Lifting chassis's park inspection robot

Abstract

The utility model relates to the technical field of inspection robot, be a kind of garden inspection robot of liftable chassis, including chassis, traction assembly, drive assembly, camera and cleaning component, and the left walking component, right walking component are respectively arranged in the left side and right side of chassis.The utility model is reasonable and compact in structure, when it is found that there is an obstacle in front of chassis to block, traction assembly makes left walking component and right walking component close to each other and lift chassis, increase the distance between chassis and ground, so that chassis pass through the obstacle, so that inspection robot does not need to turn, avoid the obstacle of certain height to block the walking of the inspection robot;When the lens of camera is attached with dust or stain, the collected picture information is not clear, then the cleaning component removes the dust or stain attached to the lens of camera after action, maintains the cleanliness of the lens of camera, avoids the influence of dust stain attachment on the definition of camera collection picture.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and is a park inspection robot with a liftable chassis. Background Technology

[0002] Inspection robots, also known as security robots, are robots that assist humans in completing security and protection tasks autonomously, semi-autonomously, or under complete human control. As a sub-segment of the robotics industry, inspection robots are based on actual production and life needs, used to solve safety hazards, patrol and monitor, and provide disaster early warning, thereby reducing the occurrence of safety accidents and loss of life and property. They can also automatically patrol at night, monitor the environment, and issue abnormal alarms, achieving 24-hour all-weather all-round monitoring.

[0003] Chinese patent document CN221436490U discloses a park inspection robot, which includes an inspection robot base. Both sides of the lower end of the inspection robot base are movably connected to casters. Anti-tipping mechanisms are positioned on both sides of the inspection robot base. An active controller is fixedly connected to the upper end of the inspection robot base. An inspection camera is movably connected to the upper end of the active controller. A dustproof and rainproof canopy is fixedly connected to the upper outer wall of the inspection camera. The anti-tipping mechanism includes a support connecting plate, a connecting positioning plate, an active connecting groove, a guide stabilizing rod, a connecting semicircular block, an anti-slip pad, an active limiting plate, a guide active hole, a damper, and an elastic element.

[0004] The aforementioned park inspection robot has the following defects during use: Although the park inspection robot can move along the park roads, it is difficult to adjust the chassis of the park inspection robot according to actual usage requirements for uneven and rugged parks. This makes it difficult for the park inspection robot to be used for inspection in more complex terrains. In addition, the robot body is equipped with a lens, which is the robot's eye and plays an important role in monitoring and recording images. If the lens is dirty or blurry, it can easily have an adverse effect on the robot's work. Summary of the Invention

[0005] This utility model provides a park inspection robot with a liftable chassis, which overcomes the shortcomings of the prior art. It can effectively solve the problems of inconvenient chassis adjustment and dirty or blurry lenses affecting inspection work in existing inspection robots.

[0006] The technical solution of this utility model is achieved through the following measures: a park inspection robot with a liftable chassis, including a chassis, a traction component, a drive component, a camera, and a cleaning component. A left walking component and a right walking component are respectively provided on the left and right sides of the chassis. The chassis is provided with a traction component and a drive component. The traction component can raise the chassis when the left walking component and the right walking component are close to each other, or lower the chassis when the left walking component and the right walking component are far apart. The drive component is connected to the left walking component and the right walking component respectively. A support frame is installed on the upper side of the chassis. A camera and a cleaning component that can clean the camera are provided on the upper side of the support frame.

[0007] The following are further optimizations and / or improvements to the above-mentioned utility model technical solution: The aforementioned right-side travel assembly may include a drive wheel, a driven wheel, a wheel frame, and a track. The wheel frame is located on the right side of the chassis. The drive wheel is rotatably mounted on the front of the wheel frame, and the driven wheel is rotatably mounted on the rear of the wheel frame. A track is fitted on the outer side of the wheel frame. The track is connected to the drive wheel and the driven wheel via a transmission. The left-side travel assembly has the same structure as the right-side travel assembly and is symmetrically distributed. The drive assembly is connected to the corresponding position of the drive wheel in the left-side travel assembly and the corresponding position of the drive wheel. The traction assembly is connected to the corresponding position of the wheel frame in the left-side travel assembly and the corresponding position of the wheel frame.

