Patrol visual trolley
By combining tracked vehicles with cameras, vision sensors, radar systems, and laser emitters, the problems of autonomous navigation and obstacle avoidance at disaster sites have been solved. This has enabled stable driving and efficient detection, assessment, and monitoring, reducing the risk of collisions and improving the safety and efficiency of rescue efforts.
Patent Information
- Application Number
- CN202520660508.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-09
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-04-09
AI Technical Summary
Existing robots struggle to accurately identify critical information and avoid obstacles in complex and ever-changing disaster sites, resulting in poor detection, assessment, and monitoring performance, and posing a risk of collision.
The tracked vehicle is equipped with cameras, vision sensors, radar systems, and laser emitters. Through visual recognition, radar detection, and laser ranging, combined with the controller to plan obstacle avoidance paths, it can achieve autonomous navigation and obstacle avoidance.
Achieving stable driving and efficient obstacle avoidance in complex environments improves the detection, assessment, and monitoring of disaster sites, reduces collision risks, and enhances the safety and efficiency of rescue operations.
Smart Images
Figure CN223864840U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of disaster relief technology, specifically relating to a patrol vision vehicle. Background Technology
[0002] With the acceleration of my country's industrialization, large-scale petrochemical enterprises, tunnels, subways, and other facilities are constantly emerging. This has led to a significant increase in potential hazards such as oil and gas leaks, toxic gas explosions, and tunnel and subway collapses. Immediate rescue efforts are required after a disaster to prevent casualties and minimize property damage. However, these disaster sites often involve the spread of toxic and corrosive substances, the potential risk of multiple explosions, and the instability of large debris or obstacles, all of which threaten the safety of rescue personnel, making rescue operations extremely difficult and posing a significant risk of injury or death to rescue workers.
[0003] To reduce the risks to rescue personnel, disaster site reconnaissance and assessment are necessary before rescue operations begin. Rescue decisions are then made based on the findings. Simultaneously, real-time monitoring of the site is crucial during rescue operations to maximize the safety of rescue personnel. Traditional reconnaissance, assessment, and monitoring are conducted manually from the periphery of the disaster site. However, working outside the disaster area makes it difficult to accurately obtain information about the internal conditions, hindering accurate disaster reconnaissance and assessment. Furthermore, the inability to conduct real-time monitoring at the rescue site reduces the effectiveness of protecting rescue personnel.
[0004] Currently, existing technologies often employ robots to replace human operators in hazardous disaster sites such as those involving flammable and explosive materials, toxic substances, oxygen deficiency, and dense smoke. Operators remotely control the robots to enter the disaster site and use cameras to transmit images. Operators then use these images for detection, assessment, and monitoring. However, due to the complex and ever-changing environment at disaster sites, relying solely on camera images for detection, assessment, and monitoring makes it difficult to accurately identify key information such as objects and personnel. Furthermore, remotely controlling the robot based on images makes it difficult to accurately avoid obstacles, leading to frequent collisions and damage. Therefore, existing robots are ill-suited to the complex and ever-changing disaster environments, resulting in poor effectiveness in disaster detection, assessment, and monitoring. Summary of the Invention
[0005] In view of this, the present invention provides a patrol vision vehicle to overcome the shortcomings of the prior art. The present invention can ensure the stable driving and efficient obstacle avoidance of the tracked vehicle in complex and changing environments, and improve the effectiveness of disaster site detection, assessment and monitoring.
[0006] The technical solution of this utility model is as follows: a patrol vision vehicle, including a tracked vehicle, a camera installed at the front end of the tracked vehicle and connected to the tracked vehicle for acquiring images in front of the tracked vehicle, a vision sensor installed on the tracked vehicle and connected to the camera for processing the images acquired by the camera and identifying objects and personnel information in the images, a radar system installed on the tracked vehicle to detect obstacles around the tracked vehicle by emitting and receiving radar waves, a laser emitter installed at the front end of the tracked vehicle and connected to the camera for acquiring the distance between the tracked vehicle and obstacles in front of it, and a controller installed on the tracked vehicle and connected to the camera, vision sensor, radar system and laser emitter for controlling the movement of the tracked vehicle and avoiding obstacles based on the identified object and personnel information and the distance to obstacles during movement.
