Pangolin cave detector

Abstract

The utility model discloses a pangolin cave detector which comprises a front frame and a rear frame. Wide wheels are installed in the front frame and the rear frame and connected with motors, the front frame and the rear frame are connected in a hinged mode, and a turning mechanism is installed at the hinged connection position. The front end of the front frame and the rear end of the rear frame are each provided with a camera and an LED lamp, and the motor is electrically connected with a lithium battery module. The detector has the advantages of being small in size and capable of conveniently entering a pangolin cave, the pangolin cave cannot be greatly damaged in the movement process, large-angle turning can be achieved, and the detector can still normally advance and retreat after being reversed; the detector is simple in design, low in accessory cost, low in maintenance difficulty and easy to operate and control; the device can measure the longitude, latitude and altitude of a pangolin cave opening and acquire the temperature, humidity, carbon dioxide concentration and three-dimensional diagrams in the cave, integrates multiple functions, and realizes the convenience of data acquisition.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a pangolin cave detector. Background Art

[0002] Caves, as the underground habitat structures created by cave-dwelling animals, provide a multi-functional ecological niche for a variety of organisms, including habitats for reproduction, concealment from enemies, seasonal dormancy, and shelters against extreme climatic conditions and other natural threats. And the caves of some species can provide shelters for other species, thus playing an important ecological niche function in the ecosystem. The diversity of cave-dwelling animal species results in differences in the morphology, structure, and function of the excavated caves. In-depth analysis of these cave characteristics can enhance the understanding of the biology and ecology of different species by researchers, such as how animals adapt to their cave living environment.

[0003] The Chinese pangolin (Manis pentadactyla), also known as the scaly anteater and the dragon carp, belongs to the genus Manis of the family Manidae, order Pholidota, class Mammalia. It likes warmth and fears cold, has thick and short limbs, long claws on its front limbs that are beneficial for digging holes, is good at digging holes, lives in caves, is nocturnal, and spends most of its time in the cave except when going out to forage.

[0004] The types of caves dug by Chinese pangolins and the internal environment of the caves are new hotspots for in-depth research. However, at present, there is relatively little research on the interior of pangolin caves, especially the internal structure and morphology of pangolin caves, because there is a lack of detectors available for researching pangolin caves. There are already detector patents related to cave detection at present, but there are limitations. Some are only applicable to large underground caves and are too large to be applicable to the curved and narrow caves of Chinese pangolins. For example, an aircraft for cave three-dimensional modeling and a modeling method, but the aircraft is very likely to hit the wall in a narrow space. A cave detection crawling robot that can draw a 3D map and transmit images in real time, but it moves forward through four legs, has a large volume, and is not easy to turn; although some snake-shaped detectors can achieve cave detection, their volume is too large to be applicable to the caves of Chinese pangolins, or their propulsion method will cause too much damage to the caves. For example, a snake-shaped robot and a cave detection method based on the snake-shaped robot, an underground cave detection robot and a detection system, a ground-hole amphibious detection robot for underground cave detection and an operation process. Many of the existing detection vehicles use a chassis plus a four-wheel structure for driving and turning, which results in a large volume and is not suitable for the types of caves dug by Chinese pangolins.

[0005] Therefore, in order to deeply study the internal structure of the cave of the Chinese pangolin, there is an urgent need for a multi-functional detector suitable for the cave of the Chinese pangolin that will not cause significant damage to the cave, and to continue to strengthen the quantitative research on the structural characteristics of the cave of the Chinese pangolin and the ecological research on the cave of the Chinese pangolin, so as to reveal the wild survival strategies of this critically endangered species. Summary of the Utility Model

[0006] To solve the above technical problems, the present utility model proposes a pangolin cave detector.

[0007] The purpose of the present utility model is achieved through the following technical solutions:

[0008] A pangolin cave detector includes a front vehicle frame and a rear vehicle frame; wide-width wheels are installed in both the front vehicle frame and the rear vehicle frame, the wide-width wheels are connected to motors, the front vehicle frame and the rear vehicle frame are hingedly connected, and a turning mechanism is installed at the hinged connection; cameras and LED lights are installed at the front end of the front vehicle frame and the rear end of the rear vehicle frame, and the motors are electrically connected to a lithium battery module.

[0009] For further improvement, a front horizontal connecting plate is fixed to the rear end of the front vehicle frame, two parallel rear horizontal connecting plates are fixed to the front end of the rear vehicle frame, and the front horizontal connecting plate is located between the two rear horizontal connecting plates; the turning mechanism includes a worm gear, worm shafts are engaged on both sides of the worm gear, the worm shafts are connected to stepping motors; the worm gear passes through the rear horizontal connecting plate and is fixed to the front horizontal connecting plate; the worm gear is rotatably connected to the rear horizontal connecting plate.

