves an adaptability similar to that of an insect, allowing it to move flexibly through gaps in the trees.

[0025] The active walking mechanism 2 comprises a first mounting base 21 rotatably connected to the end of the base 1, a first steering engine 22 fixedly installed on the inner side of the base 1, an output shaft of the first steering engine 22 fixedly connected with the first mounting base 21, a second steering engine 24 rotatably connected to the inner side of the first mounting base 21, a third steering engine 25 fixedly connected to one end of the second steering engine 24, a third mounting base 26 fixedly connected with an output shaft of the third steering engine 25, a driving motor 27 fixedly installed at the bottom end of the inner side of the third mounting base 26, and a driving wheel 28 fixedly connected with an output shaft of the driving motor 27.

[0026] In this embodiment, the specific working mode of the active walking mechanism 2 is as follows: The first mounting base 21 is driven to rotate horizontally by starting the first steering engine 22 to adjust the direction of travel, the leg lifting angle is controlled by the second steering engine 24, and the pitch attitude of the driving wheel 28 is adjusted by the third steering engine 25; after adjusting the direction of travel and the attitude, the driving motor 27 is finally started to drive the driving wheel 28 to rotate to realize power output; the three steering engines work cooperatively to provide attitude adjustment in three dimensions of pitch, yaw and roll, can simulate the complex motion trajectory of the animal leg joint, and can realize crossing obstacles such as tree roots and stones through coordinated control.

[0027] The auxiliary walking mechanism 3 comprises a fourth mounting base 31 rotatably connected to the end of the base 1, a fourth steering engine 32 fixedly installed on the inner side of the base 1, an output shaft of the fourth steering engine 32 fixedly connected with the fourth mounting base 31, a fifth mounting base 33 fixedly connected to one end of the fourth mounting base 31, a fifth steering engine 34 rotatably connected to the inner side of the fifth mounting base 33, a sixth steering engine 35 fixedly installed on one end of the fifth steering engine 34, a sixth mounting base 36 fixedly connected with an output shaft of the sixth steering engine 35, and a universal wheel 37 rotatably connected to the bottom end of the sixth mounting base 36.

[0028] The inner side of the base 1 is fixedly connected with a gyroscope 9, the inner side of the base 1 is fixedly connected with a control panel 10, the control panel 10 comprises a processor, a power module electrically connected with the processor, the gyroscope 9 is signal connected with the processor, and the first steering engine 22, the second steering engine 24, the third steering engine 25, the fourth steering engine 32, the fifth steering engine 34 and the sixth steering engine 35 are electrically connected with the processor.

[0029] In this embodiment, the specific working mode of the auxiliary walking mechanism 3 is as follows: The fourth mounting base 31 is controlled by the fourth steering engine 32 to expand the angle, and the fifth steering engine 34 and the sixth steering engine 35 are cooperated to adjust the space position of the universal wheel 37, when the body is detected to be inclined, the processor dynamically adjusts the support height of each auxiliary leg through the data of the gyroscope 9 to form a stable support triangle; according to the terrain slope information fed back by the gyroscope 9, the leg posture is adjusted in real time, and the obstacles such as tree roots and stones can be crossed through coordinated control, so that the stability of the robot patrol work is ensured.

[0030] In the further preferable embodiment of the present application, the visual monitoring mechanism 6 comprises a rotating disc 61 rotatably connected to the top of the mounting rack 4, a fixed seat 62 fixedly connected to the top of the rotating disc 61, a rotating seat 63 rotatably connected to the inner side of the fixed seat 62, and a wide-angle camera 64 fixedly connected to the top of the rotating seat 63. The adjusting member 65 comprises a hollow shaft 651 penetrating through the mounting rack 4, the hollow shaft 651 being rotatably connected to the mounting rack 4, the top of the hollow shaft 651 being fixedly connected to the rotating disc 61, the bottom of the hollow shaft 651 being fixedly connected to a first gear 652, a first adjusting motor 653 being fixedly installed on the inner side of the mounting rack 4, an output shaft of the first adjusting motor 653 being fixedly connected to a second gear 654, the second gear 654 being engaged with the first gear 652, the tooth number ratio of the second gear 654 to the first gear 652 being 1:4, a second adjusting motor 655 being fixedly installed on the inner side of the mounting rack 4, an output shaft of the second adjusting motor 655 being fixedly connected to a rotating shaft 656, the rotating shaft 656 penetrating through the hollow shaft 651 and extending above the rotating disc 61, the top of the rotating shaft 656 being fixedly connected to a first bevel gear 657, the rotating seat 63 being coaxially fixedly connected to a second bevel gear 658 engaged with the first bevel gear 657, the wide-angle camera 64 being electrically connected to the processor, and the first adjusting motor 653 and the second adjusting motor 655 both being electrically connected to the processor.

