Multi-modal bionic detection robot

Abstract

The utility model discloses a multi-mode bionic detection robot which comprises a chassis, a rotating platform rotationally arranged on the chassis, a multi-mode detection mechanism arranged on the rotating platform and a multi-posture bionic walking device arranged on the chassis and used for driving the chassis to walk. Wherein the multi-posture bionic walking device comprises a wheel moving mechanism and a multi-foot bionic crawling mechanism; the multi-mode detection mechanism comprises sensors of different sensing types, and the sensors of different sensing types are used for detecting physical environment and biological information. The detection robot can realize multi-mode detection, is rich in functions and motion postures, is high in adaptability, and has high flexibility and maneuverability.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-modal bionic detection robot. Background Art

[0002] Robots have received extensive attention and applications due to their unique structure and flexible mobility. In the development of industrialization, the aging and daily maintenance of factory equipment are very important, which is related to production safety and production efficiency. In particular, the environment of chemical plants is relatively harsh. Therefore, chemical plants have safety hazards such as pipeline aging, biological invasion, smoke leakage and fire alarm. In order to eliminate safety hazards, inspection robots are mainly used to conduct inspections and collect the required information data.

[0003] With the continuous advancement of science and technology, the development of robots has changed from simple automation devices to highly intelligent and flexible complex systems. However, the existing inspection robots still have the following shortcomings:

[0004] It has a single mode, few functions, poor adaptability, single movement posture, insufficient maneuverability or flexibility, and cannot meet the detection needs of complex working conditions. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide a multimodal bionic detection robot, which can realize multimodal detection, has rich functions, rich motion postures, strong adaptability, and high flexibility and maneuverability.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A multimodal bionic detection robot comprises a chassis, a rotating platform rotatably arranged on the chassis, a multimodal detection mechanism arranged on the rotating platform, and a multi-posture bionic walking device arranged on the chassis for driving the chassis to walk; wherein the multi-posture bionic walking device comprises a wheel mechanism and a multi-legged bionic crawling mechanism; the multimodal detection mechanism comprises sensors of different perception types, and the sensors of different perception types are used to detect physical environment and biological body information.

[0008] The working principle of the above multimodal bionic detection robot is:

[0009] When working, the wheeling mechanism can drive the detection robot to realize wheel sliding, and the multi-legged bionic crawling mechanism can drive the detection robot to realize multi-legged crawling or pipeline climbing; according to the needs of different working conditions, the three postures of wheel sliding, multi-legged crawling and pipeline climbing can be freely switched. The various sensors on the detection robot can detect the physical environment and biological information, realize cross-fusion and precise monitoring. During the detection process, 360° detection can be achieved by rotating the rotating platform.

[0010] A preferred embodiment of the utility model, wherein the multi-legged bionic crawling mechanism includes a plurality of crawling feet respectively arranged on both sides of the chassis; each of the crawling feet includes an upper limb segment, a lower limb segment, a horizontal servo and a vertical servo; the upper limb segment is located between the lower limb segment and the chassis, one end of the upper limb segment is rotatably connected to the chassis, and the other end of the upper limb segment is rotatably connected to one end of the lower limb segment; the horizontal servo is used to drive the upper limb segment to rotate horizontally on the chassis; the vertical servo is used to drive the lower limb segment to rotate vertically on the upper limb segment. In the above structure, by setting a horizontal servo and a vertical servo, the two joints of the crawling foot can be driven to move, and the other two joints are the joint formed by the rotational connection between the upper limb segment and the chassis and the joint formed by the rotational connection between the upper limb segment and the lower limb segment; by driving the upper limb segment and the lower limb segment to move, multiple crawling feet coordinate with each other, and the multi-legged crawling and pipeline climbing of the detection robot can be realized; multiple crawling feet can be set to achieve multi-legged support with good stability, and through multiple lower limb segments in contact with the ground, it can adaptively adjust to maintain a good balance even on unstable ground, maintain a high degree of stability when performing precision operations, and ensure the accuracy of the operation; at the same time, it can also be suitable for crawling in different environments, such as uneven roads, corrosive road conditions, etc.

[0011] Preferably, an arc-shaped portion is provided at the end of the lower limb segment, the purpose of which is that when climbing a pipeline, the arc-shaped portion will fit the pipeline and apply pressure in the radial direction of the pipeline, so that friction is generated between the crawling claws and the pipeline to support the detection robot to move forward.