[0007] Preferably, the tracked vehicle is equipped with a gimbal, which is fixedly connected to the tracked vehicle. The camera is fixedly connected to the movable end of the gimbal to adjust the camera angle. The gimbal is connected to the controller via signal.
[0008] Preferably, the tracked vehicle is equipped with a GPS module, which is connected to the controller signal.
[0009] Preferably, a solar panel is horizontally mounted on the top of the tracked vehicle, the solar panel is connected to the tracked vehicle, and a battery is fixed on the tracked vehicle, which is electrically connected to the solar panel and the controller respectively.
[0010] Preferably, it also includes: a solar panel, solar cells fixed on the solar panel, a bracket interface provided at one end of the solar panel, a connecting groove provided on the top of the tracked vehicle, the bracket interface being horizontally inserted into the connecting groove and fixedly connected thereto, and a junction box provided at the other end of the solar panel, with one end of the wire in the junction box electrically connected to the solar cell and the other end electrically connected to the storage battery.
[0011] Preferably, the tracked vehicle includes: a vehicle body, two drive gears, two driven gears, two tracks, and a drive system. The two drive gears are coaxially arranged on both sides of the front end of the vehicle body and are rotatably connected to the vehicle body. The two driven gears are coaxially arranged on both sides of the rear end of the vehicle body and are rotatably connected to the vehicle body. The two tracks are respectively fitted onto the drive gears and driven gears located on both sides of the vehicle body and mesh with the drive gears and driven gears respectively. The output end of the drive system is connected to the two drive gears respectively to drive the drive gears to rotate.
[0012] Preferably, two connecting plates are vertically fixed on both sides of the vehicle body. The connecting plates are located inside the track. Multiple upper tensioning wheels and lower tensioning wheels are equally spaced on the upper and lower sides of the connecting plates along the length of the vehicle body. The upper tensioning wheels and lower tensioning wheels are parallel to the center line of the drive gear. The upper tensioning wheels and lower tensioning wheels are rotatably connected to the connecting plates around their circumference. The upper tensioning wheels and lower tensioning wheels abut against the inner side of the track.
[0013] Preferably, multiple shock-absorbing links are provided vertically at equal intervals along the length of the vehicle body on the lower side of the connecting plate. One end of the shock-absorbing link is fixedly connected to the connecting plate, and the lower tensioning wheel is located at the other end of the shock-absorbing link and is rotatably connected to it.
[0014] Preferably, the drive system includes two drive motors, with the output shafts of the drive motors connected to drive gears in a one-to-one correspondence.
[0015] Compared with existing technologies, the patrol vision vehicle provided by this utility model, through the cooperation of a tracked vehicle with a camera and a vision sensor, can collect images in front of the tracked vehicle. The vision sensor processes the collected images to identify objects and personnel information in the images, providing the tracked vehicle with a more specific scene understanding. Then, a radar system detects surrounding obstacles, and a laser emitter measures the distance to obstacles in front, helping the vehicle to accurately locate its own position. The controller plans the optimal patrol path based on the identified object and personnel information and the distance to obstacles, and controls the tracked vehicle to move along the planned path. This enables the tracked vehicle to have autonomous navigation and obstacle avoidance capabilities in complex environments, ensuring stable driving and efficient obstacle avoidance in complex and changing environments, and improving the effectiveness of disaster site detection, assessment, and monitoring. Attached Figure Description
[0016] Figure 1 This is a three-dimensional view of the patrol vision vehicle of this utility model;
[0017] Figure 2 This is a half-sectional view of the patrol vision vehicle of this utility model;
[0018] Figure 3 This is a schematic diagram of the track structure of the patrol vision vehicle of this utility model;
[0019] Figure 4 This is a perspective view of the camera of this utility model;
[0020] Figure 5 This is a perspective view of the solar panel of this utility model;
[0021] Figure 6 This is a schematic diagram of the drive system of this utility model;
[0022] Figure 7This is a schematic diagram illustrating the working principle of the patrol vision vehicle of this utility model. Detailed Implementation
[0023] This utility model provides a patrol vision vehicle, which is described below in conjunction with... Figures 1 to 7 The present invention will be described in the structural schematic diagram.
