An environmental perception-based reconnaissance arm device and quadruped robot

Abstract

The utility model discloses a kind of reconnaissance arm device and quadruped robot based on environmental perception, reconnaissance arm device in it includes base, support rod assembly and environmental perception equipment, support rod assembly has first end and second end, its first end is installed on base, the support rod assembly can rotate relative to the base, and the relative position of second end and first end can be adjusted by changing support rod assembly form;The environmental perception equipment is connected with the second end.Various typical application scenarios, such as reconnaissance behind windowsill, reconnaissance behind corridor, reconnaissance under shrub, etc. can be covered, in addition, the quadruped robot disclosed by the utility model, by installing the reconnaissance arm device on its back, so that the formed investigation equipment has very high high motion performance and maneuverability, and also overcomes the inconvenience of traditional wheeled and tracked reconnaissance equipment movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a reconnaissance arm device and a quadruped robot based on environmental perception. Background Technology

[0002] With the continuous development of robotics technology, its application in various fields is gradually expanding. In the field of special reconnaissance, the demand for unmanned reconnaissance equipment is becoming increasingly urgent. Currently, unmanned reconnaissance equipment in this field is mainly divided into two categories: ground reconnaissance equipment and air reconnaissance equipment, both undertaking environmental detection and information acquisition tasks. In existing technologies, ground reconnaissance equipment mainly consists of radar, small wheeled reconnaissance vehicles, and tracked reconnaissance robots. Radar mainly targets aerial targets and cannot effectively detect the ground environment. In addition, the various optical reconnaissance devices installed on wheeled reconnaissance vehicles and tracked reconnaissance aircraft are often fixed or rotatable on these mobile reconnaissance platforms. However, in actual operating environments, the presence of various ruins, rocks, vegetation, and obstructions from high and low building components severely hinders the information acquisition of these reconnaissance devices, greatly weakening their reconnaissance effectiveness in complex environments and limiting their reconnaissance capabilities. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this utility model discloses a reconnaissance arm device based on environmental perception, comprising: Base A support rod assembly has a first end and a second end, the first end being mounted on a base, the support rod assembly being rotatable relative to the base, and the relative position of the second end and the first end being adjustable by changing the shape of the support rod assembly; An environmental sensing device is connected to the second end.

[0004] Preferably, the environmental sensing device is connected to the second end via a pan-tilt unit.

[0005] Preferably, a first drive module is installed on the base, and the output shaft of the first drive module is connected to the first end and can drive the support rod assembly to rotate relative to the base.

[0006] Preferably, the support rod assembly includes a support rod body, which is composed of multiple relatively rotatable rod components connected to each other; The support rod body includes a first rod component, a second rod component, and a second drive module; One end of the first rod member is connected to the output shaft of the first drive module, and the other end is connected to one end of the second rod member through the second drive module; the second drive module can drive the second rod member to rotate relative to the first rod member. The other end of the second rod component is connected to the environmental sensing device.

[0007] Preferably, the environmental sensing device includes, but is not limited to, a visible light wide-angle camera, a telephoto zoom camera, an infrared thermal imaging camera, or a laser ranging device.

[0008] Preferably, in the folded storage configuration of the support rod assembly, the second rod member and the first rod member are bent and folded onto the base; A support member is installed at the end of the first rod member near the first drive module. The support member has a U-shaped groove. In the folded storage form, the rod of the second rod member is stored in the U-shaped groove. The groove of the U-shaped groove can restrict the lateral movement of the rod of the second rod member.

[0009] Preferably, the environmental perception-based reconnaissance arm device further includes an upper protective frame, which includes a mounting base plate and a protective frame fixedly connected to the mounting base plate, and the base plate is connected to the upper part of the mounting base plate; The protective frame includes a first protective frame assembly and a second protective frame assembly respectively arranged at the front and rear of the mounting base plate; The first protective frame assembly forms a first protective compartment, and the second protective frame assembly forms a second protective compartment. When the support rod assembly is in a folded storage state, the second drive module is stored in the first protective compartment, and the environmental sensing device is stored in the second protective compartment.

[0010] Preferably, the first protective frame assembly includes a first frame group and a support frame installed in the first frame group. The first frame group surrounds to form a first protective chamber, and the upper part of the first protective chamber has a first opening for the second drive module to enter and exit. The upper side of the support frame has a support portion, which abuts against the lower side of the second drive module or the lower side of the end of the first rod member away from the first drive module in the folded storage form.