[0012] Furthermore, the arc-shaped portion is provided with anti-slip grooves to increase friction and adhesion and improve climbing stability.

[0013] Preferably, the number of the crawling claws is six, wherein the two crawling claws located at the front end of the chassis are multifunctional multiplexed claws; an arc-shaped clamping plate is provided on the lower limb of the multifunctional multiplexed claw, the two arc-shaped clamping plates are arranged opposite to each other, and a pair of springs are provided between the arc-shaped clamping plate and the lower limb. In the above structure, the two crawling claws located at the front end of the chassis are multifunctional multiplexed claws, so that the two crawling claws located at the front end of the chassis can be used for ordinary crawling functions, or can be used as mechanical arms, or used to grab objects, or to fix objects in position, to assist in the precise positioning of multimodal detection of objects, that is, through the drive of the horizontal servo, the two crawling claws located at the front end of the chassis move closer to each other, driving the two arc-shaped clamping plates to move closer to each other, realizing the clamping action, and the spring between the arc-shaped clamping plate and the lower limb can make the arc-shaped clamping plate have a certain elastic surplus, improve the clamping stability, and play a buffering effect.

[0014] The multifunctional reusable claws are also the front feet, the two crawling claws located in the middle of the chassis are the mid feet, and the two crawling claws located at the rear end of the chassis are the hind feet; when the detection robot is used for pipeline detection, the main feature of the multi-legged bionic crawling mechanism is its pipe climbing function. To achieve this function, the detection robot mainly has two forms. When the multifunctional reusable claw is needed to carry goods, the upper limbs of the multifunctional reusable claw rotate with the chassis to realize the movement of the lower limbs and the arc-shaped clamping plate together, and cooperate with the spring to realize the arc-shaped clamping plate to adapt to the clamping of objects of different volumes. When the detection robot holds the pipe and moves forward, the left middle foot and the right hind foot hold the pipe without moving, the upper limbs of the right middle foot and the left hind foot rotate on the chassis, and cooperate with the corresponding tightness changes of the lower limbs to realize the forward movement of the left middle foot and the right hind foot; then the right middle foot and the left hind foot hold the pipe without moving; the upper limbs of the left middle foot and the right hind foot rotate on the chassis, and cooperate with the corresponding tightness changes of the lower limbs to realize the forward movement of the right middle foot and the left hind foot. At this time, the robot's middle foot and hind foot move forward at the same time, and the process is thus circulated, so that the overall pipe climbing of the detection robot can be realized. When the detection robot does not need to perform a handling task, the two front arc-shaped clamping plates can also make the pipe holding more stable through the rotation of the joints.

[0015] Furthermore, two guide posts are provided between the arc-shaped clamping plate and the lower limb section, one end of the guide post is slidably connected to the lower limb section, and the other end is fixedly connected to the arc-shaped clamping plate, and a pair of springs are respectively sleeved on the two guide posts, one end of the spring acts on the lower limb section, and the other end acts on the arc-shaped clamping plate. The above structure can ensure the stability of the movement of the arc-shaped clamping plate.

[0016] Preferably, the wheel mechanism includes wheels and drive motors arranged on both sides of the chassis, the wheels are divided into front wheels and rear wheels, and the drive motor is used to drive the rear wheels to rotate. When the detection robot is traveling on a relatively flat road, the crawling claws are retracted, and the rear wheels are driven to rotate by the drive motor, so that the detection robot can wheel and slide on the road. Compared with crawling, wheel sliding is faster and can improve efficiency; at the same time, when climbing the pipeline, the wheels can slide against the pipe wall, and the inner side of the crawling claws is bent to fit the pipeline, thereby enhancing the stability of pipeline detection. The crawling claws are set with multiple joints, multiple drives, and multi-foot coordinated movement, and the detection robot can be moved to climb the pipeline.

[0017] Preferably, the bottom of the chassis is provided with an upwardly concave arc groove, the purpose of which is to enable the chassis to adapt to pipeline climbing.

[0018] Preferably, the sensors of different sensing types include infrared biosensor, visual sensor and ultrasonic ranging sensor; the infrared biosensor is used to detect the ambient temperature and thermal radiation of the organism, the visual sensor is used to detect the surrounding physical environment, and the ultrasonic ranging sensor is used to detect and avoid surrounding obstacles to realize the obstacle avoidance function of the detection robot. The visual sensor can be used to check the aging of the pipeline; the infrared biosensor can detect biological invasion.