[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0025] Currently, existing technologies often employ robots to replace human operators in hazardous disaster sites such as those involving flammable and explosive materials, toxic substances, oxygen deficiency, and dense smoke. Operators remotely control the robots to enter the disaster site and use cameras to transmit images. Operators then use these images for detection, assessment, and monitoring. However, due to the complex and ever-changing environment at disaster sites, relying solely on camera images for detection, assessment, and monitoring makes it difficult to accurately identify key information such as objects and personnel. Furthermore, remotely controlling the robot based on images makes it difficult to accurately avoid obstacles, leading to frequent collisions and damage. Therefore, existing robots are ill-suited to the complex and ever-changing disaster environments, resulting in poor effectiveness in disaster detection, assessment, and monitoring.
[0026] To address the aforementioned issues, this utility model provides a patrol vision vehicle that, through the combined use of a tracked vehicle, a camera, and a vision sensor, can acquire images in front of the tracked vehicle. The vision sensor processes these images to identify objects and personnel, providing the tracked vehicle with a more concrete understanding of the scene. A radar system detects surrounding obstacles, and a laser emitter measures the distance to these obstacles, helping the vehicle accurately locate its position. Based on the identified object and personnel information and the distance to obstacles, the controller plans the optimal patrol path and controls the tracked vehicle to move along the planned path. This enables the tracked vehicle to autonomously navigate and avoid obstacles in complex environments, ensuring stable operation and efficient obstacle avoidance in complex and changing environments. This improves the effectiveness of disaster scene detection, assessment, and monitoring. This utility model's patrol vision vehicle is effective, easy to use, and highly practical, making it worthy of promotion.
[0027] Reference Figure 1 , Figure 1 This is a perspective view of the patrol vision vehicle in this embodiment, such as... Figure 1 As shown, a patrol vision vehicle includes a tracked vehicle, a camera 5 mounted at the front of the tracked vehicle and connected to the tracked vehicle, used to collect images in front of the tracked vehicle, a vision sensor 5-4 mounted on the tracked vehicle and connected to the camera 5, used to process the images collected by the camera 5 and identify objects and personnel information in the images, a radar system mounted on the tracked vehicle to detect obstacles around the tracked vehicle by emitting and receiving radar waves, a laser emitter 5-6 mounted at the front of the tracked vehicle and connected to the camera 5 to collect the distance between the tracked vehicle and obstacles in front of it, and a controller 17-2 mounted on the tracked vehicle, connected to the camera 5, vision sensor 5-4, radar system and laser emitter 5-6 respectively, used to control the movement of the tracked vehicle and to avoid obstacles based on the identified object and personnel information and the distance to obstacles during movement.
[0028] Reference Figure 7 , Figure 7 This is a schematic diagram illustrating the working principle of the patrol vision vehicle in this embodiment, as shown below. Figure 7 As shown, this embodiment, through the close collaboration among the core components of the tracked vehicle, camera 5, vision sensor 5-4, radar system, laser emitter 5-6, and controller 17-2, not only ensures the vehicle's autonomous navigation and obstacle avoidance capabilities in complex environments, but also provides solid technical support for its detection missions in high-risk areas.
[0029] In actual use, the controller 17-2 receives signals from various sensors and external commands to control the running status of the tracked vehicle.
[0030] In this embodiment, the high-precision ranging capability of the laser emitter 5-6 can provide the vehicle with detailed obstacle avoidance information. It can also quickly generate a three-dimensional map through all-round environmental scanning, helping the vehicle to accurately locate its own position and plan the optimal patrol route accordingly, effectively avoiding potential dangers.