[0008] The aforementioned drive assembly may include a first geared motor, a second geared motor, a first universal coupling, a second universal coupling, a third universal coupling, and a fourth universal coupling. The first geared motor is mounted on the upper right side of the chassis. The right end of the output shaft of the first geared motor is connected to the left end of the drive wheel via the first universal coupling. A first connecting shaft is rotatably mounted on the upper rear side of the chassis. The right end of the first connecting shaft is connected to the left end of the driven wheel via the second universal coupling. The second geared motor is mounted on the upper left side of the chassis. The left end of the output shaft of the second geared motor is connected to the position corresponding to the drive wheel in the left travel assembly via the third universal coupling. The second connecting shaft is rotatably mounted on the upper rear side of the chassis. The right end of the second connecting shaft is connected to the position corresponding to the driven wheel in the left travel assembly via the fourth universal coupling.

[0009] The aforementioned traction assembly may include a right traction component and a left traction component. The right traction component includes a sliding sleeve, a slide rail, a connecting frame, a fifth universal coupling, and a tensioning mechanism. Several sliding sleeves are fixedly installed at intervals on the upper side of the chassis corresponding to the position between the first universal coupling and the second universal coupling. Each sliding sleeve has a slide rail slidably installed inside it. The right end of each slide rail is fixedly installed together with the left side of the connecting frame. Several fifth universal couplings are provided at intervals between the right side of the connecting frame and the left side of the wheel frame. A tensioning mechanism that enables the connecting frame to move left and right is provided on the upper side of the chassis. A left traction component with the same structure as the right traction component is provided on the upper left side of the chassis. The left traction component is connected to the left travel assembly at the position corresponding to the wheel frame.

[0010] The aforementioned tensioning mechanism may include an electric push rod and a support. The electric push rod is installed on the upper side of the middle of the chassis, and the support is fixedly installed on the upper right side of the chassis. The right part of the push rod of the electric push rod is slidably installed in the support, and the right end of the push rod of the electric push rod is fixedly installed together with the connecting frame.

[0011] A lower housing can be fixedly installed on the upper side of the aforementioned chassis. At least one first sensor is fixedly installed on the upper front side of the lower housing at intervals on the left and right. An upper housing is fixedly installed on the upper rear side of the lower housing. A support frame is fixedly installed on the upper side of the upper housing. A detection radar is fixedly installed on the upper middle part of the support frame. Cameras are fixedly installed on the upper sides of the support frame corresponding to the left and right positions of the detection radar. The cleaning assembly includes a drive motor, a rotating wheel, a brush rod, a brush body, a connecting rod, a guide plate, a connecting plate, and an eccentric shaft. A drive motor is fixedly installed on the upper front side of the support frame. A rotating wheel is fixedly installed on the outer side of the front end of the output shaft of the drive motor. A brush rod is provided above the drive motor. A brush body corresponding to the camera is fixedly installed on the rear side of the brush rod. A connecting rod is fixedly installed on the front middle part of the brush rod. A guide plate is provided on the outer side of the rotating wheel. A strip-shaped guide hole is provided on the front upper part of the guide plate. The front end of the connecting rod passes through the guide hole and is hinged to a connecting plate. An eccentric shaft is hinged to the lower part of the connecting plate. The rear end of the eccentric shaft is fixedly installed together with the front end of the rotating wheel at the corresponding position.

[0012] Several guide rods can be fixedly installed at intervals on the front side of the brush rod. Each guide rod has a guide sleeve fitted on its lower outer side, and each guide sleeve is fixedly installed together with the support frame.

[0013] The above may also include a control module, a power module is fixedly installed on the upper rear side of the lower housing, the upper housing covers the outside of the power module, and at least one second sensor is fixedly installed on the upper rear side of the upper housing at intervals on the left and right. The control module is connected to the power module, the first sensor, the second sensor, the detection radar and the camera respectively.

[0014] This utility model has a reasonable and compact structure. When an obstacle is found blocking the front of the chassis, the traction component brings the left and right walking components closer together and raises the chassis, increasing the distance between the chassis and the ground, thus allowing the chassis to pass over the obstacle. In this way, the inspection robot does not need to turn and avoids obstacles of a certain height from blocking the movement of the inspection robot. When dust or stains adhere to the camera lens, causing the captured image information to be unclear, the cleaning component will wipe away the dust or stains on the camera lens, keeping the camera lens clean and preventing the adhesion of dust and stains from affecting the clarity of the captured image. Attached Figure Description

[0015] Appendix Figure 1 This is a three-dimensional structural diagram of embodiments one to eight of this utility model.

