Collision-prevention robot based on radar technology

Abstract

In the technical field of inspection robots, a collision prevention robot based on radar technology is provided. [Solution] A base 6 is fixedly connected to a frame 1, a vertical motor 7 is fixedly connected to the base, the output shaft of the vertical motor is connected to a chassis 8, a support rod 9 is fixedly connected to the chassis, a vertical chute 10 is attached to the support rod, a horizontal rod 11 is slidably fitted to the vertical chute, the horizontal rod is fixedly connected to the horizontal chute, a first radar sensor 13 is slidably fitted to the horizontal chute, a horizontal motor is fixedly connected to the side wall of the chassis, a holder 15 is connected to the output shaft of the horizontal motor, an image collector 16 is fixedly connected to the holder, and a second radar sensor 17 is fixedly connected to the underside of the frame. Dual radars are used to expand the signal detection range, the radar arrangement structure is improved, and a direction adjustment mechanism is added. An adjustable multi-stage frame is also designed to facilitate crawler tension adjustment.

Description

[Technical Field]

[0001] The present invention relates to the technical field of inspection robots, and more particularly to collision-prevention robots based on radar technology. [Background technology]

[0002] In industrial applications, inspection robots are widely used in equipment inspection and environmental monitoring. For example, in the power industry, inspection robots can remotely monitor substations and power lines, quickly detecting and eliminating potential breakdowns. Similarly, in the petrochemical industry, inspection robots can inspect equipment and monitor hazardous chemicals in hazardous environments, reducing the safety risks of manual inspections. Furthermore, intelligent inspection robots are highly tolerant of high and low temperatures and corrosive environments, further expanding their application range.

[0003] In commercial environments such as department stores, office buildings, and residential areas, safety patrol robots play an important security role. They can operate along predefined patrol lines, providing 24 / 7 security patrols. By linking with a surveillance system, patrol robots can collect real-time video and audio information, intelligently analyze and identify abnormal behavior, and promptly notify security personnel to handle emergencies. Patrol robots can also be integrated with firefighting systems to detect harmful gases in the air and changes in temperature and humidity, providing timely alerts for emergencies such as fires.

[0004] In the field of public security, patrol robots are gradually becoming an important guarantee for public safety. For example, in public places with high traffic volumes, such as train stations and airports, patrol robots can not only perform regular patrol tasks, but also, when combined with facial recognition systems, assist police in identity verification and target tracking. Especially at large-scale events, patrol robots can perform wide-area, real-time monitoring, thereby improving the efficiency and effectiveness of public security management.

[0005] Collision prevention is one of the most basic and important capabilities of a patrol robot. Using sensors and intelligent algorithms, patrol robots can sense changes in the surrounding environment in real time and avoid obstacles, both moving and stationary, in a timely manner. Laser radar, ultrasonic sensors, and infrared sensors enable robots to operate in complex indoor and outdoor environments, providing the foundation for real-time path planning and obstacle avoidance. While conventional radar-based collision prevention robots are relatively mature, their radar configurations are often single-panel and can only detect targets in one direction, resulting in large detection blind spots. Furthermore, typical patrol robots have a fixed body structure, lack adjustment capabilities, and are therefore limited in their capabilities. Summary of the Invention [Means for solving the problem]

[0006] The first technical problem that this invention aims to solve is how to design a patrol robot that can detect multiple radars and has variable detection directions.

[0007] The second technical problem that this invention aims to solve is how to design a crawler wheel type inspection robot with an adjustable body structure.

