Bionic snakelike detection robot

Abstract

The utility model discloses a bionic snakelike detection robot, which belongs to the technical field of robots, and comprises a first crawler-type walking mechanism and a second crawler-type walking mechanism, and the two crawler-type walking mechanisms are connected through a three-way free joint; the system further comprises a laser radar, a camera and an ultrasonic probe, wherein the laser radar, the camera and the ultrasonic probe are connected with the controller. And the power supply is used for supplying power to each electric element. The bionic snakelike detection robot disclosed by the utility model can be used for carrying out various exploration, search and rescue works in complex terrains, entering areas where search and rescue personnel cannot enter, quickly finding trapped persons and determining specific positions so as to quickly carry out rescue.

Description

Technical Field

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

[0002] Whether it is man-made accidents such as nuclear power, chemical industry, mining disasters, fires, and transportation, or natural disasters such as earthquakes, tsunamis, typhoons, floods, and droughts, frequent disasters always threaten people's lives and safety. In order to reduce the losses caused by disasters, in addition to paying attention to natural protection, following production standards, and improving safety awareness, post-disaster rescue is equally important. Traditional emergency rescue methods mainly rely on manpower. There may be corresponding equipment assistance during the period, but manual rescue is still the mainstream. This leads to the fact that on the one hand, due to the small space and harsh environment after the disaster, it is difficult for rescuers to go deep into the scene; on the other hand, secondary disasters may occur at any time, and improper handling may also bring serious safety hazards to rescuers. There are many drawbacks in traditional rescue methods, so search and rescue robots came into being.

[0003] Current search and rescue robots are generally large in size, but disaster sites are usually complex and dangerous. Large robots cannot enter small spaces for inspection, and their large size can cause instability during operation. Utility Model Content

[0004] In order to solve the deficiencies in the above-mentioned prior art, the purpose of the utility model is to provide a bionic snake-like detection robot that can perform various surveys and search and rescue work in complex terrain, enter areas that search and rescue personnel cannot enter, quickly find trapped persons and determine their specific locations, so as to quickly launch rescue.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A bionic snake-like detection robot is provided, comprising a first crawler-type walking mechanism and a second crawler-type walking mechanism, wherein the two crawler-type walking mechanisms are connected via a three-way free joint;

[0007] It also includes a laser radar, a camera and an ultrasonic probe, and the laser radar, the camera and the ultrasonic probe are connected to the controller;

[0008] It also includes a power supply, which supplies power to each electrical component.

[0009] Furthermore, the three-way free joint includes a first joint, a second joint and a third joint connected in sequence, the first joint is connected to the first crawler walking mechanism, and the third joint is connected to the second crawler walking mechanism; the third joint can drive the second joint to move left and right, the second joint can drive the first joint to move up and down, and the first joint can drive the first crawler walking mechanism to rotate left and right.

[0010] Furthermore, it also includes an infrared thermal imager connected to the controller.

[0011] Furthermore, it also includes a carbon dioxide gas detection sensor connected to the controller.

[0012] Furthermore, it also includes a temperature and humidity sensor connected to the controller.

[0013] Furthermore, the crawler-type walking mechanism is a single-sided crawler type.

[0014] Furthermore, rubber pads are provided on the peripheries of the tracks of the two crawler-type walking mechanisms.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The bionic snake-like detection robot of the utility model adopts a snake-like structure, which can enter a narrow space for detection to accurately reflect the position of the trapped person, and the two crawler-type walking mechanisms are connected by a three-way free joint, so that the robot can raise its head and cross obstacles such as rubble when encountering them, so that the robot can still walk in complex terrain conditions;

[0017] 2. The bionic snake-like detection robot of the utility model example can have two crawler-type walking mechanisms connected front to back to meet the use requirements of narrow space detection, and can also be connected left to right to meet the use requirements of complex terrain and prevent itself from rolling over. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 It is a structural schematic diagram of another installation state;

[0021] Figure 3 It is a schematic diagram of the three-way free joint structure;

[0022] Figure 4 This is the schematic diagram of the steering gear control system;

[0023] Figure 5 This is the principle block diagram.

[0024] In the figure: 1-first crawler-type walking mechanism, 2-second crawler-type walking mechanism, 3-three-way free joint, 31-first joint, 32-second joint, 33-third joint, 4-camera. DETAILED DESCRIPTION

[0025] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] like Figure 1-2 As shown, this embodiment provides a bionic snake-like detection robot, including a first crawler-type walking mechanism 1 and a second crawler-type walking mechanism 2, and the two crawler-type walking mechanisms are connected by a three-way free joint 3. In this embodiment, the first crawler-type walking mechanism 1 and the second crawler-type walking mechanism 2 can be connected front to back or left to right. When performing detection in a narrow space, the front to back connection method can be adopted so that the robot can enter the narrow space. In addition, the first crawler-type walking mechanism 1 can be driven to "raise its head" through the three-way free joint 3, so that the robot can shuttle more easily in complex terrain. This function can enable the robot to cross obstacles that are three times higher than its body height to reach places that traditional crawler vehicles cannot reach; in places with complex terrain and easy to overturn, the two walking mechanisms can be connected left to right to prevent themselves from overturning.