[0016] Appendix Figure 2 This is a three-dimensional structural diagram of the left-walking component and the right-walking component in embodiments two to eight of this utility model.

[0017] Appendix Figure 3 This is a three-dimensional structural diagram of the right-walking component in embodiments two to eight of this utility model.

[0018] Appendix Figure 4 This is a three-dimensional structural diagram of the connecting frame in embodiments four to eight of this utility model.

[0019] Appendix Figure 5 This is a schematic diagram of the main structure of the cleaning components in embodiments six to eight of this utility model.

[0020] Appendix Figure 6 This is a three-dimensional structural diagram of the cleaning components in embodiments six to eight of this utility model.

[0021] Appendix Figure 7 This is a three-dimensional structural diagram of the guide plate in embodiments six to eight of this utility model.

[0022] Appendix Figure 8 This is a three-dimensional structural diagram of the lower shell in embodiments six to eight of this utility model.

[0023] Appendix Figure 9 This is a three-dimensional structural diagram of the upper shell in embodiments six to eight of this utility model.

[0024] Appendix Figure 10 This is a schematic diagram of the circuit structure of Embodiment 8 of this utility model.

[0025] The codes in the attached diagram are as follows: 1 for chassis, 2 for camera, 3 for drive wheel, 4 for driven wheel, 5 for wheel frame, 6 for track, 7 for left travel assembly, 8 for first geared motor, 9 for second geared motor, 10 for first universal joint, 11 for second universal joint, 12 for third universal joint, 13 for fourth universal joint, 14 for first connecting shaft, 15 for second connecting shaft, 16 for front axle housing, 17 for rear axle housing, 18 for sliding sleeve, 19 for slide rail, 20 for connecting frame, and 21 for the first... The five universal couplings are as follows: 22 is the slider, 23 is the left traction component, 24 is the electric push rod, 25 is the support, 26 is the lower housing, 27 is the upper housing, 28 is the first sensor, 29 is the detection radar, 30 is the drive motor, 31 is the rotating wheel, 32 is the brush rod, 33 is the connecting rod, 34 is the guide plate, 35 is the guide hole, 36 is the connecting plate, 37 is the eccentric shaft, 38 is the guide rod, 39 is the guide sleeve, 40 is the power module, 41 is the control module, 42 is the support frame, and 43 is the second sensor. Detailed Implementation

[0026] This utility model is not limited to the following embodiments, and the specific implementation method can be determined according to the technical solution of this utility model and the actual situation.

[0027] In this utility model, for ease of description, the description of the relative positional relationships of the components is based on the appendix to the specification. Figure 1 The layout is described using a center-A orientation, and the positional relationships such as front, back, top, bottom, left, and right are based on the instructions attached. Figure 1 The orientation of the layout in the middle A direction is used to determine this.

[0028] The present invention will be further described below with reference to the embodiments and accompanying drawings: Example 1: As shown in the attached document Figure 1 As shown, the park inspection robot with a liftable chassis includes a chassis 1, a traction component, a drive component, a camera 2, and a cleaning component. A left walking component 7 and a right walking component are respectively located on the left and right sides of the chassis 1. The chassis 1 is equipped with a traction component and a drive component. The traction component can raise the chassis 1 when the left walking component 7 and the right walking component are close to each other, or lower the chassis 1 when the left walking component 7 and the right walking component are far apart. The drive component is connected to the left walking component 7 and the right walking component respectively. A support frame 42 is installed on the upper side of the chassis 1. The camera 2 and a cleaning component that can clean the camera 2 are located on the upper side of the support frame 42.

[0029] In use, camera 2 is fixedly mounted on support frame 42 to ensure the height of camera 2, facilitating the acquisition of environmental images in front of chassis 1 when chassis 1 moves forward. When an obstacle is detected in front of chassis 1, the traction component causes the left and right walking components to move closer together and raise chassis 1, increasing the distance between chassis 1 and the ground, thus allowing chassis 1 to pass over the obstacle. This eliminates the need for the inspection robot to turn, preventing obstacles of a certain height from obstructing its movement. When dust or dirt adheres to the lens of camera 2, causing unclear image information, the cleaning component wipes away the dust or dirt from the lens of camera 2, maintaining the cleanliness of the lens and preventing dust and dirt from affecting the clarity of the images acquired by camera 2.