[0008] In order to achieve the objectives of the present invention, the present invention is realized by the following technical solutions: A collision prevention robot based on radar technology, comprising a frame, crawler wheels, crawlers, a motor, a reducer, a base, a vertical shaft motor, a chassis, a support rod, a vertical chute, a horizontal bar, a horizontal chute, a first radar sensor, a horizontal shaft motor, a holder, an image collector, and a second radar sensor, wherein a plurality of crawler wheels are rotatably connected to side ends of the frame, crawlers are wound around the plurality of crawler wheels, motors and reducers are fixedly connected to the frame, and the motors are power-transmittingly connected to the crawler wheels via the reducers; A base is fixedly connected to the frame, a vertical motor is fixedly connected to the base, a chassis is connected to the output shaft of the vertical motor, a support rod is fixedly connected to the chassis, a vertical chute is provided on the support rod, a horizontal rod and the vertical chute are slidably fitted together, the horizontal chute is fixedly connected to the horizontal rod, a first radar sensor and the horizontal chute are slidably fitted together, a horizontal motor is fixedly connected to the side wall of the chassis, a holder is connected to the output shaft of the horizontal motor, an image collector is fixedly connected to the holder, and a second radar sensor is fixedly connected to the underside of the frame.

[0009] Preferably, the image collector is a camera.

[0010] Preferably, the holder is provided with a pan head, and the image collector is attached to the pan head.

[0011] Preferably, two motors and two reducers are provided, one motor being connected to one crawler wheel on the crawler on the left side of the frame via one reducer, and the other motor being connected to one crawler wheel on the crawler on the right side of the frame via the other reducer.

[0012] Preferably, the frame includes a lower frame, an upper frame, a ceiling frame, and an adjustment nut, wherein the lower frame is movably connected to the upper frame, an adjustment nut is provided at the movable connection point, and the ceiling frame is fixedly connected to the upper frame.

[0013] Preferably, both sliding fittings are locked together by nuts.

[0014] Preferably, the crawler wheel includes a wheel body, a blocking plate, a connecting rod, and a connecting shaft, wherein blocking plates are provided on both sides of the wheel body, and the connecting shaft and a plurality of connecting rods are fixedly connected between the blocking plates on both sides.

[0015] In the above technical solution, the frame is the main support structure of the present invention, and the crawler wheels are located on both sides of the frame, which, together with the crawlers, realize the traveling function of the present invention. The motor provides power for the caterpillar system. The reducer ensures large output torque. The base is used to support the superstructure. The vertical motor can rotate the chassis along the vertical axis, thereby adjusting the left and right collection directions of the first radar sensor and image collector. The chassis is used to support the support rod, and the support rod is used to support the cross rod. The cross rod slides into the vertical slide on the support rod, allowing the first radar sensor to be adjusted up and down, and the slide fit is locked with bolts, nuts, and other parts. The cross rod is used to support the first radar sensor, and the first radar sensor slides into the horizontal slide on the cross rod, allowing the first radar sensor to be adjusted left and right, and the slide fit is locked with bolts, nuts, and other parts. The horizontal axis motor is used to rotate the bracket along the horizontal rotation axis so as to adjust the pitch angle of the image collector, a support for the image collector, the image collector is a normal camera or a camera, and the first radar sensor and the second radar sensor are used to collect the upper front signal and the lower front signal of the present invention respectively.

[0016] In a preferred embodiment, the frame is designed as a multi-tiered structure, in which the ceiling frame, upper frame, and lower frame are stacked in three tiers, in which the ceiling frame and the upper frame are fixedly connected and the ceiling frame supports the base, and an adjustment nut is provided between the upper frame and the lower frame to adjust the distance between the upper frame and the lower frame, thereby adjusting the degree of tension of the crawler.

[0017] In another preferred technical solution, the crawler wheel is designed as an assembled structure of a wheel body and a barrier plate, and the two barrier plates are connected by a connecting rod to ensure the structural fastening, and the connecting shaft is used for the rotational connection with the frame, so that this hollow crawler wheel can moderately reduce its own weight.