[0031] In this embodiment, the visual sensor 5-4 is used to provide depth analysis of image information. The visual sensor 5-4 works in conjunction with the camera 5 to collect images and process data of the surrounding environment. It can intelligently identify key elements such as objects and people in the image, providing the vehicle with a more specific scene understanding. The collected visual information is transmitted back to the controller. The controller uses this information to determine the vehicle's driving direction, speed, and whether obstacle avoidance is required, further improving the vehicle's decision-making ability and task execution efficiency.
[0032] In this embodiment, the radar system operates independently of the vision sensor, detecting obstacles in front of and around the vehicle by emitting and receiving radar waves. When an obstacle is detected, the radar system sends a signal to the controller, which then makes corresponding obstacle avoidance decisions, ensuring stable driving and efficient obstacle avoidance for the vehicle in complex and changing environments.
[0033] In summary, this utility model's patrol vision vehicle can effectively and autonomously penetrate into high-risk disaster sites to conduct real-time detection, monitoring, and assessment, providing strong support for rescue decision-making and solving the problems of low efficiency and poor safety in current emergency rescue operations. Furthermore, its simple mechanical structure and reasonable design have good promotional value. This utility model's patrol vision vehicle achieves a combination of intelligence and high efficiency, and has promising development prospects.
[0034] Reference Figure 2 , Figure 2 This is a half-sectional view of the patrol vision vehicle in this embodiment, as shown below. Figure 2 As shown, in this embodiment, the camera 5 is mounted on the support frame 6, and the support frame 6 is fixed to the front end of the tracked vehicle via the base 7. The camera 5 has a camera control interface 5-1 inside, and a connecting hose 4 is provided between the camera 5 and the tracked vehicle. A wire is threaded through the connecting hose 4, one end of which is connected to the camera control interface 5-1, and the other end is connected to the controller 17-2, so that the controller 17-2 can control the camera 5 to start, stop, zoom and other functions.
[0035] In this embodiment, the laser emitter 5-6 and the camera 5 can be directly adopted as a laser camera, which has the functions of image acquisition and distance measurement.
[0036] Reference Figure 4 , Figure 4 This is a stereoscopic view of the camera in this embodiment, such as... Figure 4 As shown, as a further optimization, in this embodiment, a gimbal 5-5 is installed on the tracked vehicle. The gimbal 5-5 is fixedly connected to the tracked vehicle, and the camera 5 is fixedly connected to the movable end of the gimbal 5-5 to adjust the angle of the camera 5. The gimbal 5-5 is signal-connected to the controller 17-2.
[0037] In this embodiment, the gimbal 5-5 is used to adjust the angle of the camera 5 in real time, ensuring that every high-definition detail in the environment is captured.
[0038] In this embodiment, the visual sensor 5-4 is fixed on the support frame 6, the gimbal 5-5 is installed on one side of the visual sensor 5-4, and the camera 5 is fixedly connected to the movable end of the gimbal 5-5.
[0039] As a further optimization, in this embodiment, the tracked vehicle is equipped with a GPS module 17-6, which is connected to the controller 17-2 via a signal.
[0040] In this embodiment, the GPS module 17-6 can acquire the real-time location information of the tracked vehicle and transmit it to the controller 17-2. This allows for precise planning and monitoring of the vehicle's patrol path, ensuring that the vehicle patrols within a specific area according to a preset route or task requirements. The controller 17-2 also adjusts the vehicle's direction and speed based on the tracked vehicle's current location and preset path.
[0041] Meanwhile, through radar systems and GPS modules, it achieves stable driving and efficient obstacle avoidance in complex environments.
[0042] As a further optimization, in this embodiment, a solar cell 2-2 is horizontally mounted on the top of the tracked vehicle. The solar cell 2-2 is connected to the tracked vehicle. A storage battery 17-1 is fixed on the tracked vehicle. The storage battery 17-1 is electrically connected to the solar cell 2-2 and the controller 17-2 respectively.
[0043] In this embodiment, solar cell 2-2 converts solar energy into electrical energy under sunlight and transmits the electrical energy to battery 17-1 for storage. Battery 17-1 serves as the main power storage element of the patrol vision vehicle. The battery provides a stable power supply to all components of the patrol vision vehicle, ensuring that the vehicle can patrol for a long time without an external power source.