[0019] The multimodal detection mechanism integrates all-round ultrasonic obstacle avoidance, infrared biological detection and visual detection, and has efficient and accurate environmental perception and obstacle detection capabilities, greatly enhancing the autonomy and application flexibility of the detection robot in complex environments. The ultrasonic ranging sensor gives the detection robot the ability to detect and avoid obstacles in real time, improving the safety and reliability of autonomous navigation; the infrared biosensing sensor enables the detection robot to sense the ambient temperature and thermal radiation of organisms, which is particularly critical for performing biological detection tasks and effectively assists in identifying the location of organisms. At the same time, the rotating platform provides all-round detection, enhances spatial positioning and target recognition accuracy, and captures abnormal features such as pipe ruptures and rust, as well as open flame smoke features; the comprehensive application of these detection technologies not only improves the perception accuracy and breadth, but also enables the detection robot to autonomously adapt to environmental changes, significantly improving the efficiency of safety detection tasks.

[0020] Preferably, a housing is provided on the top of the chassis, and a rotary steering gear is provided inside the housing for driving the rotary platform to rotate. The rotary steering gear drives the rotary platform to rotate, thereby driving the multi-modal detection mechanism to rotate, so that the detection range is large and there is no blind spot. The detection is accurate.

[0021] Preferably, a lighting lamp is provided at the front end of the housing. The above structure can be used for general lighting for walking, or for detection lighting purposes, such as lighting when a visual sensor performs visual detection.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] 1. The multimodal bionic detection robot in the utility model can switch between three motion postures of multi-legged crawling, wheeled sliding, and pipeline climbing through a wheeled mechanism and a multi-legged bionic crawling mechanism. It has rich motion postures, high flexibility and maneuverability, and adopts multi-legged coordinated motion, which is suitable for crawling in different environments and has strong adaptability.

[0024] 2. The multimodal bionic detection robot in the utility model realizes multimodal detection according to various sensors by setting a multimodal detection mechanism, with rich functions, cross-fusion and precise detection; the multimodal detection mechanism is installed on a rotating platform, and the rotating platform can realize 360° rotation, which can improve the detection range of the multimodal detection mechanism and ensure that there are no blind spots in the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a front view of one specific implementation of a multimodal bionic detection robot in the utility model.

[0026] Figure 2 It is a top view of the multimodal bionic detection robot in the present utility model.

[0027] Figure 3 It is a left view of the multimodal bionic detection robot in the present utility model.

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the multi-modal bionic detection robot in the utility model.

[0029] Figure 5 This is a schematic diagram of the three-dimensional structure of the multimodal bionic detection robot in the utility model without wheels.

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the crawling paw in the utility model.

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the multifunctional reusable paw in the utility model.

[0032] Figure 8 It is a three-dimensional structural schematic diagram of the rotating platform and the multi-modal detection mechanism in the utility model. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0034] See also Figure 1-Figure 5 and Figure 8 This embodiment discloses a multimodal bionic detection robot, including a chassis 1, a rotating platform 2 rotatably arranged on the chassis 1, a multimodal detection mechanism arranged on the rotating platform 2, and a multi-posture bionic walking device arranged on the chassis 1 for driving the chassis 1 to walk; wherein the multi-posture bionic walking device includes a wheel mechanism 3 and a multi-legged bionic crawling mechanism 4; the multimodal detection mechanism includes sensors of different perception types, and the sensors of different perception types are used to detect physical environment and biological body information.

[0035] See also Figure 1-Figure 5 and Figure 8 The detection robot of this embodiment can realize multi-posture movement, and realize three basic postures of multi-legged crawling, wheeled sliding, and pipeline climbing through the wheel mechanism 3 and the multi-legged bionic crawling mechanism 4, which can adapt to the needs of different working conditions and environments, and different postures can be switched freely; it has high flexibility and maneuverability. It can select the most suitable way of travel for various environments such as flat hard ground, rugged terrain or narrow pipelines, significantly reduce human intervention, improve the completion speed of safety detection tasks, and improve efficiency. Multi-posture conversion also optimizes energy consumption. The detection robot can select the most energy-saving mobile mode according to environmental conditions, thereby extending the operation time and reducing operation and maintenance costs. This conversion capability not only broadens the application scope of the detection robot, enabling it to meet the needs of multiple fields such as industrial detection and environmental monitoring, but also increases the ability to respond to extreme and special situations, demonstrating its functional diversity and high practicality.