[0011] Preferably, the lower part of the first frame group is lower than the supporting part; The upper part of the first frame group is higher than the end of the first rod member away from the first drive module in the folded storage form, the end of the second rod member away from the gimbal, and the highest point of the second drive module. The front part of the first frame group is in front of the end of the first rod member away from the first drive module in the folded storage form, the end of the second rod member away from the gimbal, and the foremost part of the second drive module.

[0012] This utility model also discloses a quadruped robot, comprising: a body, leg components mounted on the body, and an environmental perception-based reconnaissance arm device as described above, wherein the reconnaissance arm device is connected to the upper part of the body.

[0013] This utility model discloses a reconnaissance arm device and a quadruped robot based on environmental perception. The reconnaissance arm device includes a base, a support rod assembly, and an environmental perception device. The support rod assembly has a first end and a second end, with the first end mounted on the base. The support rod assembly is rotatable relative to the base, and the relative position of the second end and the first end can be adjusted by changing the shape of the support rod assembly. The environmental perception device is connected to the second end. This allows for coverage of various typical application scenarios such as reconnaissance behind windowsills, behind corridors, and under bushes. Furthermore, the disclosed quadruped robot, by mounting the reconnaissance arm device on its back, provides the resulting reconnaissance equipment with extremely high mobility and performance, overcoming the inconvenience of traditional wheeled and tracked reconnaissance equipment. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0015] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0016] Figure 1 This is a schematic diagram of the structure of an environmentally aware reconnaissance arm device disclosed in an embodiment of this application.

[0017] Figure 2-3 This is a schematic diagram of the structure of an environmentally aware reconnaissance arm device disclosed in another embodiment of this application.

[0018] Figure 4 This is a schematic diagram of the vertical reconnaissance configuration of a reconnaissance arm disclosed in an embodiment of this application.

[0019] Figure 5 This is a schematic diagram of the reconnaissance arm extended forward in one embodiment of this application.

[0020] Figure 6 This is a schematic diagram of the structure of a quadruped robot disclosed in an embodiment of this application.

[0021] Figure label:

[0022] 1. Base; 11. First drive module; 2. Support rod assembly; 21. First end; 22. Second end; 23. Support rod body; 231. First rod component; 232. Second rod component; 233. Second drive module; 2311. Support component; 2312. U-shaped groove; 3. Environmental sensing device; 4. Protective frame; 41. Mounting base plate; 42. Protective frame; 421. First protective frame assembly; 422. Second protective frame assembly; 423. First protective compartment; 424. Second protective compartment; 4211. First frame assembly; 4212. Support frame; 4213. Support part; 5. Gimbal; 51. Base; 52. Stabilizer; 100. Body; 200. Moving part; 300. Reconnaissance arm device; 400. Reconnaissance window; 500. Shelter. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0024] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing 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] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0027] As attached Figure 1 As shown, this embodiment discloses a reconnaissance arm device based on environmental perception, including a base 1, a support rod assembly 2, and an environmental perception device 3. The support rod assembly 2 has a first end 21 and a second end 22. The first end 21 is mounted on the base 1. The support rod assembly 2 is rotatable relative to the base 1, and the position of the second end 22 relative to the first end 21 can be adjusted by changing the shape of the support rod assembly. The environmental perception device 3 is connected to the second end 22.

[0028] Specifically, in addition to the integrated reconnaissance arm, the reconnaissance robot's back also integrates a comprehensive control box, providing computing power and power support for reconnaissance. When this reconnaissance arm device is adapted to a quadruped robot for use in special reconnaissance scenarios such as reconnaissance in grass, bushes, behind windows, or behind passageways, the base 1 is first fixedly installed on the back of the quadruped robot, providing a stable mounting foundation for the entire device. During reconnaissance operations, the first end 21 of the support rod assembly 2 remains firmly connected to the base 1. The distance between the second end 22 and the base 1 is adjusted by changing the shape of the support rod assembly 2, such as extending or bending the rod. For example, in a grass / bush scenario, the rod can extend upwards so that the second end 22 moves away from the base 1 and extends above the vegetation; in a scene behind a window, as shown in the attached image... Figure 4 As shown, the rod can extend forward so that the second end 22 protrudes from the windowsill to inspect the window 400. (See attached diagram.) Figure 5 As shown, the support rod assembly 2 can rotate relative to the base 1, flexibly switching the horizontal reconnaissance direction of the environmental sensing device 3, such as turning towards the outside of a wall or the front of a passageway. The environmental sensing device 3 is connected to the second end 22 via the gimbal 5, which can drive the device to achieve 360° horizontal rotation and pitch adjustment, further expanding the reconnaissance angle. This achieves non-exposed reconnaissance, relying on the high mobility of the quadruped robot to adapt to complex terrains such as ruins and bushes, and covering a larger reconnaissance range through the adjustment of the support rod's shape, rotation, and the gimbal's angle.