[0030] The above-mentioned park inspection robot with a liftable chassis can be further optimized and / or improved according to actual needs: Example 2: As an optimization of the above examples, as shown in the appendix. Figure 1 , 2 As shown in Figure 3, the right travel assembly includes a drive wheel 3, a driven wheel 4, a wheel frame 5, and a track 6. The wheel frame 5 is located on the right side of the chassis 1. The drive wheel 3 is rotatably mounted on the front of the wheel frame 5, and the driven wheel 4 is rotatably mounted on the rear of the wheel frame 5. The track 6 is fitted on the outer side of the wheel frame 5. The track 6 is connected to the drive wheel 3 and the driven wheel 4 in a transmission connection. The left travel assembly 7 has the same structure as the right travel assembly and is symmetrically distributed. The drive assembly is connected to the corresponding position of the drive wheel 3 in the left travel assembly 7 and the drive wheel 3 in a transmission connection. The traction assembly is connected to the corresponding position of the wheel frame 5 in the left travel assembly 7 and the drive wheel 5 in a transmission connection.

[0031] Depending on the requirements, the left and right walking components can also be existing known technologies, such as tracked walking mechanisms or PC30UU-3 rubber tracks. The wheel frame 5 is used to rotate and install the drive wheel 3 and the driven wheel 4, and can also provide support and guidance for the track 6. At the same time, the traction component can move the tracks 6 of the walking components closer or further apart through the wheel frame 5. The drive wheel 3 receives the rotational force output by the drive component and rotates. Driven by the drive wheel 3, the track 6 reciprocates between the drive wheel 3 and the driven wheel 4. The friction between the track 6 and the ground enables the inspection robot to move on the ground.

[0032] Example 3: As an optimization of the above examples, as shown in the appendix. Figure 1 , 2As shown in Figure 3, the drive assembly includes a first geared motor 8, a second geared motor 9, a first universal coupling 10, a second universal coupling 11, a third universal coupling 12, and a fourth universal coupling 13. The first geared motor 8 is mounted on the upper right side of the chassis 1. The right end of the output shaft of the first geared motor 8 is connected to the left end of the drive wheel 3 via the first universal coupling 10. The first connecting shaft 14 is rotatably mounted on the upper rear side of the chassis 1. The right end of the first connecting shaft 14 is connected to the left end of the driven wheel 4 via the second universal coupling 11. The second geared motor 9 is mounted on the upper left side of the chassis 1. The left end of the output shaft of the second geared motor 9 is connected to the position corresponding to the drive wheel 3 in the left travel assembly 7 via the third universal coupling 12. The second connecting shaft 15 is rotatably mounted on the upper rear side of the chassis 1. The right end of the second connecting shaft 15 is connected to the position corresponding to the driven wheel 4 in the left travel assembly 7 via the fourth universal coupling 13.

[0033] According to requirements, a front axle seat 16 and a rear axle seat 17 are fixedly installed at intervals on the upper right side of chassis 1. The right side of the output shaft of the first geared motor 8 is slidably installed in the front axle seat 16, and the first connecting shaft 14 is slidably installed in the rear axle seat 17. The front axle seat 16 and the rear axle seat 17 can support and limit the output shaft of the first geared motor 8 and the first connecting shaft 14. Alternatively, a front mounting bracket and a rear mounting bracket can be fixedly installed at intervals on the upper right side of chassis 1. A spline sleeve is rotatably installed on the upper part of both the front and rear mounting brackets. The left side of the first connecting shaft 14 and the left side of the second connecting shaft 15 are both spline structures that match the spline sleeves. The output shaft of the first geared motor 8... The right side of the shaft is slidably installed in the front spline sleeve, and the right side of the first connecting shaft 14 is slidably installed in the rear spline sleeve. This can provide support and limit the output shaft of the first geared motor 8 and the first connecting shaft 14. Similarly, the upper left side of the chassis can also be provided with shaft seats corresponding to the front shaft seat 16 and the rear shaft seat 17, or mounting brackets corresponding to the front mounting bracket and the rear mounting bracket. The first universal coupling 10, the second universal coupling 11, the third universal coupling 12 and the fourth universal coupling 13 have the same structure. The first universal coupling 10 and the third universal coupling 12 are symmetrically arranged, and the second universal coupling 11 and the fourth universal coupling 13 are symmetrically arranged.