[0036] See also Figure 1-Figure 7The multi-legged bionic crawling mechanism 4 includes a plurality of crawling feet 5 respectively arranged on both sides of the chassis 1; each of the crawling feet 5 includes an upper limb segment 5-1, a lower limb segment 5-2, a horizontal servo 5-3 and a vertical servo 5-4; the upper limb segment 5-1 is located between the lower limb segment 5-2 and the chassis 1, one end of the upper limb segment 5-1 is rotatably connected to the chassis 1, and the other end of the upper limb segment 5-1 is rotatably connected to one end of the lower limb segment 5-2; the horizontal servo 5-3 is used to drive the upper limb segment 5-1 to rotate horizontally on the chassis 1; the vertical servo 5-4 is used to drive the lower limb segment 5-2 to rotate vertically on the upper limb segment 5-1. In the above structure, by setting a horizontal servo 5-3 and a vertical servo 5-4, the two joints of the crawling foot 5 can be driven to move, and the other two joints are the joint formed by the rotational connection between the upper limb segment 5-1 and the chassis 1, and the joint formed by the rotational connection between the upper limb segment 5-1 and the lower limb segment 5-2; by driving the upper limb segment 5-1 and the lower limb segment 5-2 to move, multiple crawling feet 5 coordinate with each other, and the multi-legged crawling and pipeline climbing of the detection robot can be realized; multiple crawling feet 5 are set to achieve multi-legged support with good stability, and contact with the ground through multiple lower limb segments 5-2, so that even on unstable ground, it can adaptively adjust to maintain a good balance, maintain a high degree of stability when performing precision operations, and ensure the accuracy of the operation; at the same time, it can also be suitable for crawling in different environments, such as uneven roads, corrosive road conditions, etc.

[0037] See also Figure 1-Figure 7 The multi-legged bionic crawling mechanism 4 is controlled by two servos, namely the horizontal servo 5-3 and the vertical servo 5-4, and the instructions are executed in a specific order so that the crawling claws 5 can support and drive the detection robot to crawl forward. By setting up multiple crawling claws 5, multi-legged support is achieved with good stability. Through multiple crawling claws 5 in contact with the ground, it can adaptively adjust and maintain a good balance even on unstable ground, maintain a high degree of stability when performing precision operations, and ensure the accuracy of the operation. The multi-legged bionic crawling mechanism 4 adopts a bionic structure with a compact structure and a unique appearance. It combines feet and wheels, has flexible and changeable movements, and is equipped with sensors of different sensing types, making detection very convenient.

[0038] See also Figure 1-Figure 7 The end of the lower limb 5-2 is provided with an arc portion 5-21, the purpose of which is that when climbing the pipeline, the arc portion 5-21 will fit the pipeline and apply pressure in the radial direction of the pipeline, so that friction is generated between the crawling claw 5 and the pipeline to support the detection robot to move forward. In addition, a chemical substance with strong adhesion is attached to the arc portion 5-21, which can provide sufficient support for the detection robot on the pipeline during movement.

[0039] See also Figure 6The arc portion 5-21 is provided with anti-slip grooves to increase friction and adhesion and improve climbing stability.

[0040] See also Figure 1-Figure 7 There are six crawling feet 5, among which the two crawling feet 5 located at the front end of the chassis 1 are multifunctional multiplexed feet; an arc-shaped clamping plate 6 is provided on the lower limb segment 5-2 of the multifunctional multiplexed foot, and the two arc-shaped clamping plates 6 are arranged opposite to each other, that is, the arc-shaped clamping plates 6 on the two multifunctional multiplexed feet are arranged opposite to each other, and a pair of springs 7 is provided between the arc-shaped clamping plate 6 and the lower limb segment 5-2. In the above structure, the two crawling feet 5 located at the front end of the chassis 1 are multifunctional reused feet, so that the two crawling feet 5 located at the front end of the chassis 1 can be used for ordinary crawling functions, and can also be used as a robotic arm, or used to grab objects, or fix objects in position, to assist in the precise positioning of multimodal detection of objects, that is, through the drive of the horizontal servo 5-3, the two crawling feet 5 located at the front end of the chassis 1 move closer to each other, driving the two arc-shaped clamping plates 6 to move closer to each other to achieve a clamping action. The spring 7 between the arc-shaped clamping plate 6 and the lower limb segment 5-2 can make the arc-shaped clamping plate 6 have a certain elastic surplus, thereby improving the clamping stability and having a buffering effect.