[0018] This invention provides a collision-prevention robot based on radar technology. This technology uses dual radars to extend the signal detection range, improves the radar layout, and adds a direction adjustment mechanism. This invention also features an adjustable multi-stage frame design to facilitate crawler tension adjustment. This invention has a reasonable structure and good operational performance. [Brief explanation of the drawings]

[0019] [Figure 1] This is the first overall view of the present invention. [Figure 2] This is the second overall view of the present invention. [Figure 3] This is the third overall view of the present invention. [Figure 4] FIG. 1 is a partial view of the present invention. [Figure 5] FIG. 2 is a partial view of the present invention. [Figure 6] This is the third partial view of the present invention. [Figure 7] This is the fourth partial view of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] Specific embodiments of the present invention will be described in detail below. In order to avoid excessive details, well-known structures or functions will not be described in detail in the following embodiments. Approximate language used in the following embodiments can be used to quantitatively express that a certain amount of variation is allowed without changing the basic function. In addition to definitions, technical and scientific terms used in the following examples have the same meaning as commonly understood by those skilled in the art to which the present invention pertains.

[0021] Example 1 This is a collision prevention robot based on radar technology, and as shown in Figures 1 to 7, it includes a frame 1, crawler wheels 2, crawlers 3, motors 4, reducers 5, a base 6, a vertical shaft motor 7, a chassis 8, a support rod 9, a vertical chute 10, a horizontal bar 11, a horizontal chute 12, a first radar sensor 13, a horizontal shaft motor 14, a holder 15, an image collector 16, and a second radar sensor 17. A plurality of crawler wheels 2 are rotatably connected to the side ends of the frame 1, and crawlers 3 are wound around the plurality of crawler wheels 2. Motors 4 and reducers 5 are fixedly connected to the frame 1, and the motors 4 are transmitted to the crawler wheels 2 via the reducers 5. A base 6 is fixedly connected to the frame 1, a vertical shaft motor 7 is fixedly connected to the base 6, a chassis 8 is connected to the output shaft of the vertical shaft motor 7, a support rod 9 is fixedly connected to the chassis 8, a vertical chute 10 is provided on the support rod 9, a horizontal rod 11 and the vertical chute 10 are slidably fitted together, a horizontal chute 12 is fixedly connected to the horizontal rod 11, a first radar sensor 13 and the horizontal chute 12 are slidably fitted together, a horizontal shaft motor 14 is fixedly connected to the side wall of the chassis 8, a holder 15 is connected to the output shaft of the horizontal shaft motor 14, an image collector 16 is fixedly connected to the holder 15, and a second radar sensor 17 is fixedly connected to the underside of the frame 1.

[0022] Here, the image collector 16 is a camera. A pan head is provided on the holder 15, and the image collector 16 is attached to the pan head. Two motors 4 and two reducers 5 are provided, and one motor 4 is connected to one crawler wheel 2 on the left crawler of the frame 1 via one reducer 5, and the other motor 4 is connected to one crawler wheel 2 on the right crawler 3 of the frame 1 via the other reducer 5. The frame 1 includes a lower frame 18, an upper frame 19, a ceiling frame 20, and an adjusting nut 21, where the lower frame 18 is movably connected to the upper frame 19, and an adjusting nut 21 is provided at the movable connection point, and the ceiling frame 20 is fixedly connected to the upper frame 19. The two sliding fitting parts are all locked and fixed with nuts. The crawler wheel 2 includes a wheel body 22, a blocking plate 23, a connecting rod 24, and a connecting shaft 25, where the blocking plates 23 are provided on both sides of the wheel body 22, and the connecting shaft 25 and a plurality of connecting rods 24 are fixedly connected between the blocking plates 23 on both sides.

[0023] In the above technical proposal, the frame 1 is designed as a multi-tiered assembled structure, in which the ceiling frame 20, upper frame 19, and lower frame 18 are stacked in three tiers, of which the ceiling frame 20 and the upper frame 19 are fixedly connected and support the base 6, and an adjustment nut 21 is installed between the upper frame 19 and the lower frame 18 to adjust the distance between the upper frame 19 and the lower frame 18, thereby adjusting the tension of the crawler 3. At the same time, the crawler wheel 2 is designed as an assembled structure of a wheel body 22 and a blocking plate 23, and the two blocking plates 23 are connected by a connecting rod 24 to ensure the structural fastening, and the connecting shaft 25 is used for rotational connection with the frame 1. Such a hollow crawler wheel 2 can moderately reduce its own weight.

