Self-adaptive intelligent patrol multi-mode patrol robot

Abstract

The utility model discloses a self-adaptive intelligent patrol multi-mode patrol robot, and relates to the technical field of robots. The walking mechanism comprises two pairs of crawler wheels which are respectively arranged on two sides of the frame; the crawler belt is arranged on the two crawler wheels on the same side of the frame in a surrounding manner; the four wheel brackets are rotationally connected to the end parts of the four corners of the frame respectively; the four wheels are rotationally mounted at the end parts of the corresponding wheel brackets respectively; one end of each hydraulic cylinder is rotationally connected to the area, located above the corresponding wheel support, of the frame, and the other end of each hydraulic cylinder is rotationally connected to the middle of the corresponding wheel support; the wheels are folded to the four corners of the frame in a crawler mode to form a lateral protection structure, the wheels firstly make contact with collision points in the collision process, the damage risk of core components of a vehicle body is reduced through the mechanical structure design, and the impact resistance is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an adaptive intelligent patrol multimodal inspection robot. Background Technology

[0002] Robots are increasingly used in industrial production, environmental monitoring, and emergency rescue, enabling them to replace humans in performing tasks in high-risk and complex environments, significantly improving work efficiency and safety. However, traditional robots still face many technical bottlenecks in environmental perception and autonomous decision-making.

[0003] On the other hand, robots lack intelligent switching mechanisms for their walking modes. Traditional robots typically use fixed tracked or wheeled walking structures. While tracked robots have strong terrain mobility, they consume a lot of energy and are slow when moving on flat surfaces. Wheeled robots, on the other hand, are efficient on flat surfaces, but they have poor mobility when facing complex terrain and are prone to slipping and getting stuck. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an adaptive intelligent multimodal inspection robot.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] An adaptive intelligent patrol multimodal inspection robot includes:

[0007] Frame;

[0008] The walking mechanism includes:

[0009] Two pairs of track wheels are respectively installed on both sides of the vehicle frame;

[0010] Tracks are arranged around two track wheels on the same side of the vehicle frame;

[0011] Four wheel brackets are rotatably connected to the four corners of the frame;

[0012] Four wheels are rotatably mounted on the ends of the corresponding wheel brackets;

[0013] Four hydraulic cylinders are provided, with one end of each cylinder rotatably connected to the frame above the corresponding wheel bracket, and the other end rotatably connected to the middle of the corresponding wheel bracket. The hydraulic cylinders are configured such that when extended, they push the wheel bracket to rotate outward and downward to below the track wheel, so that the wheel contacts the ground; when retracted, they pull the wheel bracket to rotate inward and upward to above the track wheel, and position the wheel on the outer side of the front and rear ends of the frame to form a protective structure.

[0014] Preferably, the edge of the wheel is located on the outside of the track, providing lateral protection for the vehicle body.

[0015] Preferably, it further includes a drive device, including a drive motor, which is disposed inside the track wheel and the wheel for driving the track wheel and the wheel to rotate.

[0016] Preferably, it also includes a signal acquisition unit, which is disposed at the front end of the vehicle frame and is used to acquire environmental signals;

[0017] A processing unit is mounted on the vehicle frame and electrically connected to the signal acquisition unit and the drive device. The processing unit processes the signals acquired by the signal acquisition unit and controls the drive device to operate based on the processing results.

[0018] Preferably, the processing unit is also electrically connected to the hydraulic cylinder, and is used to control the extension and retraction of the hydraulic cylinder according to the signal acquired by the signal acquisition unit and / or preset instructions, so as to realize the switching of the walking mode between tracked mode and wheeled mode.

[0019] Preferably, the signal acquisition unit includes a temperature and humidity sensor, a camera, a smoke sensor, a toxic gas sensor, a sound sensor, and an infrared sensor.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] 1. In tracked mode, the wheels retract to the four corners of the chassis to form a lateral protection structure. In the event of a collision, the wheels will make contact with the point of impact first. Through mechanical structure design, the risk of damage to the core components of the vehicle body is reduced and the impact resistance is enhanced.

[0022] 2. Flexible switching between wheeled and tracked modes: The wheeled mode is suitable for flat roads. The drive motor directly drives the wheels to achieve fast straight-line travel, steering and speed change, improving inspection efficiency.

[0023] Tracked mode utilizes the high friction between the tracks and the ground to support climbing, crossing obstacles, and adapting to complex terrain (such as rugged roads and areas with dense obstacles).

[0024] 3. The hydraulic cylinder and drive unit are controlled in a coordinated manner, and the switching process is automated and has low latency, ensuring that the robot can maintain stable movement in different scenarios. Attached Figure Description

[0025] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0026] Figure 1This is a three-dimensional structural diagram of the adaptive intelligent patrol multimodal inspection robot of this utility model;

[0027] Figure 2 This is a second-view three-dimensional structural diagram of the adaptive intelligent patrol multimodal inspection robot of this utility model;

[0028] Figure 3 This is a third-view three-dimensional structural diagram of the adaptive intelligent patrol multimodal inspection robot of this utility model.