[0034] The first geared motor 8 drives the drive wheel 3 to rotate via the first universal coupling 10, thereby driving the track 6 to rotate. Similarly, the second geared motor 9 drives the track in the left travel assembly 7 to rotate via the third universal coupling 12. When the output shafts of the first geared motor 8 and the second geared motor 9 rotate synchronously and in the forward direction, the right travel assembly and the left travel assembly 7 drive the chassis 1 to move forward. When the output shafts of the first geared motor 8 and the second geared motor 9 rotate synchronously and in the opposite direction, the right travel assembly and the left travel assembly 7 drive the chassis 1 to move backward. When the output shafts of the first geared motor 8 and the second geared motor 9 rotate at different speeds, the chassis 1 can turn left or right. When the speed of the output shaft of the first geared motor 8 is greater than the speed of the output shaft of the second geared motor 9, the chassis 1 rotates to the left, that is, the chassis 1 rotates towards the left travel assembly 7. When the speed of the output shaft of the first geared motor 8 is less than the speed of the output shaft of the second geared motor 9, the chassis 1 rotates to the right, that is, the chassis 1 rotates towards the right travel assembly.

[0035] Example 4: As an optimization of the above examples, as shown in the appendix. Figure 2 , 3 As shown in Figure 4, the traction assembly includes a right traction component and a left traction component 23. The right traction component includes a sliding sleeve 18, a slide rail 19, a connecting frame 20, a fifth universal coupling 21, and a tensioning mechanism. Several sliding sleeves 18 are fixedly installed at intervals on the upper side of the chassis 1, corresponding to the position between the first universal coupling 10 and the second universal coupling 11. Each sliding sleeve 18 has a slide rail 19 slidably installed inside it. The right end of each slide rail 19 is fixedly installed together with the left side of the connecting frame 20. Several fifth universal couplings 21 are provided at intervals between the right side of the connecting frame 20 and the left side of the wheel frame 5. The upper side of the chassis 1 is provided with a tensioning mechanism that allows the connecting frame 20 to move left and right. The upper left side of the chassis 1 is provided with a left traction component 23 with the same structure as the right traction component. The left traction component 23 is connected to the position corresponding to the wheel frame 5 in the left travel assembly 7.

[0036] According to the requirements, two sliding sleeves 18 are fixedly installed at intervals on the upper side of the chassis 1 at the position between the first universal coupling 10 and the second universal coupling 11. The sliding sleeves 18 can be in the form of a U-shaped structure with the opening facing forward, or channel steel or H-shaped steel, which facilitates the disassembly and assembly between the sliding sleeves 18 and the slide rails 19. The connecting frame 20 can also be in the form of a U-shaped frame with the opening facing left. The slide rails 19 are fixedly installed on the upper and lower sides of the left side of the connecting frame 2. One to three sliders 22 that are slidably installed on the outside of the slide rails 19 are fixedly installed at intervals on the left and right inside the sliding sleeves 18.

[0037] The tensioning mechanism is connected to the wheel frame 5 via the connecting frame 20 and the fifth universal coupling 21. When the tensioning mechanism is activated, it can pull the wheel frame 5, bringing it closer to the chassis 1. Similarly, the left traction component 23 pulls the left travel component 7 closer to the chassis 1. Since the left travel component 7, the right travel component, and the chassis 1 form a triangular structure, with the left and right travel components located at the lowest points on both sides of the triangle and the chassis 1 located at the highest point, when the two lowest points approach each other (i.e., the left and right travel components approach each other), the chassis 1 will rise. Conversely, when the two lowest points move away from each other (i.e., the left and right travel components move away from each other), the chassis 1 will descend, thus achieving the lifting effect of the chassis 1.

[0038] The first universal joint 10, the second universal joint 11, the third universal joint 12, the fourth universal joint 13, and the fifth universal joint 21 all have the same structure. The first universal joint 10, the second universal joint 11, the third universal joint 12, and the fourth universal joint 13 can simultaneously achieve changes in rotation and tilt angle, while the fifth universal joint 21 can only achieve changes in tilt angle under the action of the tensioning mechanism. This can prevent the chassis 1 from swinging back and forth between the left travel assembly 7 and the right travel assembly.

[0039] Example 5: As an optimization of the above examples, as shown in the appendix. Figure 2 , 3 As shown, the tensioning mechanism includes an electric push rod 24 and a support 25. The electric push rod 24 is installed on the upper side of the middle part of the chassis 1, and the support 25 is fixedly installed on the upper right side of the chassis 1. The right part of the push rod of the electric push rod 24 is slidably installed in the support 25, and the right end of the push rod of the electric push rod 24 is fixedly installed together with the connecting frame 20.

