The invention discloses an obstacle crossing structure of a self-walking fire extinguishing robot, which comprises a crawler device, an attitude sensor, a millimeter wave radar and a laser distance measuring sensor, the crawler device is a double-crawler self-motor type crawler device, and the crawler device is connected with the bottom of the robot; the attitude sensor is arranged at the center of a middle transverse frame of the crawler device, the millimeter wave radar is arranged at the front end of the robot, and the laser distance measuring sensor and an infrared monitoring module at the top of the robot are integrated. The structure adopts the millimeter-wave radar set at the front end of the robot and the laser radar at the top, when an obstacle exists in front during remote control but an operator does not find the obstacle, a PLC can be automatically connected to control the crawler belt to avoid the obstacle, and the attitude sensor can trigger a bulge which is not the obstacle but cannot be monitored by the millimeter-wave radar and the laser radar at the top through the attitude sensor after the robot is jacked up by the bulge to a certain threshold value when the crawler belt passes; and the moving can be stopped preferentially and slowly retreated.
本发明公开了一种自行走式灭火机器人的越障结构,包括履带装置、姿态传感器、毫米波雷达和激光测距传感器,所述的履带装置为双履带自带电机式的履带装置,履带装置与机器人的底部相连,所述的姿态传感器设在履带装置中间横架的中心,所述的毫米波雷达设在机器人前端,所述的激光测距传感器与机器人顶部的红外监视模块为一体,本发明通过设在机器人前端的毫米波雷达和顶部的激光雷达,在遥控时前方有障碍物但操作人员未发现时,PLC会自动接入控制履带进行避障,并通过姿态传感器将不是障碍物而毫米波雷达和顶部的激光雷达未能监测到的凸起,在履带经过时机器人被凸起顶起到一定阈值后姿态传感器会触发,会优先停止移动并缓慢后退。
Obstacle crossing structure of self-walking fire extinguishing robot
一种自行走式灭火机器人的越障结构
2022-02-08
Patent
Electronic Resource
Chinese
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