A quadruped robot with three-dimensional terrain measurement and visual flow test functions

Abstract

The utility model relates to water conservancy exploration technical field, concretely is a kind of four-legged robot of three-dimensional topographic survey and visual flow test function, including organism, the lower part of organism is provided with walking foot, and walking foot is provided with four groups in the lower part of organism, and the upper part of organism is provided with controller, and walking foot provides intelligent control, the upper part of organism is installed with measuring mechanism, and the outside of measuring mechanism is provided with first protective cover. The four-legged robot of three-dimensional topographic survey and visual flow test function is simulated machine dog walking by the setting of four groups walking foot, compared with wheeled driver applicability stronger, it is convenient to adapt the measurement of complex water conservancy environment, cooperate measuring mechanism and measure water conservancy environment, and the outside of measuring mechanism is provided with first protective cover and second protective cover, and it provides protection for measuring mechanism.

Description

Technical Field

[0001] This utility model relates to the field of water conservancy exploration technology, specifically a quadruped robot with three-dimensional terrain measurement and visual flow measurement functions. Background Technology

[0002] In water conservancy engineering exploration, relevant measurement modules can be used to collect data on water conservancy topography and environment, facilitating subsequent engineering planning and design. Existing technology (Chinese patent application number CN202211690637.9, published June 23, 2023) discloses a remote real-time measurement robot and method for three-dimensional farmland terrain, including a high-precision dual-antenna GNSS positioning and orientation system, a host computer, a wireless communication module, and a microprocessor. It also relates to a real-time measurement method for three-dimensional farmland terrain. This invention is applicable to farmland terrain measurement in modern agriculture, providing a reference for guiding land leveling operations and analyzing terrain. The designed remote real-time measurement robot for three-dimensional farmland terrain is stable and easy to operate. The real-time measurement method for three-dimensional farmland terrain can adjust the acquisition accuracy in real time as needed, automatically measure three-dimensional terrain, generate three-dimensional terrain data, and remotely display the measured terrain map in real time, improving measurement efficiency and reducing measurement costs.

[0003] Current surveying methods utilize surveying scaffolds to install equipment, resulting in low intelligence in device movement and subsequent surveying. The use of traditional wheeled drive limits the applicable terrain to a limited range, reducing the device's applicability. Furthermore, the lack of protection for the measurement modules during device movement means that damage to these modules can easily affect subsequent measurement data. Utility Model Content

[0004] The purpose of this invention is to provide a quadruped robot with three-dimensional terrain measurement and visual flow measurement functions, in order to solve the problems mentioned in the background art, such as the current surveying and mapping using surveying brackets to install equipment, the low intelligence of device movement and subsequent surveying, the use of traditional wheel drive which makes the applicable terrain of the device relatively limited, reducing the applicable range of the device, and the lack of relevant protection for the measurement module when the device moves.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a quadruped robot with three-dimensional terrain measurement and visual flow measurement functions, comprising a body, four sets of walking legs arranged on the lower part of the body, and a controller arranged on the upper part of the body to provide intelligent control for the walking legs. A measuring mechanism is installed on the upper part of the body to measure external environmental information, and a first protective cover is arranged on the outside of the measuring mechanism, and a second protective cover is arranged on the front side of the first protective cover. The first and second protective covers fit together to form an enclosed structure outside the measuring mechanism, and an deployment control mechanism is arranged on the outside of the first and second protective covers to control the protection of the measuring mechanism by the first and second protective covers.

[0006] To further optimize this technical solution, the measuring mechanism includes a terrain measurement module and a visual flow detection module, which are interconnected with the machine body.

[0007] To further optimize this technical solution, the lower part of the first protective cover and the lower part of the second protective cover are both designed as open structures, and the upper part of the first protective cover and the upper part of the second protective cover are designed as closed structures.