[0044] The electrical energy stored in battery 17-1 provides stable power support to the tracked vehicle when solar panels 2-2 cannot provide sufficient power. The controller intelligently manages the electrical energy on the tracked vehicle, rationally allocating power according to the actual energy consumption of the vehicle, ensuring that the tracked vehicle maintains optimal performance during patrols. This green and sustainable energy system not only reduces the operating costs of the patrol vision vehicle but also improves its environmental performance.
[0045] Reference Figure 5 , Figure 5 This is a perspective view of the solar panel in this embodiment, as shown below. Figure 5As shown, as a further optimization, this embodiment also includes a solar panel 2, with solar cells 2-2 fixed on the solar panel 2. One end of the solar panel 2 is provided with a bracket interface 2-4, and the top of the tracked vehicle is provided with a connecting groove. The bracket interface 2-4 is horizontally inserted into the connecting groove and fixedly connected therewith. The other end of the solar panel 2 is provided with a junction box 2-3. One end of the wire in the junction box 2-3 is electrically connected to the solar cell 2-2, and the other end is electrically connected to the battery 17-1.
[0046] In this embodiment, the solar cell 2-2 is fixed on the solar panel 2. The solar panel 2 is inserted into the connecting groove on the top of the tracked vehicle using the bracket interface 2-4, and then fixed to the upper surface of the tracked vehicle using the connecting screw 2-1, so that the solar cell 2-2 and the tracked vehicle can be detachably and fixedly connected. The junction box 2-3 is used to connect the solar cell 2-2 to the main circuit to transmit electrical energy.
[0047] In this invention, the controller 17-2 serves as the core control unit of the entire patrol vision vehicle. The controller 17-2 receives signals from the camera 5, the vision sensor 5-4, the radar system, and the GPS module. Based on these signals, the controller 17-2 controls and coordinates the charging and discharging of the drive motor 17-5, the battery 17-1, and other related components.
[0048] Reference Figure 3 , Figure 3 This is a schematic diagram of the track structure in this embodiment, as shown below. Figure 3 As shown, as a further optimization, the tracked vehicle in this embodiment includes: a vehicle body 1, two drive gears 9-1, two driven gears 9-2, two tracks 3, and a drive system. The two drive gears 9-1 are coaxially arranged on both sides of the front end of the vehicle body 1 and are rotatably connected to the vehicle body 1. The two driven gears 9-2 are coaxially arranged on both sides of the rear end of the vehicle body 1 and are rotatably connected to the vehicle body 1. The two tracks 3 are respectively sleeved on the drive gears 9-1 and driven gears 9-2 located on both sides of the vehicle body 1 and mesh with the drive gears 9-1 and driven gears 9-2 respectively. The output end of the drive system is connected to the two drive gears 9-1 respectively to drive the drive gears 9-1 to rotate.
[0049] This embodiment provides a specific structure of a tracked vehicle. The drive system drives the drive gears 9-1 on both sides of the vehicle body 1 to rotate, thereby driving the track 3 to rotate. A control switch is also provided on the vehicle body 1. The control switch is connected to the drive system and is used to control the drive system.
[0050] In this embodiment, the vehicle body 1 includes components such as a floor plate 10, a top plate, and a rear cover 8. The top plate is mounted on the floor plate 10, and the rear cover 8 is located between the rear end of the floor plate 10 and the top plate. The rear cover 8 is threadedly connected to the top plate using adjusting bolts 1-2. The control switch, controller 17-2, radar system, battery 17-1, and drive mechanism are mounted on the floor plate 10. The above components can be maintained and repaired by opening the rear cover 8.
[0051] As a further optimization, in this embodiment, two connecting plates 16 are vertically fixed on both sides of the vehicle body 1. The connecting plates 16 are located inside the track 3. Multiple upper tensioning wheels 15 and lower tensioning wheels 12 are provided at equal intervals along the length direction of the vehicle body 1 on the upper and lower sides of the connecting plates 16. The upper tensioning wheels 15 and lower tensioning wheels 12 are parallel to the center line of the drive gear 9-1. The upper tensioning wheels 15 and lower tensioning wheels 12 are rotatably connected to the connecting plates 16 around their circumference. The upper tensioning wheels 15 and lower tensioning wheels 12 abut against the inner side of the track 3.