[0041] See also Figure 1-Figure 7 The multifunctional reusable claws are also the front feet, the two crawling claws 5 located in the middle of the chassis 1 are the mid feet, and the two crawling claws 5 located at the rear end of the chassis 1 are the hind feet; when the detection robot is used for pipeline detection, the main feature of the multi-legged bionic crawling mechanism 4 is its function of climbing the pipe. To achieve this function, the detection robot mainly has two forms. When the multifunctional reusable claw is needed to carry goods, the upper limb segment 5-1 of the multifunctional reusable claw rotates with the chassis 1 to realize the movement of the lower limb segment 5-2 and the arc-shaped clamping plate 6, and cooperates with the spring 7 to realize the arc-shaped clamping plate 6 to adapt to the clamping of objects of different volumes. When the detection robot holds the pipe and moves forward, the left middle foot and the right hind foot hold the pipe without moving, and the upper limb segment 5-1 of the right middle foot and the left hind foot rotates on the chassis 1, and cooperates with the corresponding tightness change of the lower limb segment 5-2 to realize the forward movement of the left middle foot and the right hind foot; then the right middle foot and the left hind foot hold the pipe without moving; the upper limb segment 5-1 of the left middle foot and the right hind foot rotates on the chassis 1, and cooperates with the corresponding tightness change of the lower limb segment 5-2 to realize the forward movement of the right middle foot and the left hind foot. At this time, the middle foot and hind foot of the robot move forward at the same time, and the process is thus circulated, so that the overall pipe climbing of the detection robot can be realized. When the detection robot does not need to perform a handling task, the two front arc-shaped clamping plates 6 can also rotate through the joints to make the pipe holding more stable.

[0042] The multifunctional reusable claw in this embodiment can clamp objects without an additional driving device. By setting the spring 7, the clamping force can be adaptively adjusted according to the size of the clamped object.

[0043] See also Figure 7 Two guide posts 8 are provided between the arc-shaped clamping plate 6 and the lower limb section 5-2, one end of the guide post 8 is slidably connected to the lower limb section 5-2, and the other end is fixedly connected to the arc-shaped clamping plate 6. A pair of springs 7 are respectively sleeved on the two guide posts 8, one end of the spring 7 acts on the lower limb section 5-2, and the other end acts on the arc-shaped clamping plate 6. With the above structure, the stability of the movement of the arc-shaped clamping plate 6 can be ensured.

[0044] See also Figure 1-Figure 4 The wheel mechanism 3 includes wheels 3-1 and a drive motor arranged on both sides of the chassis 1. The wheels 3-1 are divided into front wheels and rear wheels, and the drive motor is used to drive the rear wheels to rotate. When the detection robot is traveling on a relatively flat road, the crawling claws 5 are retracted, and the rear wheels are driven to rotate by the drive motor, so that the detection robot can wheel and slide on the road. Compared with crawling, wheel sliding is faster and can improve efficiency. At the same time, when climbing the pipeline, the wheels 3-1 can slide against the pipe wall, and the inner side of the crawling claws 5 is bent to fit the pipeline to enhance the stability of pipeline detection. The crawling claws 5 are set with multiple joints, multiple drives, and multi-foot coordinated movement, and the detection robot can climb the pipeline by moving.

[0045] See also Figure 1-Figure 4 In this embodiment, two drive motors can be provided, which are used to drive the front wheels and the rear wheels respectively, so as to facilitate fast walking on flat ground.

[0046] See also Figure 1-Figure 4 The bottom of the chassis 1 is provided with an upwardly concave arc groove 1-1, the purpose of which is to enable the chassis 1 to adapt to pipeline climbing.

[0047] See also Figure 1-Figure 5 and Figure 8 The sensors of different sensing types include infrared biosensor 9, visual sensor 10 and ultrasonic ranging sensor 11; the infrared biosensor 9 is used to detect the ambient temperature and the thermal radiation of the organism, the visual sensor 10 is used to detect the surrounding physical environment, and the ultrasonic ranging sensor 11 is used to detect and avoid obstacles around to realize the obstacle avoidance function of the detection robot. The visual sensor 10 can be used to check the aging of the pipeline; the infrared biosensor 9 can detect biological invasion.