[0029] In this embodiment, the environmental sensing device 3 is connected to the second terminal 22 via a pan-tilt unit 5. (See attached diagram) Figure 5As shown, the gimbal 5 may include a base 51 and a stabilizer 52. The base 51 of the gimbal 5 is connected to the second end 22 of the support rod assembly 2, and the environmental sensing device 3 is mounted on the stabilizer 52 of the gimbal. Specifically, the base 51 of the gimbal 5 is fixed to the second end 22 of the support rod assembly 2 and adjusts its position synchronously with the movement of the support rod. The stabilizer 52 drives the environmental sensing device 3 to move independently through a built-in drive mechanism such as a three-axis motor. After the support rod drives the device out of the bushes, the stabilizer 52 can drive the device to rotate 360° horizontally to achieve reconnaissance without blind spots, and can also drive the device to rotate in pitch to detect aerial targets. Even if the support rod sways slightly due to the robot's bumps in complex terrain, the stabilizer 52 can adjust its angle in real time to counteract the swaying and ensure the stability of the image captured by the device. While adjusting its spatial position with the support rod, the environmental sensing device 3 has independent attitude adjustment and anti-shake capabilities, solving the problems of blurred reconnaissance images and limited reconnaissance angles caused by the shaking of the carrier in traditional devices.

[0030] In this embodiment, a first drive module 11 is installed on the base 1. The output shaft of the first drive module 11 is connected to the first end 21 and can drive the support rod assembly to rotate relative to the base 1.

[0031] Specifically, the output shaft of the first drive module 11 drives the first end 21 of the support rod 23 to rotate around the base 1. The relative angles of the multiple relatively rotatable rod components can be changed by the drive components at the joints, allowing the support rod 23 to exhibit different shapes such as extension and bending. In a passageway reconnaissance scenario, the first drive module can drive the entire rod to rotate forward, while the multiple rod components extend, allowing the environmental sensing device 3 to extend beyond the passageway cover 500. In a bush scenario, the rod can be driven to rotate upward and extend, allowing the device to extend above the bushes. This structural change allows for flexible adjustment of the spatial position of the environmental sensing device 3, breaking the limitation of traditional reconnaissance equipment requiring the movement of the main body to adjust the reconnaissance angle.

[0032] In another embodiment, the support rod 23 can also be composed of multiple interlocking rod components. Telescopic motors can be configured between each rod component to drive the extension and retraction of the support rod. Furthermore, through the cooperation of the support rod and the first drive module, the spatial position of the environmental sensing device can be flexibly adjusted by changing the length of the support rod and its angle relative to the base, thereby adapting to various reconnaissance operation scenarios.

[0033] In this embodiment, as shown in the appendix Figure 2As shown, the support rod assembly 2 includes a support rod body 23, which is composed of multiple relatively rotatable rod components connected together. The support rod body 23 includes a first rod component 231, a second rod component 232, and a second drive module 233. One end of the first rod component 231 is connected to the output shaft of the first drive module 11, and the other end is connected to one end of the second rod component 232 through the second drive module 233. The second drive module 233 can drive the second rod component 232 to rotate relative to the first rod component 231. The other end of the second rod component 232 is connected to the environmental sensing device 3 through the gimbal 5. Specifically, both joints of the reconnaissance arm adopt drive modules. The joint-drive module, i.e., the first drive module, is installed on the reconnaissance arm mounting base, and the output shaft end of the drive module is the joint-rotor. The first rod component serves as the upper arm of the reconnaissance arm, and the second rod component serves as the lower arm of the reconnaissance arm. The upper arm and lower arm of the reconnaissance arm can be made of carbon fiber tubes, wherein the lower arm is one carbon fiber tube, and the upper arm is two carbon fiber tubes connected in parallel. The carbon fiber tubes are hollow, providing sufficient rigidity and strength while also being lightweight and allowing for internal wiring. The carbon fiber tubes of the upper arm are fixed to the first joint pivot using clamping blocks, and the other end of the upper arm is similarly fixed to the second joint pivot using clamping blocks. At the second drive module, which serves as the second joint pivot, flexible protective pads are attached to the bottom surfaces of the second joint pivot and clamping blocks. When the reconnaissance arm is retracted, these pads cooperate with the crossbars of the joint protection frame to provide support and protection. At the end of the forearm, a reconnaissance camera base is fixedly mounted with screws, securing the reconnaissance camera.