[0040] According to the requirements, the electric push rod 24 is a known existing technology. During use, while the first reduction motor 8 and the second reduction motor 9 drive the drive wheel 3 to rotate, the push rod of the electric push rod 24 also changes the angle between the rods of the first universal coupling 10, the second universal coupling 11, the third universal coupling 12, the fourth universal coupling 13, and the fifth universal coupling 21 and the horizontal plane when it extends and retracts to the left and right. Increasing the angle will increase the distance between the chassis 1 and the ground, that is, the height of the chassis 1 will increase. Conversely, decreasing the angle will decrease the height of the chassis 1.

[0041] The extension and retraction of the electric push rod 24 drives the connecting frame 20 to move left and right. In this way, the fifth universal coupling 21 can achieve traction of the wheel frame 5 and also change the tilt angle of the rod of the fifth universal coupling 21.

[0042] Example 6: As an optimization of the above examples, as shown in the appendix. Figure 1 , 5As shown in Figure 9, a lower housing 26 is fixedly mounted on the upper side of the chassis 1. At least one first sensor 28 is fixedly mounted on the upper front side of the lower housing 26 at intervals on the left and right. An upper housing 27 is fixedly mounted on the upper rear side of the lower housing 26. A support frame 42 is fixedly mounted on the upper side of the upper housing 27. A detection radar 29 is fixedly mounted on the upper middle part of the support frame 42. Cameras 2 are fixedly mounted on the upper side of the support frame 42 corresponding to the left and right positions of the detection radar 29. The cleaning assembly includes a drive motor 30, a rotating wheel 31, a brush rod 32, a brush body, a connecting rod 33, a guide plate 34, a connecting plate 36, and an eccentric shaft 37. The front part of the support frame 42... A drive motor 30 is fixedly installed on the upper side. A rotating wheel 31 is fixedly installed on the outer side of the front end of the output shaft of the drive motor 30. A brush rod 32 is provided above the drive motor 30. A brush body corresponding to the camera 2 is fixedly installed on the rear side of the brush rod 32. A connecting rod 33 is fixedly installed on the front side of the middle part of the brush rod 32. A guide plate 34 is provided on the outer side of the rotating wheel 31. A strip-shaped guide hole 35 that runs through the front and back is provided on the upper front side of the guide plate 34. The front end of the connecting rod 33 passes through the guide hole 35 and is hinged to a connecting plate 36. An eccentric shaft 37 is hinged to the lower part of the connecting plate 36. The rear end of the eccentric shaft 37 is fixedly installed together with the front end of the rotating wheel 31 at the corresponding position.

[0043] According to the requirements, both the lower housing 26 and the upper housing 27 are box structures with openings on the lower side. The detection radar 29 is a known technology, such as the LiDARL2 laser radar. It emits laser light, which is reflected back after encountering an object and received by the laser radar to measure the distance between the body and the obstacle, so as to sense the target obstacle blocking the progress. The camera 2 is a known technology, such as the Cognex industrial camera or the CAM8008 camera. The camera 2 is used to collect image information during the inspection process. Two first sensors 28 are fixedly installed on the upper front side of the lower housing 26 at intervals. The rear side of the guide plate 34 can be fixedly installed together with the front of the support frame 42. There is a gap between the central axis of the eccentric shaft 37 and the central axis of the rotating wheel 31.

[0044] A brush body corresponding to the lens of the camera 2 is fixed to the rear side of the brush rod 32. The brush body is a known brush bristle or rubber strip. When the drive motor 30 is working, the brush rod 32 moves up and down in a straight line under the action of the connecting plate 36 and the guide hole 35. Two brush bodies are fixed to the rear side of the brush rod 32. When the brush body moves up and down with the brush rod 32, it intermittently contacts the lens of the camera 2. After the brush body continuously contacts the lens of the camera 2, it can remove the dust and dirt on the surface of the lens of the camera 2.

[0045] During use, the lower housing 26 can shield and protect the drive and traction components, while the upper housing 27 facilitates the installation of the support frame 42. When dust or dirt adheres to the lens of the camera 2, causing the captured image information to be unclear, the brush body moves up and down to contact the lens of the camera 2, thereby wiping away the dust and dirt from the lens of the camera 2, maintaining the cleanliness of the lens of the camera 2, and preventing the adhesion of dust and dirt from affecting the clarity of the image captured by the lens of the camera 2.