[0048] See also Figure 1-Figure 5 and Figure 8The multimodal detection mechanism integrates all-round ultrasonic obstacle avoidance, infrared biological detection and visual detection, and has efficient and accurate environmental perception and obstacle detection capabilities, which greatly enhances the autonomy and application flexibility of the detection robot in complex environments. The ultrasonic ranging sensor 11 gives the detection robot the ability to detect and avoid obstacles in real time, improving the safety and reliability of autonomous navigation; the infrared biological sensing sensor 9 enables the detection robot to sense the ambient temperature and thermal radiation of the organism, which is particularly critical for performing biological detection tasks and effectively assists in identifying the location of the organism. At the same time, the rotating platform 2 provides all-round detection, enhances the accuracy of spatial positioning and target recognition, and captures abnormal features such as pipe rupture and rust, as well as open flame smoke features; the comprehensive application of these detection technologies not only improves the perception accuracy and breadth, but also enables the detection robot to autonomously adapt to environmental changes, significantly improving the efficiency of safety detection tasks.

[0049] See also Figure 1-Figure 5 and Figure 8 , a housing 12 is provided on the top of the chassis 1, and a rotating servo 14 for driving the rotating platform 2 to rotate is provided inside the housing 12. The rotating platform 2 is driven to rotate by the rotating servo 14, thereby driving the multi-modal detection mechanism to rotate, with a large detection range and no dead angles. Accurate detection. Each sensor collects data separately for centralized processing. Each sensor is embedded on the rotating platform 2. The sensor is connected to the microcontroller unit (MCU) through a wire. During the rotation process, the rotation range of the rotating platform 2 is limited within the range of ±360 degrees, so that the wire connecting the sensor and the MCU can be guaranteed to operate normally. During the movement, the rotating platform 2 will rotate at a certain period, so that each sensor can collect multi-directional information for processing and summarization by the MCU.

[0050] Intelligent monitoring can also be achieved through the visual sensor 10. Through wireless transmission such as 5G and WIFI6, the video collected by the visual sensor 10 can be transmitted to the APP cloud or micro control unit in real time, and the image quality can be guaranteed through H.256 encoding.

[0051] See also Figure 1-Figure 5 The front end of the housing 12 is provided with an illuminating lamp 13. The above structure can be used for general lighting for walking, or for detecting lighting purposes, such as lighting when the visual sensor 10 performs visual detection.

[0052] See also Figure 1-Figure 5 The shell 12 is made of plastic, which is intended to significantly reduce the overall weight through the low density of the material, thereby improving the mobility and reducing energy consumption. Plastic is not only easy to shape and meet the requirements of complex designs, but also has excellent corrosion resistance and insulation, ensuring the stable operation and safety of the inspection robot in a changing environment.

[0053] The multimodal bionic detection robot of this embodiment can be applied to safety hazards such as pipeline aging, biological invasion, smoke leakage and fire alarm in environments such as chemical plants. It has multiple motion forms to adapt to complex environments and supports remote interaction to achieve real-time monitoring. Remote interaction and real-time monitoring are achieved through APP cloud control. The microcontroller unit (MCU) is set inside the housing 12 and is responsible for controlling various actions of the detection robot and processing data from sensors.

[0054] See also Figure 1-Figure 5 and Figure 8 , the working principle of the above multimodal bionic detection robot is:

[0055] When working, the wheeling mechanism 3 can drive the detection robot to realize wheel sliding, and the multi-legged bionic crawling mechanism 4 can drive the detection robot to realize multi-legged crawling or pipeline climbing; according to the needs of different working conditions, the three postures of wheel sliding, multi-legged crawling and pipeline climbing can be freely switched. The various sensors on the detection robot can detect the physical environment and biological information, realize cross-fusion and precise monitoring. During the detection process, 360° detection can be achieved by rotating the rotating platform 2.

[0056] The three postures are described below:

[0057] 1. Multi-legged crawling: The crawling claw 5 is provided with two joints, and multiple drives are realized through the horizontal servo 5-3 and the vertical servo 5-4, which is suitable for crawling in different environments. The crawling claw 5 is extended; the wheel 3-1 is suspended in the air, and each crawling claw 5 is controlled separately, which is conducive to walking smoothly on rugged roads. In addition, in a special movement form, the detection robot uses the crawling claw 5 + wheel 3-1 to move. The complex movement composed of the basic movement of the crawling claw 5 gives the detection robot the power to move forward, and the wheel mechanism 3 at the bottom of the detection robot slides forward with the help of power to reduce friction.