[0034] In this embodiment, the first drive module 11 drives the first rod member 231 to rotate around the base 1, and the second drive module 233 synchronously drives the second rod member 232 to rotate relative to the first rod member 231. (See attached diagram) Figure 4 As shown, in the reconnaissance scenario behind the windowsill, the first rod component 231 rotates upward to near the height of the windowsill under the drive of the first drive module 11, while the second drive module 233 drives the second rod component 232 to rotate forward, allowing the environmental sensing device 3 to extend through the reconnaissance window 400 of the windowsill. During storage, the second drive module drives the second rod component 232 to bend and approach the first rod component 231, while the first drive module drives the first rod component 231 to rotate towards the base 1, ultimately stacking the two rods. By controlling the movement of the two rod components separately through dual drive modules, precise position adjustment of the environmental sensing device 3 in two-dimensional space is achieved. This allows the device to extend beyond the cover 500 for reconnaissance while also enabling flexible folding and storage, avoiding space occupation during transportation or movement.

[0035] In this embodiment, the support rod can also adopt a multi-section nested telescopic structure, with the axial extension and retraction of the rod controlled by a drive mechanism. Its first end is connected to the base, and the second end is equipped with an environmental sensing device via a gimbal. This gimbal can be a three-axis gimbal camera with three degrees of rotational freedom, capable of 360° horizontal rotation. During operation, the extended rod can send the sensing device to distant locations or over obstacles, while the retracted rod is suitable for detection in confined spaces. Combined with the rotation of the telescopic structure relative to the base and the adjustment of the gimbal, all-around reconnaissance can be achieved. When not in operation, the rod retracts, reducing space occupation and avoiding collisions.

[0036] In this embodiment, the environmental sensing device 3 includes, but is not limited to, a visible light wide-angle camera, a telephoto zoom camera, an infrared thermal imaging camera, or a laser ranging device. Specifically, by combining the reconnaissance camera with a gimbal, it can rotate 360° horizontally, providing a 360° horizontal reconnaissance range without blind spots, while also possessing a certain pitch rotation capability, enabling it to detect aerial targets. The environmental sensing device can be multi-optical, including visible light wide-angle cameras, telephoto zoom cameras, infrared thermal imaging cameras, and laser ranging modules, and can be configured and upgraded according to actual needs. Different types of environmental sensing devices 3 can be selected and adapted according to the actual reconnaissance scenario requirements. In open daytime scenarios, the visible light wide-angle camera is activated to achieve large-scale environmental observation; in nighttime or smoke-covered scenarios, the infrared thermal imaging camera is switched to capture target thermal signals; when target distance information is needed, the laser ranging device is activated to measure the distance between the device and the target. Switching devices does not require changes to the mechanical structure, only the reconnaissance camera needs to be changed, covering all-weather, multi-scenario reconnaissance requirements, solving the problem of insufficient reconnaissance capability of traditional single reconnaissance devices in complex environments.

[0037] In this embodiment, in the folded storage state of the support rod assembly 2, the second rod member 232 and the first rod member 231 are bent and placed on the base 1. A support member 2311 is installed on the end of the first rod member 231 near the first drive module 11. The support member has a U-shaped groove 2312. In the folded storage state, the rod of the second rod member 232 is stored in the U-shaped groove. The groove of the U-shaped groove can restrict the lateral movement of the rod of the second rod member 232. Specifically, when the reconnaissance arm enters the storage state, the second drive module 233 drives the second rod member 232 to bend towards the first rod member 231, and the first drive module 11 drives the first rod member 231 to rotate towards the base 1. Finally, the two rods are stacked on top of each other and close to the base 1. At this time, the rod of the second rod member 232 is embedded in the U-shaped groove 2312 of the support member 2311, and the grooves on both sides of the groove will block the rod from the left and right directions. During robot transport or rapid movement, the second link component 232 will not shift laterally due to bumps, preventing damage from collisions with other parts. Simultaneously, the stacked configuration significantly reduces the space occupied by the reconnaissance arm and prevents the link from snagging on vegetation or rocks during movement. Furthermore, a flexible protective pad can be attached to the U-shaped groove opening. When the reconnaissance arm is in a retracted position, the first link component is positioned within the U-shaped groove, providing support and limiting lateral sway. The protective pad can be made of flexible materials such as foam or silicone rubber, possessing the ability to buffer and absorb vibration and impact.