[0029] The diagram is labeled as follows: 1. Chassis; 2. Track wheel; 3. Track; 4. Wheel bracket; 5. Wheel; 6. Hydraulic cylinder; 7. Processing unit; 8. Drive motor; 9. Signal acquisition unit. Detailed Implementation

[0030] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0031] Example

[0032] like Figure 1-3 As shown, an adaptive intelligent patrol multimodal inspection robot includes:

[0033] Frame 1: Frame 1 provides a stable support structure for the entire robot and serves as the basic platform for the installation of other components.

[0034] Walking mechanism:

[0035] Track rollers 2 and tracks 3: Two pairs of track rollers 2 are respectively set on both sides of the frame 1, and the tracks 3 are wrapped around the two track rollers 2 on the same side of the frame 1, forming a tracked walking mode. This design is suitable for complex terrain, such as mud, sand, and rugged mountain roads, and has strong traction and passability.

[0036] Wheels 5 and wheel brackets 4: Four wheel brackets 4 are rotatably connected to the four corners of the frame 1, and four wheels 5 are rotatably mounted to the ends of their respective wheel brackets 4. The edges of the wheels 5 are located on the outside of the tracks 3, providing lateral protection for the vehicle body and also providing a basis for the wheeled walking mode.

[0037] Hydraulic cylinders 6: Four hydraulic cylinders 6, one end of each hydraulic cylinder 6 is rotatably connected to the frame 1 above the corresponding wheel bracket 4, and the other end is rotatably connected to the middle of the corresponding wheel bracket 4. The hydraulic cylinders 6 switch between tracked and wheeled modes through extension and retraction. When the hydraulic cylinder 6 extends, it pushes the wheel bracket 4 outward and downward to rotate below the track wheel 2, causing the wheel 5 to contact the ground, switching to wheeled mode, suitable for flat roads and increasing travel speed; when the hydraulic cylinder 6 retracts, it pulls the wheel bracket 4 inward and upward to rotate above the track wheel 2, and positions the wheel 5 on the outer side of the front and rear ends of the frame 1 to form a protective structure, switching back to tracked mode.

[0038] Drive unit: The drive motor 8 is located inside the track wheel 2 and the wheel 5, and is used to drive the track wheel 2 and the wheel 5 to rotate, providing power for the robot to walk.

[0039] Signal acquisition unit 9: The signal acquisition unit 9 is located at the front end of the frame 1 and integrates a temperature and humidity sensor, a camera, a smoke sensor, a toxic gas sensor, a sound sensor and an infrared sensor. It can collect environmental signals from all directions and perceive the environmental conditions in real time.

[0040] Processing Unit 7: The processing unit 7 is mounted on the frame 1 and is electrically connected to the signal acquisition unit 9 and the drive unit. The processing unit 7 is responsible for processing the signals acquired by the signal acquisition unit 9 and controlling the operation of the drive unit according to the processing results. It can also control the extension and retraction of the hydraulic cylinder 6 according to the signals acquired by the signal acquisition unit 9 and / or preset commands to realize intelligent switching of the walking mode.

[0041] Environmental perception and signal acquisition: The signal acquisition unit 9, located at the front end of the chassis 1, collects real-time data on the operating environment. Temperature and humidity sensors monitor changes in air temperature and humidity; cameras acquire surrounding image information visually; smoke sensors, toxic gas sensors, and sound sensors detect smoke concentration, harmful gas components, and abnormal sounds in the environment, respectively; infrared sensors detect abnormal temperature points or obstacles. These sensors convert the collected analog signals into digital signals and continuously transmit them to the processing unit 7.

[0042] Signal Processing and Intelligent Decision-Making: Processing unit 7 analyzes and processes the massive amounts of data transmitted by signal acquisition unit 9. Through built-in algorithms, processing unit 7 identifies environmental features, such as whether the road surface is flat, whether there are obstacles, and whether there are abnormal working conditions. Based on the analysis results, processing unit 7 combines preset instructions to determine the robot's operating strategy. For example, when a flat road surface is detected ahead, processing unit 7 generates a control command to switch to wheeled walking mode; if complex terrain or danger signals are detected, the tracked mode is maintained and the travel path is adjusted, and the wheels 5 are retracted by hydraulic cylinders 6 to the four corners of the frame 1, forming a protective structure. In the event of a collision, the wheels 5 will make contact first, providing good protection.