[0058] 2. Wheel sliding: The wheel 3-1 is driven by a drive motor. Both the front and rear wheels can be driven by a drive motor, which is conducive to fast walking on flat ground. During wheel sliding, the crawling claws 5 are retracted, the wheels 3-1 touch the ground, and the wheel sliding mode is switched. Through multi-wheel drive, fast wheel sliding is performed. During the pipeline crawling movement, the wheels 3-1 at the bottom of the detection robot contact the pipeline, and the sliding of the wheel mechanism 3 replaces the dynamic friction, reducing the friction of the detection robot during the pipeline crawling process.

[0059] 3. Pipeline climbing: The wheel 3-1 slides along the wall of the pipeline, and the crawling foot 5 is bent inside (that is, the lower limb 5-2 is provided with an arc portion 5-21) to fit the pipeline, thereby enhancing the stability of pipeline detection. The crawling foot 5 has a multi-joint design, multiple drives, and coordinated movement of multiple feet, which can be moved to realize the pipeline climbing of the detection robot.

[0060] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A multimodal bionic detection robot, characterized in that: It includes a chassis, a rotating platform rotatably arranged on the chassis, a multi-modal detection mechanism arranged on the rotating platform, and a multi-posture bionic walking device arranged on the chassis for driving the chassis to walk; wherein the multi-posture bionic walking device includes a wheel mechanism and a multi-legged bionic crawling mechanism; the multi-modal detection mechanism includes sensors of different perception types, and the sensors of different perception types are used to detect physical environment and biological body information.

2. A multimodal bionic detection robot according to claim 1, characterized in that: The multi-legged bionic crawling mechanism includes a plurality of crawling feet respectively arranged on both sides of the chassis; each of the crawling feet includes an upper limb segment, a lower limb segment, a horizontal servo and a vertical servo; the upper limb segment is located between the lower limb segment and the chassis, one end of the upper limb segment is rotatably connected to the chassis, and the other end of the upper limb segment is rotatably connected to one end of the lower limb segment; the horizontal servo is used to drive the upper limb segment to rotate horizontally on the chassis; the vertical servo is used to drive the lower limb segment to rotate vertically on the upper limb segment.

3. A multimodal bionic detection robot according to claim 2, characterized in that: An arc portion is arranged at the end of the lower limb segment.

4. A multimodal bionic detection robot according to claim 2, characterized in that: There are six crawling feet, among which the two crawling feet located at the front end of the chassis are multifunctional reusable feet; an arc-shaped clamping plate is provided on the lower limb section of the multifunctional reusable foot, and the two arc-shaped clamping plates are arranged opposite to each other, and a pair of springs is provided between the arc-shaped clamping plate and the lower limb section.

5. A multimodal bionic detection robot according to claim 4, characterized in that: Two guide columns are provided between the arc-shaped clamping plate and the lower limb section, one end of the guide column is slidably connected to the lower limb section, and the other end is fixedly connected to the arc-shaped clamping plate. A pair of springs are respectively sleeved on the two guide columns, one end of the spring acts on the lower limb section, and the other end acts on the arc-shaped clamping plate.

6. The multimodal bionic detection robot according to claim 1, characterized in that: The wheel mechanism includes wheels arranged on both sides of the chassis and a drive motor, the wheels are divided into front wheels and rear wheels, and the drive motor is used to drive the rear wheels to rotate.

7. The multimodal bionic detection robot according to claim 1, characterized in that: The bottom of the chassis is provided with an arc-shaped groove which is concave upwards.

8. The multimodal bionic detection robot according to claim 1, characterized in that: The sensors of different perception types include infrared biosensing sensors, visual sensors and ultrasonic ranging sensors; the infrared biosensing sensors are used to detect ambient temperature and biological thermal radiation, the visual sensors are used to detect the surrounding physical environment, and the ultrasonic ranging sensors are used to detect and avoid surrounding obstacles to realize the obstacle avoidance function of the detection robot.

9. The multimodal bionic detection robot according to claim 1, characterized in that: A shell is arranged on the top of the chassis, and a rotary steering gear for driving the rotary platform to rotate is arranged inside the shell.

10. The multimodal bionic detection robot according to claim 9, characterized in that: The front end of the shell is provided with an illuminating lamp.

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