[0038] In this embodiment, as shown in the appendix Figure 3 As shown, the environmental perception-based reconnaissance arm device also includes an upper protective frame 4. The upper protective frame 4 includes a mounting base plate 41 and a protective frame 42 fixedly connected to the mounting base plate 41. The base 1 is connected to the upper part of the mounting base plate 41. The protective frame 42 includes a first protective frame assembly 421 and a second protective frame assembly 422 respectively arranged at the front and rear parts of the mounting base plate. The first protective frame assembly 421 forms a first protective compartment 423, and the second protective frame assembly 422 forms a second protective compartment 424. When the support rod assembly 2 is in a folded storage state, the second drive module 233 is stored in the first protective compartment, and the environmental perception device 3 is stored in the second protective compartment. Specifically, the joint protective frame and the camera protective frame are mounted on the base plate. The joint protective frame and the camera protective frame are made of hollow steel pipe bent and welded, or other high-strength metal materials. The steel pipe structure of the protective frame on the reconnaissance robot ensures that the reconnaissance arm will not shake during transportation and rapid movement.

[0039] In this embodiment, the mounting base 41 provides a stable mounting foundation for the base 1 and the protective frame 42, and can be directly fixed to the back of the quadruped robot, ensuring a firm connection between the reconnaissance arm and the robot body. When the reconnaissance arm is folded and stored, the second drive module 233 is stacked into the first protective compartment 423 along with the first and second rod components, and the environmental sensing device 3 is stored into the second protective compartment 424 along with the second rod component. The frame structure of the protective frame 42 surrounds the first protective compartment 423 and the second protective compartment 424 from all sides. In the event of an accidental fall or external impact to the robot, the protective frame 42 can directly block external forces from contacting the second drive module 233 and the environmental sensing device 3, avoiding problems such as drive module deformation and camera lens damage; at the same time, it can also store key components in separate sections to prevent collisions between components.

[0040] In this embodiment, the first protective frame assembly 421 includes a first frame group 4211 and a support frame 4212 installed in the first frame group. The first frame group 4211 surrounds to form a first protective compartment. The upper part of the first protective compartment has a first opening for the second drive module 233 to enter and exit. The upper side of the support frame 4212 has a support portion 4213. In the folded storage form, the support portion 4213 abuts against the lower side of the second drive module 233 or the lower side of the end of the first rod member 231 away from the first drive module 11.

[0041] Specifically, when the reconnaissance arm switches from the reconnaissance state to the retracted state, the second drive module 233 can smoothly enter the protective compartment through the first opening at the top of the first protective compartment. After being retracted, the support portion 4213 of the support frame 4212 will closely abut against the lower side of the second drive module 233 or the lower side of the end of the first rod member 231 from below, providing downward support for the rod and the drive module; the first frame assembly 4211 surrounds the second drive module 233 from the front, back, left, and right directions. The support portion 4213 shares the weight of the rod and the drive module, avoiding deformation of the rod joints due to excessive force during long-term retraction; on the other hand, the protection of the first frame assembly 4211 on all sides prevents external objects from impacting the second drive module 233 from the side, while the design of the first opening does not affect the normal entry and exit of the drive module when the reconnaissance arm is extended.

[0042] In this embodiment, the lower part of the first frame group 4211 is lower than the support part 4213; the upper part of the first frame group is higher than the end of the first rod member away from the first drive module 11, the end of the second rod member 232 away from the gimbal, and the highest point of the second drive module 233 in the folded storage form; the front part of the first frame group 4211 is before the end of the first rod member 231 away from the first drive module 11, the end of the second rod member 232 away from the gimbal, and the foremost point of the second drive module 233 in the folded storage form. Specifically, in the storage state, the lower part of the first frame group 4211 is lower than the support part, which allows the support frame 4212 to be more stably installed on the mounting base plate 41, preventing the support frame from shifting when the support part is under force; the upper part is higher than the end of the rod and the highest point of the drive module, which can prevent objects above from hitting the rod or drive module; the front part extends beyond the end of the rod and the foremost point of the drive module, which allows the first frame group 4211 to contact the ground first when the robot falls forward, preventing the end of the rod and the drive module from directly hitting the ground. The low-bottom, high-top, and forward-extending dimensions provide comprehensive protection for key components when stored, enhancing the reconnaissance arm's impact resistance during transportation and movement.