[0046] Example 7: As an optimization of the above examples, as shown in the appendix. Figure 1 , 5 As shown in Figures 6 and 9, several guide rods 38 are fixedly installed at intervals on the front side of the brush rod 32. Each guide rod 38 has a guide sleeve 39 fitted on its lower outer side. Each guide sleeve 39 is fixedly installed together with the support frame 42.

[0047] As required, two guide rods 38 are fixedly installed at intervals on the front side of the brush rod 32. In this embodiment, the guide sleeve 39 can also be replaced by a guide groove on the support frame 42, and the lower part of the guide rod 38 moves up and down in the guide groove. During use, this setting can prevent the brush rod 32 from scratching the camera 2 after swinging left and right, and can reduce the failure rate. Alternatively, two guide sleeves 39 can be fixedly installed at intervals on the front side of the brush rod 32, and each guide sleeve 39 has a guide rod 38 whose lower end is fixedly installed together with the support frame 42.

[0048] Example 8: As an optimization of the above examples, as shown in the appendix Figure 1 , 8 As shown in Figures 9 and 10, the system also includes a control module 41. A power module 40 is fixedly installed on the upper rear side of the lower housing 26. The upper housing 27 covers the outside of the power module 40. At least one second sensor 43 is fixedly installed on the upper rear side of the upper housing 27 at intervals. The control module 41 is connected to the power module 40, the first sensor 28, the second sensor 43, the detection radar 29, and the camera 2, respectively.

[0049] According to the requirements, two second sensors 43 are fixedly installed at intervals on the upper rear side of the lower housing 26. The first sensor 28 and the second sensor 43 are both existing known technologies, such as the SUB1000 ultrasonic ranging sensor. They measure the distance between the chassis 1 and the obstacle by emitting ultrasonic waves and receiving the reflected waves. The control module 41 is connected to the power module 40, the first sensor 28, the second sensor 43, the detection radar 29, the camera 2, the first geared motor 8 and the second geared motor 9 respectively. The power module 40 and the control module 41 are fixedly installed at intervals on the upper rear side of the lower housing 26. The control module 41 is existing known technology, such as the O4SOPHON domain controller. The upper housing 27 can protect the power module 40. The power module 40 is used to supply power to the control module 41, thereby facilitating the normal movement of the chassis 1 and the normal operation of the camera 2.

[0050] The above technical features constitute various embodiments of this utility model, which have strong adaptability and optimal implementation effect. Unnecessary technical features can be added or removed according to actual needs to meet the needs of different situations.

Claims

1. A park inspection robot with a liftable chassis, characterized in that... The system includes a chassis, a traction component, a drive component, a camera, and a cleaning component. A left-walking component and a right-walking component are respectively located on the left and right sides of the chassis. The chassis is equipped with a traction component and a drive component. The traction component enables the left-walking component and the right-walking component to move closer together and raise the chassis, or to move away from each other and lower the chassis. The drive component is connected to the left-walking component and the right-walking component respectively. A support frame is installed on the upper side of the chassis, and a camera and a cleaning component for cleaning the camera are located on the upper side of the support frame.

2. The liftable chassis-based garden inspection robot according to claim 1, wherein The right-side travel assembly includes a drive wheel, a driven wheel, a wheel frame, and a track. The wheel frame is located on the right side of the chassis. The drive wheel is rotatably mounted on the front of the wheel frame, and the driven wheel is rotatably mounted on the rear of the wheel frame. The track is fitted on the outside of the wheel frame. The track is connected to the drive wheel and the driven wheel via a transmission. The left-side travel assembly has the same structure as the right-side travel assembly and is symmetrically distributed. The drive assembly is connected to the corresponding position of the drive wheel in the left-side travel assembly, and the traction assembly is connected to the corresponding position of the wheel frame in the left-side travel assembly.