[0008] To further optimize this technical solution, the deployment control mechanism includes a control frame, a first control axis, a second control axis, and a drive mechanism;

[0009] The control frame is fixed to the rear side of the first protective cover and the front side of the second protective cover, respectively.

[0010] The first control axis is connected to the control frame on the rear side of the first protective cover;

[0011] The second control shaft is connected to the control frame on the front side of the second protective cover, and both the second control shaft and the first control shaft are rotatably mounted inside the machine body;

[0012] The drive mechanism is connected to the first control shaft and the second control shaft to control its rotation.

[0013] To further optimize this technical solution, the drive mechanism includes a motor and a transmission mechanism;

[0014] The motor is connected to the first control shaft to provide power to the first control shaft;

[0015] The transmission mechanism is located on the left side of the first control shaft and the second control shaft, so that power transmission is formed between the first control shaft and the second control shaft.

[0016] To further optimize this technical solution, the transmission mechanism includes a first transmission shaft, a reversing gear, a mounting shaft, a second transmission shaft, and a transmission toothed belt;

[0017] The first drive shaft is fixed to the left end of the first control shaft;

[0018] The reversing gear is fixed to the surface of the first drive shaft;

[0019] The mounting shaft is located on the front side of the first drive shaft, and the mounting shaft meshes with the first drive shaft through a reversing gear;

[0020] The second drive shaft is fixed to the left end of the second control shaft;

[0021] A toothed belt engages on the outside of the second drive shaft, and the second drive shaft is connected to the mounting shaft via the toothed belt.

[0022] To further optimize this technical solution, a buffer plate is provided above the first and second protective covers, and a buffer spring is connected below the buffer plate.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] (1) The device can simulate the walking of a robot dog by setting four sets of walking feet. Compared with the wheel drive, it is more applicable and easier to adapt to the measurement of complex water conservancy environment. It can be used in conjunction with the measuring mechanism to measure the water conservancy environment. At the same time, the measuring mechanism is equipped with a first protective cover and a second protective cover to protect the measuring mechanism.

[0025] (2) The terrain measurement module and the visual flow detection module can realize the diversified collection of water conservancy environment data, improve the detection diversity of the device, and the terrain measurement module and the visual flow detection module are equipped with protective covers to prevent the device from being bumped or scratched when it is moved.

[0026] (3) The first and second protective covers can be flipped off from the outside of the measuring mechanism to expose the measuring mechanism. After the first and second protective covers are horizontally unfolded, they can provide anti-collision protection for the side of the device in conjunction with the buffer plate, thereby improving the stability of subsequent measurements. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 This is a side view of the structure of this utility model;

[0029] Figure 3 This is a three-dimensional structural diagram of the first protective cover of this utility model;

[0030] Figure 4 This is a schematic diagram of the unfolded structure of the first protective cover of this utility model;

[0031] Figure 5This is a side sectional view of the present invention.

[0032] Figure 6 This is a top view of the first transmission shaft of this utility model.

[0033] In the diagram: 1. Body; 2. Walking legs; 3. Controller; 4. Terrain measurement module; 5. Visual flow detection module; 6. First protective cover; 7. Second protective cover; 8. Buffer plate; 9. Buffer spring; 10. Control frame; 11. First control shaft; 12. Second control shaft; 13. Motor; 14. First drive shaft; 15. Reversing gear; 16. Mounting shaft; 17. Second drive shaft; 18. Drive belt. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] Example 1: This utility model provides the following technical solution: Figure 1 and Figure 5 As shown, a quadruped robot with three-dimensional terrain measurement and visual flow measurement functions includes a body 1, four walking legs 2 arranged on the lower part of the body 1, and a controller 3 arranged on the upper part of the body 1 to provide intelligent control for the walking legs 2. A measuring mechanism is installed on the upper part of the body 1 to measure external environmental information. A first protective cover 6 is arranged on the outside of the measuring mechanism, and a second protective cover 7 is arranged on the front side of the first protective cover 6. The first protective cover 6 and the second protective cover 7 are fitted together to form an enclosure structure outside the measuring mechanism. An deployment control mechanism is arranged on the outside of the first protective cover 6 and the second protective cover 7 to control the protection of the measuring mechanism by the first protective cover 6 and the second protective cover 7.

