The invention discloses a Mecanum wheel omni-directional mobile fire-fighting robot. The robot comprises fire-fighting equipment, an omni-directional mobile chassis, a camera vision device, a main control box and a remote monitoring device. The omni-directional mobile chassis comprises a frame and a plurality of Mecanum wheels arranged below the frame, each Mecanum wheel is a driving wheel, a plurality of distance measuring sensors are arranged on the periphery of the frame, and each Mecanum wheel is fixedly connected with the frame. A fire-fighting tank is arranged behind a fixed support in a communicating mode. After the structure is adopted, the movement of a movable platform in any direction in the plane can be realized by utilizing the mutual matching of the rotating speed and the rotating direction of the wheels, so that the movement flexibility of the whole fire-fighting device is obviously improved. In addition, full contact between the Mecanum wheels and the ground can be guaranteed, and the running stability and the control precision of the robot are improved. In addition, the robot is guided by the camera vision device to move and carry out fire-fighting tasks in dangerous areas, the whole process is autonomously completed by the robot, and the intelligent degree is high.
本发明公开了一种麦克纳姆轮全向移动消防机器人,包括消防设备、全向移动底盘、摄像视觉装置、主控盒和远程监控装置。全向移动底盘包括车架和设置在车架下方的若干个麦克纳姆轮,每个麦克纳姆轮均为驱动轮,车架的四周设置有若干个测距传感器,每个麦克纳姆轮都与车架固定连接。固定支架后方有相连通的消防罐,采用上述结构后,利用各轮之间转速与转向的相互配合就可实现移动平台在平面内任意方向的运动,使得整个消防装置的运动灵活性得到明显地提高。而且还能保证麦克纳姆轮和地面的充分接触,提升机器人的运行平稳性和控制精度。另外,通过摄像视觉装置引导机器人进行移动和危险地区的消防任务,全程由机器人自主完成,智能化程度较高。
Mecanum wheel omni-directional mobile fire-fighting robot
一种麦克纳姆轮全向移动消防机器人
2021-06-04
Patent
Elektronische Ressource
Chinesisch
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