[0052] In this embodiment, the connecting plate 16 and the upper tensioning wheel 15 and lower tensioning wheel 12 mounted thereon are used to support and tension the track 3. The upper tensioning wheel 15 and lower tensioning wheel 12 support the vehicle body 1 and the auxiliary track 3 to run smoothly. This ensures that the track remains stable during operation, thereby improving the stability of the tracked vehicle's movement.
[0053] As a further optimization, in this embodiment, the lower side of the connecting plate 16 is provided with a plurality of shock-absorbing connecting rods 11 at equal intervals along the length direction of the vehicle body 1. One end of the shock-absorbing connecting rod 11 is fixedly connected to the connecting plate 16, and the lower tensioning wheel 12 is provided at the other end of the shock-absorbing connecting rod 11 and is rotatably connected to it.
[0054] In this embodiment, the shock-absorbing link 11 enables the tracked vehicle to automatically adjust the tension of the track 3 during movement, ensuring that the track maintains appropriate tension at all times during operation, preventing slippage or slippage, and further improving the stability of the tracked vehicle's movement. The shock-absorbing link 11 can effectively reduce the bumps caused by uneven ground during the vehicle body 1's movement, ensuring the stability of the vehicle's operation and ensuring that all components on the vehicle body 1 maintain good cooperative relationships. This allows the patrol vision vehicle to complete patrol tasks stably and efficiently, monitor environmental conditions in real time, and provide timely feedback.
[0055] In this embodiment, a through hole is provided on the upper side of the connecting plate 16, and a suspension wheel shaft 13 is inserted through the through hole. The suspension wheel shaft 13 is rotatably connected to the connecting plate 16. The upper tension wheel 15 is fixedly mounted on the suspension wheel shaft 13. The shock-absorbing connecting rod 11 and the side away from the connecting plate 16 are horizontally connected to the support wheel shaft 14. The support wheel shaft 14 is rotatably connected to the shock-absorbing connecting rod 11. The lower tension wheel 12 is fixedly mounted on the support wheel shaft 14.
[0056] Reference Figure 6 , Figure 6 This is a schematic diagram of the driving system in this embodiment, as shown below. Figure 6 As shown, as a further optimization, the drive system in this embodiment includes two drive motors 17-5, and the output shafts of the drive motors 17-5 are connected to the drive gears 9-1 in a one-to-one correspondence.
[0057] In this embodiment, the drive motor 17-5 serves as the main power source for the tracked vehicle. Its output power is transmitted to the drive gear 9-1. The drive gear 9-1 and the driven gear 9-2 mesh with both ends of the track 3, respectively, driving the track 3 to rotate.
[0058] In this embodiment, the drive motor 17-5 is controlled by the controller 17-2. The drive motor 17-5 obtains power from the battery 17-1. In this embodiment, a radiator 17-3 is also provided on the base plate 10. The radiator 17-3 is electrically connected to the controller 17-2, thereby driving the track radiator 17-3 to dissipate heat from the drive motor during the operation of the drive motor, preventing the drive motor from overheating and ensuring its normal operation.
[0059] In this embodiment, the vehicle body 1 can be turned when there is a speed difference between the output speeds of the two drive motors 17-5.
[0060] The above-disclosed embodiments are merely preferred embodiments of the present utility model. However, the embodiments of the present utility model are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present utility model.