[0036] During use, the walking leg 2 is controlled by the controller 3. The walking control of the walking leg 2 can refer to the walking control program of existing intelligent robots. When measuring and collecting water conservancy and environmental information, the first protective cover 6 and the second protective cover 7 are opened to expose the measuring mechanism, and the relevant data are measured through the measuring mechanism.

[0037] Example 2: Based on Example 1, as follows Figure 1-4As shown, the measuring mechanism further discloses that it includes a terrain measurement module 4 and a visual flow detection module 5. The terrain measurement module 4 and the visual flow detection module 5 are connected to the body 1. The lower part of the first protective cover 6 and the lower part of the second protective cover 7 are both designed as open structures, and the upper part of the first protective cover 6 and the upper part of the second protective cover 7 are set as closed structures. A buffer plate 8 is provided on the upper part of the first protective cover 6 and the second protective cover 7, and a buffer spring 9 is connected to the lower part of the buffer plate 8.

[0038] The topographic surveying module 4 can be used to survey the topography and landforms of the water conservancy environment. The working principle of this surveying can be understood by those skilled in the art by referring to existing topographic surveying devices or the surveying techniques mentioned in the background art. The principle and structure are existing technologies readily available to those skilled in the art. The visual flow detection module 5 can perform visual flow measurement. Its measurement principle can be found in a millimeter-wave visual river flow monitoring device disclosed in application number CN202320465466.3: the millimeter-wave radio frequency module and signal processing module perform non-contact monitoring of the flow velocity in a fixed area of ​​the river surface using millimeter-wave radar. Since the optical camera points in the same direction as the antenna beam, the optical camera acquires the location of the sampling point in the river surface and analyzes and calculates the overall flow velocity of the river based on the vertical flow velocity distribution curve within the river channel. The data processing unit uses existing image recognition algorithms to divide the river surface into blocks and performs technical analysis on the river surface flow velocity within the collected blocks to obtain the overall river flow data; or other existing products capable of achieving this function can be used. After the first protective cover 6 and the second protective cover 7 are opened, they can work with the buffer plate 8 to provide lateral protection for the device.

[0039] Example 3: Based on Example 1, as follows Figure 6As shown, the deployment control mechanism further discloses a control frame 10, a first control shaft 11, a second control shaft 12, and a drive mechanism. The control frame 10 is fixed to the rear side of the first protective cover 6 and the front side of the second protective cover 7. The first control shaft 11 is connected to the control frame 10 on the rear side of the first protective cover 6, and the second control shaft 12 is connected to the control frame 10 on the front side of the second protective cover 7. Both the second control shaft 12 and the first control shaft 11 are rotatably mounted inside the body 1. The drive mechanism is connected to the first control shaft 11 and the second control shaft 12 to control their rotation. The drive mechanism includes a motor 13 and a transmission mechanism. The motor 13 is connected to the first control shaft 11 to provide power to the first control shaft 11. The transmission mechanism is located on the first control shaft 6. A control shaft 11 and a second control shaft 12 are located on the left side, enabling power transmission between the first control shaft 11 and the second control shaft 12. The transmission mechanism includes a first drive shaft 14, a reversing gear 15, a mounting shaft 16, a second drive shaft 17, and a transmission belt 18. The first drive shaft 14 is fixed to the left end of the first control shaft 11. The reversing gear 15 is fixed to the surface of the first drive shaft 14. The mounting shaft 16 is located on the front side of the first drive shaft 14 and meshes with the first drive shaft 14 through the reversing gear 15. The second drive shaft 17 is fixed to the left end of the second control shaft 12. The transmission belt 18 meshes with the outside of the second drive shaft 17 and is connected to the mounting shaft 16 through the transmission belt 18.