[0043] Intelligent switching of walking modes: After the processing unit 7 issues a control command, the drive unit and hydraulic cylinder 6 work together to complete the switching of walking modes. When it is necessary to switch from tracked mode to wheeled mode, the processing unit 7 sends an extension command to the hydraulic cylinder 6. One end of the hydraulic cylinder 6 is fixed to the frame 1, and the other end pushes the wheel bracket 4 to rotate outward and downward, so that the wheel 5 contacts the ground. At the same time, part of the track 3 is released from the load, and the robot switches to wheeled walking, which is suitable for rapid movement on flat roads. If it is necessary to switch from wheeled mode back to tracked mode, the processing unit 7 controls the hydraulic cylinder 6 to retract, pulling the wheel bracket 4 to rotate inward and upward. The wheel 5 leaves the ground and forms a lateral protection structure. The track 3 resumes to bear the weight of the vehicle body, and the tracked mode is restored to cope with complex terrain.

[0044] Drive and movement control: Drive motor 8 serves as the power core, providing power to track wheels 2 or wheels 5 according to instructions from processing unit 7. In tracked mode, drive motor 8 drives track wheels 2 to rotate, utilizing the friction between tracks 3 and the ground to climb and cross obstacles; in wheeled mode, drive motor 8 directly drives wheels 5, adjusting speed and steering to achieve the robot's straight-line movement, steering, and speed change functions, ensuring efficient inspection along the planned path.

[0045] In track 3 mode, wheels 5 retract to the four corners of the frame 1 to form a lateral protection structure. In the event of a collision, wheels 5 will contact the point of impact first. Through mechanical structure design, the risk of damage to the core components of the vehicle body is reduced, and the impact resistance is enhanced.

[0046] Flexible switching between wheeled and tracked modes: The wheeled mode is suitable for flat roads. The drive motor 8 directly drives the wheels 5 to achieve fast straight-line travel, steering and speed change, improving inspection efficiency.

[0047] The tracked mode utilizes the high friction between track 3 and the ground to support climbing, crossing obstacles, and adapting to complex terrain (such as rugged roads and areas with dense obstacles).

[0048] The hydraulic cylinder 6 is controlled in conjunction with the drive unit, and the switching process is automated and has low latency, ensuring that the robot can maintain stable movement in different scenarios.

[0049] Mechanical structure coordination: The linkage design of wheel bracket 4 and hydraulic cylinder 6 ensures seamless connection of the stress state of track 3 and wheel 5 when switching modes (such as track part detaching / re-bearing weight), avoiding power interruption or mechanical impact, and extending the service life of the equipment.

[0050] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. A self-adaptive intelligent multi-modal inspection robot, characterized in that, include: Frame (1); The walking mechanism includes: Two pairs of track wheels (2) are respectively disposed on both sides of the frame (1); Tracks (3) are arranged around two track wheels (2) on the same side of the frame (1); Four wheel brackets (4) are rotatably connected to the ends of the four corners of the frame (1); Four wheels (5) are rotatably mounted on the ends of the corresponding wheel brackets (4); Four hydraulic cylinders (6) are provided. One end of each hydraulic cylinder (6) is rotatably connected to the frame (1) above the corresponding wheel bracket (4), and the other end is rotatably connected to the middle of the corresponding wheel bracket (4). The hydraulic cylinder (6) is configured to: when it extends, push the wheel bracket (4) to rotate outward and downward to the underside of the track wheel (2), so that the wheel (5) contacts the ground; when it retracts, pull the wheel bracket (4) to rotate inward and upward to the top of the track wheel (2), and make the wheel (5) located on the outside of the front and rear ends of the frame (1) to form a protective structure. 2.The self-adaptive intelligent patrol multi-modal inspection robot according to claim 1, characterized in that: The edge of the wheel (5) is located on the outside of the track (3) to protect the vehicle body from the side. 3.The self-adaptive intelligent patrol multi-modal inspection robot according to claim 2, characterized in that: It also includes a drive device, including a drive motor (8), which is disposed inside the track wheel (2) and the wheel (5) for driving the track wheel (2) and the wheel (5) to rotate. 4.The self-adaptive intelligent patrol multi-modal inspection robot according to claim 3, characterized in that: It also includes a signal acquisition unit (9), which is located at the front end of the vehicle frame (1) and is used to acquire environmental signals; The processing unit (7) is disposed on the frame (1) and electrically connected to the signal acquisition unit (9) and the drive device; the processing unit (7) is used to process the signal acquired by the signal acquisition unit (9) and control the drive device to work according to the processing result. 5.The self-adaptive intelligent patrol multi-modal inspection robot according to claim 4, characterized in that: The processing unit (7) is also electrically connected to the hydraulic cylinder (6) and is used to control the extension and retraction of the hydraulic cylinder (6) according to the signal collected by the signal acquisition unit (9) and / or preset instructions, so as to realize the switching of the walking mode between tracked mode and wheeled mode. 6.The self-adaptive intelligent patrol multi-modal inspection robot according to claim 5, characterized in that: The signal acquisition unit (9) includes a temperature and humidity sensor, a camera, a smoke sensor, a toxic gas sensor, a sound sensor, and an infrared sensor.

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