3. The liftable chassis-based garden inspection robot of claim 2, wherein The drive assembly includes a first geared motor, a second geared motor, a first universal coupling, a second universal coupling, a third universal coupling, and a fourth universal coupling. The first geared motor is mounted on the upper right side of the chassis. The right end of the output shaft of the first geared motor is connected to the left end of the drive wheel via the first universal coupling. A first connecting shaft is rotatably mounted on the upper rear side of the chassis. The right end of the first connecting shaft is connected to the left end of the driven wheel via the second universal coupling. The second geared motor is mounted on the upper left side of the chassis. The left end of the output shaft of the second geared motor is connected to the position corresponding to the drive wheel in the left travel assembly via the third universal coupling. The second connecting shaft is rotatably mounted on the upper rear side of the chassis. The right end of the second connecting shaft is connected to the position corresponding to the driven wheel in the left travel assembly via the fourth universal coupling.

4. The liftable chassis-based garden inspection robot of claim 3, wherein The traction assembly includes a right traction component and a left traction component. The right traction component includes a sliding sleeve, a slide rail, a connecting frame, a fifth universal coupling, and a tensioning mechanism. Several sliding sleeves are fixedly installed at intervals on the upper side of the chassis, corresponding to the position between the first and second universal couplings. Each sliding sleeve has a slide rail slidably installed inside it. The right end of each slide rail is fixedly installed together with the left side of the connecting frame. Several fifth universal couplings are provided at intervals between the right side of the connecting frame and the left side of the wheel frame. A tensioning mechanism that allows the connecting frame to move left and right is provided on the upper side of the chassis. A left traction component with the same structure as the right traction component is provided on the upper left side of the chassis. The left traction component is connected to the left travel assembly at the position corresponding to the wheel frame.

5. The park inspection robot with a liftable chassis according to claim 4, characterized in that... The tensioning mechanism includes an electric push rod and a support. The electric push rod is installed on the upper side of the middle of the chassis, and the support is fixedly installed on the upper right side of the chassis. The right part of the push rod of the electric push rod is slidably installed in the support, and the right end of the push rod of the electric push rod is fixedly installed together with the connecting frame.

6. The park inspection robot with a liftable chassis according to claim 1, 2, 3, 4, or 5, characterized in that... A lower housing is fixedly mounted on the upper side of the chassis. At least one first sensor is fixedly mounted on the upper front side of the lower housing at intervals. An upper housing is fixedly mounted on the upper rear side of the lower housing. A support frame is fixedly mounted on the upper side of the upper housing. A detection radar is fixedly mounted on the upper middle part of the support frame. Cameras are fixedly mounted on the upper sides of the support frame corresponding to the left and right positions of the detection radar. The cleaning assembly includes a drive motor, a rotating wheel, a brush rod, a brush body, a connecting rod, a guide plate, a connecting plate, and an eccentric shaft. A drive motor is fixedly mounted on the upper front side of the support frame. A rotating wheel is fixedly mounted on the outer side of the front end of the output shaft of the drive motor. A brush rod is provided above the drive motor. A brush body corresponding to the camera is fixedly mounted on the rear side of the brush rod. A connecting rod is fixedly mounted on the front middle part of the brush rod. A guide plate is provided on the outer side of the rotating wheel. A strip-shaped guide hole is provided on the front upper part of the guide plate. The front end of the connecting rod passes through the guide hole and is hinged to a connecting plate. An eccentric shaft is hinged to the lower part of the connecting plate. The rear end of the eccentric shaft is fixedly mounted together with the front end of the rotating wheel at the corresponding position.

7. The liftable chassis-based garden patrol robot of claim 6, wherein Several guide sleeves are fixedly installed at intervals on the front side of the brush rod. Each guide sleeve has a guide rod whose lower end is fixedly installed together with the support frame. Alternatively, several guide rods are fixedly installed at intervals on the front side of the brush rod. Each guide rod has a guide sleeve fitted on its lower outer side. Each guide sleeve is fixedly installed together with the support frame.

8. The liftable chassis-based garden inspection robot of claim 6, wherein It also includes a control module. A power module is fixedly installed on the upper rear side of the lower housing. The upper housing covers the outside of the power module. At least one second sensor is fixedly installed on the upper rear side of the upper housing at intervals. The control module is connected to the power module, the first sensor, the second sensor, the detection radar, and the camera, respectively.

9. The park inspection robot with a liftable chassis according to claim 7, characterized in that... It also includes a control module. A power module is fixedly installed on the upper rear side of the lower housing. The upper housing covers the outside of the power module. At least one second sensor is fixedly installed on the upper rear side of the upper housing at intervals. The control module is connected to the power module, the first sensor, the second sensor, the detection radar, and the camera, respectively.

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