[0040] When it is necessary to control the opening of the first protective cover 6 and the second protective cover 7, the first control shaft 11 can be rotated by the motor 13. The first control shaft 11 drives the first transmission shaft 14 to rotate. The first transmission shaft 14 drives the mounting shaft 16 to rotate through the reversing gear 15. The mounting shaft 16 drives the second transmission shaft 17 and the second control shaft 12 to rotate through the transmission belt 18. The surfaces of the second transmission shaft 17 and the mounting shaft 16 are provided with gears that mesh with the transmission belt 18, so that the second control shaft 12 and the first control shaft 11 rotate synchronously in opposite directions, driving the second protective cover 7 and the first protective cover 6 to rotate and open them.

[0041] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0042] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up," "install," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions, comprising a body (1); Its features are: The body (1) is provided with walking feet (2) at the bottom, and four sets of walking feet (2) are provided at the bottom of the body (1). A controller (3) is provided at the top of the body (1) to provide intelligent control for the walking feet (2). A measuring mechanism is installed at the top of the body (1) to measure external environmental information. A first protective cover (6) is provided on the outside of the measuring mechanism. A second protective cover (7) is provided on the front side of the first protective cover (6). The first protective cover (6) and the second protective cover (7) fit together to form an enclosure structure outside the measuring mechanism. An unfolding control mechanism is provided on the outside of the first protective cover (6) and the second protective cover (7) to control the protection of the measuring mechanism by the first protective cover (6) and the second protective cover (7).

2. The quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 1, characterized in that: The measuring mechanism includes a terrain measurement module (4) and a visual flow detection module (5), which are connected to the body (1).

3. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 1, characterized in that: The lower part of the first protective cover (6) and the lower part of the second protective cover (7) are both designed with an open structure, and the upper part of the first protective cover (6) and the upper part of the second protective cover (7) are designed with a closed structure.

4. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 1, characterized in that: The deployment control mechanism includes a control frame (10), a first control axis (11), a second control axis (12), and a drive mechanism; The control frame (10) is fixed to the rear side of the first protective cover (6) and the front side of the second protective cover (7), respectively; The first control axis (11) is connected to the control frame (10) on the rear side of the first protective cover (6); The second control shaft (12) is connected to the control frame (10) on the front side of the second protective cover (7), and both the second control shaft (12) and the first control shaft (11) are rotatably installed inside the body (1); The drive mechanism is connected to the first control shaft (11) and the second control shaft (12) to control its rotation.

5. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 4, characterized in that: The drive mechanism includes a motor (13) and a transmission mechanism; The motor (13) is connected to the first control shaft (11) to provide power to the first control shaft (11); The transmission mechanism is located on the left side of the first control shaft (11) and the second control shaft (12) to form a power transmission between the first control shaft (11) and the second control shaft (12).

6. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 5, characterized in that: The transmission mechanism includes a first transmission shaft (14), a reversing gear (15), a mounting shaft (16), a second transmission shaft (17), and a transmission toothed belt (18); The first drive shaft (14) is fixed to the left end of the first control shaft (11); A reversing gear (15) is fixed to the surface of the first drive shaft (14); A mounting shaft (16) is provided on the front side of the first drive shaft (14), and the mounting shaft (16) meshes with the first drive shaft (14) through a reversing gear (15); The second drive shaft (17) is fixed to the left end of the second control shaft (12); A transmission toothed belt (18) meshes with the outside of the second transmission shaft (17), and the second transmission shaft (17) is connected to the mounting shaft (16) via the transmission toothed belt (18).

7. A quadruped robot with three-dimensional terrain measurement and visual flow measurement functions according to claim 1, characterized in that: A buffer plate (8) is provided above the first protective cover (6) and the second protective cover (7), and a buffer spring (9) is connected below the buffer plate (8).

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