[0024] Although the embodiments of the present invention have been described in detail above, the above content is merely a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent replacements and improvements made within the scope of the present invention shall be included in the protection scope of the present invention. [Explanation of symbols]

[0025] 1. Frame; 2. Crawler wheel; 3. Crawler; 4. Motor; 5. Reducer; 6. Base; 7. Vertical shaft motor; 8. Chassis; 9. Support rod; 10. Vertical chute; 11. Horizontal bar; 12. Horizontal chute; 13. First radar sensor; 14. Horizontal shaft motor; 15. Holder; 16. Image collector; 17. Second radar sensor; 18. Lower frame; 18. Upper frame; 20. Ceiling frame; 21. Adjustment nut; 22. Wheel body; 23. Blocking plate; 24. Connecting rod; 25. Connecting shaft.

Claims

1. The vehicle includes a frame (1), crawler wheels (2), crawlers (3), motors (4), reducers (5), a base (6), a vertical shaft motor (7), a chassis (8), a support rod (9), a vertical chute (10), a horizontal bar (11), a horizontal chute (12), a first radar sensor (13), a horizontal shaft motor (14), a holder (15), an image collector (16), and a second radar sensor (17), wherein a plurality of crawler wheels (2) are rotatably connected to the side ends of the frame (1), crawlers (3) are wound around the plurality of crawler wheels (2), a motor (4) and a reducer (5) are fixedly connected to the frame (1), the motor (4) is power-transmittingly connected to the crawler wheels (2) via the reducer (5), and a base (6) is fixedly connected to the frame (1), A collision prevention robot based on radar technology, characterized in that a vertical shaft motor (7) is fixedly connected to a base (6), a chassis (8) is connected to the output shaft of the vertical shaft motor (7), a support rod (9) is fixedly connected to the chassis (8), a vertical chute (10) is provided on the support rod (9), a horizontal rod (11) is slidably fitted to the vertical chute (10), a horizontal chute (12) is fixedly connected to the horizontal rod (11), a first radar sensor (13) is slidably fitted to the horizontal chute (12), a horizontal shaft motor (14) is fixedly connected to a side wall of the chassis (8), a holder (15) is connected to the output shaft of the horizontal shaft motor (14), an image collector (16) is fixedly connected to the holder (15), and a second radar sensor (17) is fixedly connected to the underside of the frame (1).

2. A collision-prevention robot based on radar technology according to claim 1, characterized in that the image collector (16) is a camera.

3. 2. A collision-prevention robot based on radar technology according to claim 1, characterized in that the holder (15) is provided with a pan head and the image collector (16) is attached to the pan head.

4. 2. The collision prevention robot based on radar technology according to claim 1, wherein two motors (4) and two reducers (5) are provided, one motor (4) being connected to one crawler wheel (2) on the left crawler (3) of the frame (1) via one reducer (5), and the other motor (4) being connected to one crawler wheel (2) on the right crawler (3) of the frame (1) via the other reducer (5).

5. 2. The collision prevention robot based on radar technology according to claim 1, wherein the frame (1) comprises a lower frame (18), an upper frame (19), a ceiling frame (20), and an adjusting nut (21), wherein the lower frame (18) is movably connected to the upper frame (19), an adjusting nut (21) is provided at the movable connection point, and the ceiling frame (20) is fixedly connected to the upper frame (19).

6. 2. The collision prevention robot based on radar technology according to claim 1, wherein the two sliding fitting portions are all locked and fixed by nuts.

7. 2. A collision prevention robot based on radar technology according to claim 1, wherein the crawler wheel (2) includes a wheel body (22), a blocking plate (23), a connecting rod (24), and a connecting shaft (25), wherein blocking plates (23) are provided on both sides of the wheel body (22), and the connecting shaft (25) and a plurality of connecting rods (24) are fixedly connected between the blocking plates (23) on both sides.

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