Claims
1. A patrol vision vehicle, characterized in that, include: Tracked vehicle; A camera (5) is set at the front end of the tracked vehicle. The camera (5) is connected to the tracked vehicle and is used to collect images of the front of the tracked vehicle. A vision sensor (5-4) is installed on the tracked vehicle. The vision sensor (5-4) is connected to the camera (5) and is used to process the images collected by the camera (5) to identify objects and personnel information in the images. A radar system is installed on the tracked vehicle to detect obstacles around the tracked vehicle by transmitting and receiving radar waves; A laser emitter (5-6) is installed at the front end of the tracked vehicle. The laser emitter (5-6) is connected to the tracked vehicle to collect the distance between the tracked vehicle and the obstacle in front of it. The controller (17-2) is installed on the tracked vehicle. The controller (17-2) is connected to the camera (5), vision sensor (5-4), radar system and laser emitter (5-6) respectively. It is used to control the movement of the tracked vehicle and avoid obstacles according to the identified object and personnel information and the distance to obstacles when moving.
2. The patrol vision vehicle according to claim 1, characterized in that, The tracked vehicle is equipped with a gimbal (5-5), which is fixedly connected to the tracked vehicle. The camera (5) is fixedly connected to the movable end of the gimbal (5-5) to adjust the angle of the camera (5). The gimbal (5-5) is signal-connected to the controller (17-2).
3. The patrol vision vehicle according to claim 1, characterized in that, The tracked vehicle is equipped with a GPS module (17-6), which is connected to the controller (17-2) via a signal.
4. A patrol vision vehicle according to claim 1, characterized in that, A solar cell (2-2) is horizontally mounted on the top of the tracked vehicle. The solar cell (2-2) is connected to the tracked vehicle. A storage battery (17-1) is fixed on the tracked vehicle. The storage battery (17-1) is electrically connected to the solar cell (2-2) and the controller (17-2) respectively.
5. A patrol vision vehicle according to claim 4, characterized in that, Also includes: A solar panel (2) is provided, and the solar cell (2-2) is fixed on the solar panel (2). One end of the solar panel (2) is provided with a bracket interface (2-4). The top of the tracked vehicle is provided with a connecting groove. The bracket interface (2-4) is horizontally inserted into the connecting groove and fixedly connected with it. The other end of the solar panel (2) is provided with a junction box (2-3). One end of the wire in the junction box (2-3) is electrically connected to the solar cell (2-2), and the other end is electrically connected to the storage battery (17-1).
6. A patrol vision vehicle according to claim 1, characterized in that, The tracked vehicle includes: a vehicle body (1), two drive gears (9-1), two driven gears (9-2), two tracks (3), and a drive system. The two drive gears (9-1) are coaxially arranged on both sides of the front end of the vehicle body (1) and are rotatably connected to the vehicle body (1). The two driven gears (9-2) are coaxially arranged on both sides of the rear end of the vehicle body (1) and are rotatably connected to the vehicle body (1). The two tracks (3) are respectively sleeved on the drive gears (9-1) and driven gears (9-2) located on both sides of the vehicle body (1) and mesh with the drive gears (9-1) and driven gears (9-2) respectively. The output end of the drive system is connected to the two drive gears (9-1) respectively to drive the drive gears (9-1) to rotate.
7. A patrol vision vehicle according to claim 6, characterized in that, Two connecting plates (16) are vertically fixed on both sides of the vehicle body (1). The connecting plates (16) are located inside the track (3). Multiple upper tensioning wheels (15) and lower tensioning wheels (12) are provided at equal intervals along the length of the vehicle body (1) on the upper and lower sides of the connecting plates (16). The upper tensioning wheels (15) and lower tensioning wheels (12) are parallel to the center line of the drive gear (9-1). The upper tensioning wheels (15) and lower tensioning wheels (12) are rotatably connected to the connecting plates (16) around their circumference. The upper tensioning wheels (15) and lower tensioning wheels (12) abut against the inner side of the track (3).
8. A patrol vision vehicle according to claim 7, characterized in that, The lower side of the connecting plate (16) is provided with multiple shock-absorbing rods (11) at equal intervals along the length of the vehicle body (1). One end of the shock-absorbing rod (11) is fixedly connected to the connecting plate (16), and the lower tension wheel (12) is located at the other end of the shock-absorbing rod (11) and is rotatably connected to it.
9. A patrol vision vehicle according to claim 6, characterized in that, The drive system includes two drive motors (17-5), the output shafts of which are connected to drive gears (9-1) in a one-to-one correspondence.