[0010] For further improvement, an infrared camera is installed on the front vehicle frame or the rear vehicle frame.

[0011] For further improvement, a temperature sensor is installed on the front vehicle frame or the rear vehicle frame.

[0012] For further improvement, a humidity sensor is installed on the front vehicle frame or the rear vehicle frame.

[0013] For further improvement, a carbon dioxide sensor is installed on the front vehicle frame or the rear vehicle frame.

[0014] For further improvement, two lidars respectively facing both sides are installed on the front vehicle frame or the rear vehicle frame.

[0015] For further improvement, a Beidou satellite module and an STM control chip are installed on the front vehicle frame or the rear vehicle frame, and the STM control chip is electrically connected to a Type-C interface.

[0016] The beneficial effects of the present utility model are as follows:

[0017] For existing cave detectors, this detector has the characteristics of small size, being convenient to enter the pangolin cave, and not causing great damage to the pangolin cave during the movement process. It can also achieve large-angle turning and still move forward and backward normally after being inverted. This detector has a simple design, low accessory cost, low maintenance difficulty, and is easy to operate. It can measure the longitude, latitude, and altitude of the pangolin cave entrance, as well as collect the internal temperature, humidity, carbon dioxide concentration, and 3D map of the cave, integrating multiple functions and realizing the convenience of data collection. Brief Description of the Drawings

[0018] The present utility model will be further described with reference to the accompanying drawings, but the content in the drawings does not constitute any limitation to the present utility model.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present utility model;

[0020] Figure 2 It is a top-view structural schematic diagram of the present utility model;

[0021] Figure 3 It is a side-view structural schematic diagram of the present utility model;

[0022] Figure 4 It is a front-view structural schematic diagram of the present utility model;

[0023] Figure 5 It is a rear-view structural schematic diagram of the present utility model;

[0024] Figure 6 It is a connection structural schematic diagram of each component of the present utility model. Detailed Description of the Preferred Embodiment

[0025] In order to make the purpose, technical solutions, and advantages of the utility model more clear and understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and examples.

[0026] Embodiment 1

[0027] As Figures 1 - 6 shown, a pangolin cave detector includes a wide-angle high-definition camera 1, an infrared camera 2, a wide-width wheel 3, a motor 31, a temperature sensor 4, a humidity sensor 5, a carbon dioxide sensor 6, a lidar 7, a stepper motor 8, an STM32 control chip 9, a Beidou satellite module 10, a Type-C interface 11, an LED lamp 12, a lithium battery module 13, a front vehicle frame 14, a rear vehicle frame 15, a worm gear 16, a worm 17, a front horizontal connecting plate 101, and a rear horizontal connecting plate 201.

[0028] Description of the product usage principle or operation mechanism:

[0029] The main body of the detector is an aluminum-magnesium alloy bracket. All functional components are controlled and powered by an STM32 control chip, and the STM32 control chip is powered by a lithium battery module. The notebook terminal is connected to the Type-C interface of the detector through an extendable Type-C data cable, enabling the manipulation and data reading of the lithium battery module while also charging it.

[0030] The wide-width wheels and the motor form a brushless motor small wheel, providing the driving force for forward and backward movement. It can crawl in both forward and reverse directions. The brushless motor small wheels are all processed to form stripes, increasing the grip. Controlling the rotation of the stepper motor can achieve turning.

[0031] The Beidou satellite module provides the longitude, latitude, and altitude when the detector enters the pangolin cave; the temperature sensor, humidity sensor, and carbon dioxide sensor respectively detect the temperature, humidity, and carbon dioxide concentration at the entrance of the pangolin cave, and measure the temperature, humidity, and carbon dioxide concentration inside the cave as the detector continues to penetrate. The YDLIDAR G6 lidar scans the cross-section of the pangolin cave as the detector moves, and the scanned images are transmitted and saved to the notebook terminal in real time.

[0032] In front of the detector, there is a set of wide-angle high-definition cameras, infrared sensors, and LED lights. The wide-angle high-definition cameras cooperate with the LED lights to enable the detector to clearly observe the forward direction in the dark cave; when encountering a pangolin in the cave, it can perform close-range body surface temperature measurement. The thermal radiation emitted by the pangolin's body surface can be detected by the infrared sensor and the temperature value can be obtained through calculation; behind the detector, there is a set of wide-angle high-definition cameras and LED lights, facilitating the retreat back to the ground.