[0031] In the present embodiment, the wide-angle camera 64 can realize horizontal scanning and pitch angle adjustment, and the specific implementation manner is as follows: Horizontal scanning: the first adjusting motor 653 is started to drive the second gear 654 to rotate, so that the first gear 652 is synchronously rotated, and since the tooth number ratio of the second gear 654 to the first gear 652 is 1:4, the rotating disc 61 is driven by the first gear 652 to realize slow horizontal panoramic scanning; Pitch adjustment: the second adjusting motor 655 is started to drive the rotating shaft 656 to rotate, so that the first bevel gear 657 is synchronously rotated, and the rotating seat 63 is driven by the second bevel gear 658 to rotate, so that the wide-angle camera 64 is adjusted in pitch, which can greatly improve the scanning range of the wide-angle camera 64, thereby realizing full coverage monitoring and patrol of the three-dimensional space of the forest area and greatly improving the patrol effect of the forest area.

[0032] In the further preferred embodiment of the present application, the guiding mechanism 7 comprises a sleeve 71 fixedly connected to the bottom of the mounting frame 4, a plug rod 72 penetrating through the bottom of the sleeve 71 and slidably connected to the bottom of the sleeve 71, an assembly seat 73 fixedly connected to the bottom of the plug rod 72, a ball 74 rotatably connected to the inner side of the assembly seat 73, a guiding groove 8 provided in the top wall of the base 1 and in rolling engagement with the ball 74, a friction block 75 fixedly installed at the top of the plug rod 72 and slidably connected to the inner wall of the sleeve 71, and a pressure spring 76 sleeved to the inner side of the sleeve 71 and in abutment with the inner wall of the sleeve 71 and the friction block 75.

[0033] In the present embodiment, the pressure spring 76 continuously pushes the friction block 75 downward, so that the ball 74 is always in contact with the guiding groove 8. When the base 1 rotates, the ball 74 rolls along the guiding groove 8, and the sliding engagement of the sleeve 71 with the plug rod 72 allows the mounting frame 4 to have a limited relative displacement with the base 1, and the pressure spring 76 provides a buffering and restoring force; the pressure spring 76 provides a self-restoring force to ensure that the mechanism is always in the optimal working position.

[0034] Overall working principle: the gyroscope 9 monitors the attitude of the body in real time, and the processor controls the rudders and motors in a closed loop through the control panel 10; the power module provides energy management for the system, realizing the collaborative work of motion control, image acquisition, and data transmission; The first rudder 22 is started to drive the first mounting seat 21 to rotate horizontally, so as to adjust the advancing direction; the second rudder 24 controls the leg lifting angle, and the third rudder 25 adjusts the pitch attitude of the driving wheel 28; after adjusting the advancing direction and attitude, the driving motor 27 is finally started to drive the driving wheel 28 to rotate, realizing power output; the three-stage rudders work collaboratively to provide attitude adjustment in three dimensions of pitch, yaw, and roll; The fourth rudder 32 controls the unfolding angle of the fourth mounting seat 31, and the fifth rudder 34 and the sixth rudder 35 collaboratively adjust the spatial position of the universal wheel 37; when the body inclination is detected, the processor dynamically adjusts the support height of each auxiliary leg through the gyroscope 9 data, forming a stable support triangle; according to the terrain slope information fed back by the gyroscope 9, the leg attitude is adjusted in real time, and through coordinated control, the robot can cross obstacles such as tree roots and stones, thereby ensuring the stability of the robot patrol work; By starting the first adjusting motor 653 to drive the second gear 654 to rotate, the first gear 652 is synchronously rotated, and since the tooth number ratio of the second gear 654 to the first gear 652 is 1:4, the first gear 652 drives the rotating disc 61 to realize slow horizontal panoramic scanning; by starting the second adjusting motor 655 to drive the rotating shaft 656 to rotate, the first bevel gear 657 is synchronously rotated, so that the second bevel gear 658 drives the rotating seat 63 to rotate, so that the wide-angle camera 64 performs pitching adjustment, so that the scanning range of the wide-angle camera 64 can be greatly improved, so as to realize full coverage monitoring and patrol of the forest area three-dimensional space, and greatly improve the patrol effect of the forest area.

[0035] The above are only preferred embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas, comprising a base (1), characterized in that, One end of the base (1) is provided with an active walking mechanism (2). The outer edge of the base (1) is provided with an auxiliary walking mechanism (3) that is equidistant from the active walking mechanism (2). The base (1) is provided with a mounting frame (4). The bottom of the mounting frame (4) is fixedly installed with a rotary motor (5). The output shaft of the rotary motor (5) is fixedly connected to the base (1). The top of the mounting frame (4) is also provided with a visual monitoring mechanism (6) for patrolling the forest area. The outer edge of the top of the mounting frame (4) is provided with several guide mechanisms (7) for guiding the base (1). The several guide mechanisms (7) are equidistant from the base (1).