[0028] Specifically, Figure 3-4As shown, the three-way free joint 3 includes a first joint 31, a second joint 32 and a third joint 33 which are connected in sequence, the first joint 31 is connected to the first crawler-type walking mechanism 1, and the third joint 33 is connected to the second crawler-type walking mechanism 2; the output shaft of the third joint 33 can drive the second joint 32 to move left and right, the output shaft of the second joint 32 can drive the first joint 31 to move up and down, and the output shaft of the first joint 31 can drive the first crawler-type walking mechanism 1 to rotate left and right by driving the rotation of the box connected to the first crawler-type walking mechanism 1. Each joint is driven to rotate by a steering gear control system, and the output shaft of the steering gear control system is connected to the joint. When the controller sends a control signal, the output shaft can be rotated to a specific position. As long as the control signal remains unchanged, the steering gear control system keeps the output shaft position unchanged; if the control signal changes, the position of the output shaft also changes accordingly. Figure 3 As shown, the steering gear control system is mainly composed of a motor, an angle sensor, a drive circuit output shaft and a transmission gear, forming a closed loop system, allowing accurate angle control. The steering gear control system is prior art and will not be described in detail here.

[0029] This embodiment adopts a crawler-type walking mechanism, which can effectively prevent slipping and increase adhesion, and is suitable for operation in various complex environments; in addition, if the robot is heavy, the use of crawlers can reduce the pressure per unit area and reduce the road surface requirements. In addition, its defensive and off-road performance are better than wheeled vehicles. The crawler-type walking mechanism of this embodiment is a single-sided crawler type, which greatly improves the shortcomings of the traditional double-sided crawler structure with large volume and limited working space. In addition, rubber pads are provided on the periphery of the crawlers of the two crawler-type walking mechanisms.

[0030] like Figure 5 As shown, the robot also includes a laser radar, a camera 4 and an ultrasonic probe, and the laser radar, the camera 4 and the ultrasonic probe are connected to the controller.

[0031] Specifically, the controller of this embodiment uses an Arduino Uno microcontroller. Arduino is a convenient, flexible and easy-to-use open source electronic prototyping platform. Arduino is an open source platform that supports secondary development of microcontrollers and secondary packaging of libraries. The role of the robot controller is to receive instructions from the mobile application, process the instructions, and send signals to the L298N to control the motion state of the motor, thereby controlling the motion state of the robot. At the same time, it is necessary to regularly process the data collected by the laser radar, ultrasonic wave and sensor, and send it to the receiving device through the communication module.

[0032] The laser radar uses YDLiDAR X3, which uses triangulation telemetry technology to irradiate the laser beam to the measurement target at a certain incident angle. The laser is reflected and diffused on the target surface, and the reflected laser is converged and imaged using a lens from another angle.

[0033] The camera 4 uses an Astra Pro depth camera, which uses structured light 3D imaging technology to obtain a depth image of an object. The Astra Pro camera 4 mainly includes an infrared (IR) camera, an infrared projector (LDM) and a color (RGB) camera. The camera 4 of this embodiment is installed on the first crawler walking mechanism 1.

[0034] The robot of this embodiment also includes sensor equipment, specifically including an infrared thermal imager, a carbon dioxide gas detection sensor, and a temperature and humidity sensor. The infrared thermal imager uses an infrared detector and an optical imaging lens to receive the infrared radiation energy distribution pattern of the target to be measured and reflect it on the photosensitive element of the infrared detector, thereby obtaining an infrared thermal image to determine the state of the object; the carbon dioxide gas detection sensor is used to detect carbon dioxide gas; the temperature and humidity sensor uses TH06 I2C.

[0035] This embodiment uses a single 18650 lithium battery as a power source, which has the advantages of large capacity, long life, high safety performance, high voltage, low resistance, no memory effect, no need to clear the residual charge before charging, and easy use.

[0036] The bionic snake-like detection robot of this embodiment has the characteristics of small size, flexibility and convenience of working in narrow spaces, and can be deformed, so that the front-to-back or left-to-right connection of the two crawler walking mechanisms can be replaced to improve the versatility of its operation; the two crawler walking mechanisms can be connected by a three-way free joint 3, the first joint 31 and the third joint 33 can control the steering of the first crawler walking mechanism 1, and the second joint 32 in the middle can control the "lifting of the head" of the first crawler walking mechanism 1 to ensure its excellent off-road shuttle capability. When the three joints work together, special situations such as rolling and interference of the robot can also be prevented.

[0037] Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A bionic snake-like detection robot, characterized in that: It comprises a first crawler-type walking mechanism (1) and a second crawler-type walking mechanism (2), wherein the two crawler-type walking mechanisms are connected via a three-way free joint (3); It also includes a laser radar, a camera (4) and an ultrasonic probe, wherein the laser radar, the camera (4) and the ultrasonic probe are connected to a controller; It also includes a power supply, which supplies power to each electrical component.

2. The bionic snake-like detection robot according to claim 1, characterized in that: The three-way free joint (3) comprises a first joint (31), a second joint (32) and a third joint (33) which are connected in sequence, wherein the first joint (31) is connected to the first crawler-type walking mechanism (1), and the third joint (33) is connected to the second crawler-type walking mechanism (2); the third joint (33) can drive the second joint (32) to move left and right, the second joint (32) can drive the first joint (31) to move up and down, and the first joint (31) can drive the first crawler-type walking mechanism (1) to rotate left and right.

3. The bionic snake-like detection robot according to claim 1, characterized in that: Also included is an infrared thermal imager connected to the controller.

4. The bionic snake-like detection robot according to claim 1, characterized in that: Also included is a carbon dioxide gas detection sensor connected to the controller.

5. The bionic snake-like detection robot according to claim 1, characterized in that: Also included is a temperature and humidity sensor connected to the controller.

6. The bionic snake-like detection robot according to claim 1, characterized in that: The crawler-type walking mechanism is a single-side crawler type.

7. The bionic snake-like detection robot according to claim 1, characterized in that: Rubber pads are arranged on the peripheries of the crawlers of the two crawler-type walking mechanisms.

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