[0043] Another embodiment also discloses a quadruped robot, as shown in the attached figure. Figure 6 As shown, it includes: a body 100, leg components 200 mounted on the body, and an environmentally aware reconnaissance arm device 300 as described above, the reconnaissance arm device 300 being connected to the upper part of the body 100.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

[0045] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A reconnaissance arm device based on environmental perception, characterized in that, include: Base A support rod assembly has a first end and a second end, the first end being mounted on a base, the support rod assembly being rotatable relative to the base, and the relative position of the second end and the first end being adjustable by changing the shape of the support rod assembly; An environmental sensing device is connected to the second end.

2. The reconnaissance arm device based on environmental perception according to claim 1, characterized in that: The environmental sensing device is connected to the second end via a pan-tilt unit.

3. The reconnaissance arm device based on environmental perception according to claim 1, characterized in that: A first drive module is installed on the base. The output shaft of the first drive module is connected to the first end and can drive the support rod assembly to rotate relative to the base.

4. The reconnaissance arm device based on environmental perception according to claim 3, characterized in that: The support rod assembly includes a support rod body, which is composed of multiple relatively rotatable rod components connected to each other; The support rod body includes a first rod component, a second rod component, and a second drive module; One end of the first rod member is connected to the output shaft of the first drive module, and the other end is connected to one end of the second rod member through the second drive module; the second drive module can drive the second rod member to rotate relative to the first rod member. The other end of the second rod component is connected to the environmental sensing device.

5. The reconnaissance arm device based on environmental perception according to any one of claims 1-4, characterized in that: The environmental sensing devices include, but are not limited to, visible light wide-angle cameras, telephoto zoom cameras, infrared thermal imaging cameras, or laser ranging devices.

6. The reconnaissance arm device based on environmental perception according to claim 4, characterized in that: In the folded storage configuration of the support rod assembly, the second rod member and the first rod member are bent and folded onto the base; A support member is installed at the end of the first rod member near the first drive module. The support member has a U-shaped groove. In the folded storage form, the rod of the second rod member is stored in the U-shaped groove. The groove of the U-shaped groove can restrict the lateral movement of the rod of the second rod member.

7. The reconnaissance arm device based on environmental perception according to claim 4, characterized in that: It also includes an upper protective frame, which includes a mounting base plate and a protective frame fixedly connected to the mounting base plate, and the base plate is connected to the upper part of the mounting base plate; The protective frame includes a first protective frame assembly and a second protective frame assembly respectively arranged at the front and rear of the mounting base plate; The first protective frame assembly forms a first protective compartment, and the second protective frame assembly forms a second protective compartment. When the support rod assembly is in a folded storage state, the second drive module is stored in the first protective compartment, and the environmental sensing device is stored in the second protective compartment.

8. The reconnaissance arm device based on environmental perception according to claim 7, characterized in that: The first protective frame assembly includes a first frame group and a support frame installed within the first frame group. The first frame group surrounds to form a first protective chamber, and the upper part of the first protective chamber has a first opening for the second drive module to enter and exit. The upper side of the support frame has a support portion, which abuts against the lower side of the second drive module or the lower side of the end of the first rod member away from the first drive module in the folded storage form.

9. The reconnaissance arm device based on environmental perception according to claim 8, characterized in that: The lower part of the first frame assembly is lower than the supporting part; The upper part of the first frame group is higher than the end of the first rod member away from the first drive module in the folded storage form, the end of the second rod member away from the gimbal, and the highest point of the second drive module. The front part of the first frame group is in front of the end of the first rod member away from the first drive module in the folded storage form, the end of the second rod member away from the gimbal, and the foremost part of the second drive module.

10. A quadruped robot, characterized in that, include: The aircraft body, leg components mounted on the aircraft body, and an environmentally aware reconnaissance arm device as described in any one of claims 1-9, the reconnaissance arm device being connected to the upper part of the aircraft body.

Images