2. The biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 1, characterized in that, The active walking mechanism (2) includes a first mounting base (21) rotatably connected to the end of the base (1). A first servo motor (22) is fixedly mounted on one end of the inner side of the base (1). The output shaft of the first servo motor (22) is fixedly connected to the first mounting base (21). A second servo motor (24) is rotatably connected to the inner side of the first mounting base (21). A third servo motor (25) is fixedly connected to one end of the second servo motor (24). The output shaft of the third servo motor (25) is fixedly connected to a third mounting base (26). A drive motor (27) is fixedly mounted on the bottom end of the inner side of the third mounting base (26). The output shaft of the drive motor (27) is fixedly connected to a drive wheel (28).

3. The biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 2, characterized in that, The auxiliary walking mechanism (3) includes a fourth mounting base (31) rotatably connected to the end of the base (1). A fourth servo motor (32) is fixedly mounted on the inner side of the base (1). The output shaft of the fourth servo motor (32) is fixedly connected to the fourth mounting base (31). A fifth mounting base (33) is fixedly connected to one end of the fourth mounting base (31). A fifth servo motor (34) is rotatably connected to the inner side of the fifth mounting base (33). A sixth servo motor (35) is fixedly mounted to one end of the fifth servo motor (34). A sixth mounting base (36) is fixedly connected to the output shaft of the sixth servo motor (35). A caster wheel (37) is rotatably connected to the bottom end of the sixth mounting base (36).

4. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 3, characterized in that, A gyroscope (9) is fixedly connected to the inner side of the base (1), and a control panel (10) is fixedly connected to the inner side of the base (1). The control panel (10) includes a processor and a power module electrically connected to the processor. The gyroscope (9) is signal-connected to the processor. The first servo (22), the second servo (24), the third servo (25), the fourth servo (32), the fifth servo (34), and the sixth servo (35) are all electrically connected to the processor.

5. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 4, characterized in that, The visual monitoring mechanism (6) includes a turntable (61) rotatably connected to the top of the mounting frame (4). A fixed seat (62) is fixedly connected to the top of the turntable (61). A rotating seat (63) is rotatably connected to the inner side of the fixed seat (62). A wide-angle camera (64) is fixedly connected to the top of the rotating seat (63). An adjusting component (65) for driving the turntable (61) and the rotating seat (63) to rotate is provided on the inner side of the mounting frame (4).

6. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 5, characterized in that, The adjusting component (65) includes a hollow shaft (651) that passes through the mounting bracket (4). The hollow shaft (651) is rotatably connected to the mounting bracket (4). The top of the hollow shaft (651) is fixedly connected to the turntable (61). A first gear (652) is fixedly connected to the bottom of the hollow shaft (651). A first adjusting motor (653) is fixedly installed on the inner side of the mounting bracket (4). A second gear (654) is fixedly connected to the output shaft of the first adjusting motor (653). The second gear (654) meshes with the first gear (652).

7. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 6, characterized in that, The ratio of the number of teeth of the second gear (654) to the number of teeth of the first gear (652) is 1:

4.

8. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 6, characterized in that, The adjusting component (65) also includes a second adjusting motor (655) fixedly installed inside the mounting bracket (4). The output shaft of the second adjusting motor (655) is fixedly connected to a rotating shaft (656). The rotating shaft (656) passes through the hollow shaft (651) and extends to the top of the turntable (61). A first bevel gear (657) is fixedly connected to the top of the rotating shaft (656). The rotating seat (63) is coaxially fixedly connected to a second bevel gear (658) that meshes with the first bevel gear (657).

9. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 8, characterized in that, The wide-angle camera (64) is electrically connected to the processor, and the first adjustment motor (653) and the second adjustment motor (655) are both electrically connected to the processor.

10. A biomimetic multi-legged patrol robot suitable for complex terrain in forest areas according to claim 1, characterized in that, The guiding mechanism (7) includes a sleeve (71) fixedly connected to the bottom of the mounting bracket (4). A rod (72) penetrating the bottom of the sleeve (71) is slidably connected to the bottom of the sleeve (71). A mounting base (73) is fixedly connected to the bottom of the rod (72). A ball bearing (74) is rotatably connected to the inner side of the mounting base (73). A guide groove (8) is provided on the top wall of the base (1) to roll and cooperate with the ball bearing (74). A friction block (75) is fixedly installed on the top of the rod (72). The friction block (75) is slidably connected to the inner wall of the sleeve (71). A pressure spring (76) is sleeved on the inner side of the sleeve (71). The two ends of the pressure spring (76) abut against the friction block (75) and the inner wall of the sleeve (71), respectively.

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