[0033] When conducting an investigation on the pangolin cave in the wild, the detector needs to be taken out and connected to the notebook terminal with a Tpye-C data cable to turn on and view the running status of the detector. The notebook terminal reads and saves the real-time data stored in the STM32 on the detector. After checking that all the functional components of the detector are operating normally, the detection of the Chinese pangolin cave can begin. The notebook terminal controls the movement of the detector by controlling the STM32 throughout the process and saves all the real-time data and video images of the detector to the notebook terminal.

[0034] Place the detector at the entrance of the pangolin cave. The temperature sensor, humidity sensor, carbon dioxide sensor, and Beidou satellite module are turned on in sequence to detect the temperature, humidity, carbon dioxide concentration, longitude, latitude, and altitude at the entrance of the pangolin cave. The YDLIDAR G6 lidar rotates and operates to start scanning the cross-section of the cave entrance, and the diameter information of the cave entrance can be selected on the notebook terminal. The detector enters the interior of the pangolin cave under the rotation of the brushless motor small wheel. When the LED light in the front part of the detector is turned on, the wide-angle high-definition camera can transmit the real-time picture to the notebook terminal; when encountering a turning point, the micro stepping motor rotates to realize the turning of the detector; if a pangolin is found in the cave, the detector can be made to approach, and the infrared sensor receives the thermal radiation emitted by the pangolin's body surface and then calculates the body surface temperature of the pangolin through inference. The YDLIDAR G6 lidar carried by the detector can scan the cross-section of the internal cave and present the three-dimensional scan map of the cave cross-section on the notebook terminal in real time; the temperature sensor, humidity sensor, and carbon dioxide sensor respectively detect the temperature, humidity, and carbon dioxide concentration inside the pangolin cave entrance.

[0035] When the detection of the pangolin cave is completed, the LED light at the tail of the detector and another picture transmitted in real time by the wide-angle high-definition camera, combined with the three-dimensional map of the cave scanned by the YDLIDAR G6 lidar, are used to check the location, and then it reverses back along the original path to the entrance of the pangolin cave. Finally, the detector is retrieved, and the temperature, humidity, carbon dioxide concentration, three-dimensional map of the pangolin cave, as well as the longitude, latitude, and altitude of the pangolin cave collected are used for further quantitative research on the cave structure characteristics of the Chinese pangolin and ecological research on the Chinese pangolin cave.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A pangolin cave detector, characterized in that: The invention comprises a front frame (14) and a rear frame (15); wide wheels (3) are installed in the front frame (14) and the rear frame (15); the wide wheels (3) are connected to a motor (31); the front frame (14) and the rear frame (15) are hingedly connected, and a turning mechanism is installed at the hinged connection; a camera (1) and an LED lamp (12) are installed at the front end of the front frame (14) and the rear end of the rear frame (15); the motor (31) is electrically connected to a lithium battery module (13); a front transverse connecting rod (12) is fixed to the rear end of the front frame (14); The front end of the rear frame (15) is fixed with two mutually parallel rear transverse connecting plates (201), and the front transverse connecting plate (101) is located between the two rear transverse connecting plates (201); the turning mechanism comprises a worm wheel (16), and worms (17) are meshed on both sides of the worm wheel (16), and the worms (17) are connected to a stepping motor (8); the worm wheel (16) passes through the rear transverse connecting plate (201) and is fixedly connected to the front transverse connecting plate (101); the worm wheel (16) is rotationally connected to the rear transverse connecting plate (201).

2. The pangolin cave detector according to claim 1, characterized in that: An infrared camera (2) is installed on the front vehicle frame (14) or the rear vehicle frame (15).

3. The pangolin cave detector according to claim 1, characterized in that: A temperature sensor (4) is installed on the front frame (14) or the rear frame (15).

4. The pangolin cave detector according to claim 1, characterized in that: A humidity sensor (5) is installed on the front frame (14) or the rear frame (15).

5. The pangolin cave detector according to claim 1, characterized in that: A carbon dioxide sensor (6) is installed on the front frame (14) or the rear frame (15).

6. The pangolin cave detector according to claim 1, characterized in that: Two laser radars (7) facing two sides are installed on the front vehicle frame (14) or the rear vehicle frame (15).

7. The pangolin cave detector according to claim 1, characterized in that: A Beidou satellite module (10) and an STM32 control chip (9) are installed on the front vehicle frame (14) or the rear vehicle frame (15), and the STM32 control chip (9) is electrically connected to a Type-C interface (11).

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