CN104483969B - The automatic patrol robot of road - Google Patents
The automatic patrol robot of road Download PDFInfo
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- CN104483969B CN104483969B CN201410731641.4A CN201410731641A CN104483969B CN 104483969 B CN104483969 B CN 104483969B CN 201410731641 A CN201410731641 A CN 201410731641A CN 104483969 B CN104483969 B CN 104483969B
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Abstract
The invention discloses a kind of automatic patrol robot of road, including robot body, surface drive arranged on robot body bottom, control interactive device on robot body, path safety automation judgment means, function executor, positioning navigation device and energy storage power supply device, surface drive is connected on control interactive device, path safety automation judgment means, positioning navigation device, function executor and energy storage power supply device, surface drive, path safety automation judgment means, function executor, positioning navigation device, control interactive device is powered by energy storage power supply device.The present invention can be gone on patrol according to instruction set in advance or the instruction of background control center to any desired road or ground, and can be arrived dangerous place and be performed real time data and sample collection.
Description
Technical field
The present invention relates to a kind of intelligent patrol device, more particularly, to a kind of automatic patrol robot of road.
Background technology
Existing road patrol or ground patrol, two kinds of modes of generally use, one kind is to arrange related personnel to be held to scene
Row patrol, another kind is to install relevant monitoring device at the scene, and former mode needs a large amount of personnel to go to perform this task,
And can not ensure round-the-clock patrol, latter approach needs substantial amounts of monitoring device, it is necessary to largely put into.In addition, for
The place of monitoring device or installation inconvenience cannot be installed, be just difficult to be monitored by monitoring device.
The content of the invention
The object of the present invention is to provide a kind of automatic patrol robot of road.
What the present invention solved is that existing road patrol or ground patrol need a large amount of personnel and can not ensure round-the-clock patrol
The problem of patrolling, or needing large number of equipment to put into.
The technical proposal for solving the technical problem of the invention is：A kind of automatic patrol robot of road, including machine
Human body, the surface drive arranged on robot body bottom, control interactive device, path peace on robot body
Full-automatic judgment means, function executor, positioning navigation device and energy storage power supply device, control and are connected on interactive device
Surface drive, path safety automation judgment means, positioning navigation device, function executor and energy storage power supply device, ground
Driving device, path safety automation judgment means, function executor, positioning navigation device, control interactive device are supplied by energy storage
Can device power supply.
The beneficial effects of the invention are as follows：The present invention can be sent to control according to instruction set in advance or background control center
The instruction of interactive device, is gone on patrol to any desired road or ground automatically, and can be arrived dangerous place and be performed number in real time
According to and sample collection.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is structure schematic diagram of the present invention.
Fig. 3 is side structure schematic diagram of the present invention.
Fig. 4 is path safety automation judgment means internal structure schematic diagram.
Fig. 5 is sample collection case internal structure schematic diagram.
Fig. 6 is operation principle block diagram of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in the figure, the present invention includes robot body, the surface drive 1 arranged on robot body bottom, is arranged on
Control interactive device 5, path safety automation judgment means 6, function executor 4,3 and of positioning navigation device on robot body
Energy storage power supply device 2, controls and surface drive 1, path safety automation judgment means 6 is connected on interactive device 5, are determined
Position guider 3, function executor 4 and energy storage power supply device 2, surface drive 1, path safety automation judgment means 6, work(
Energy actuator 4, positioning navigation device 3, control interactive device 5 are powered by energy storage power supply device 2.
The surface drive 1 includes drive control module, DC brushless motor, Live roller, accident brake,
Drive control module is connected with DC brushless motor, accident brake, and DC brushless motor is connected with Live roller, emergency braking
Device is connected with DC brushless motor shaft, and drive control module receives the control instruction of control interactive device 7, and is controlled by instruction
Surface drive 1 processed acts or starts accident brake braking by DC brushless motor shaft locking.Accident brake is electricity
Magnetic brake.
Surface drive 1 drives process：After drive control module receives control signal, driving DC brushless motor turns
It is dynamic, rotated by driven by Brush-Less DC motor Live roller, so as to drive the automatic patrol robot of road to be filled by mechanical guide
8 are put to advance along the mechanical path 7 being manually laid with（Advance to 7 designated position of mechanical path of the setting of positioning navigation device 3）.Road
The automatic patrol robot in road, according to positional information set in advance, can also rely in the case of without mechanical guiding device 8
Positioning navigation device 3, control interactive device 5 drive surface drive 1 to be gone on patrol in road or ground.
The control interactive device 7 includes interactive controlling processing module, wireless transceiver, signal adapter, man-machine friendship
Mutual terminal;Interactive controlling processing module is connected with wireless transceiver, signal adapter, human-computer interaction terminal；Interactive controlling processing
Module receives and processing is from surface drive 1, path safety automation judgment means 6, function executor 4, location navigation dress
The 3, signal of energy storage power supply device 2 is put, the signal after processing is conveyed to signal adapter and changes into wireless signal, then by wirelessly receiving
Hair device is sent to background control center processing.The signal of background control center processing is sent to signal by wireless transceiver and changes
Device；Signal adapter is sent to interactive controlling processing module after received wireless signal is changed；Interactive controlling processing module pair
After signal is handled, surface drive 1, path safety automation judgment means 6, function executor 4, location navigation are sent to
Device 3, energy storage power supply device 2, so as to fulfill the action of the automatic patrol robot of the remote operation road.Human-computer interaction terminal is used
In the periphery personnel of the automatic patrol robot of the road call or video intercommunication online are carried out with robot or background control center.
The path safety automation judgment means 6 include housing, Path Recognition sensor and obstacle in housing
Thing identification sensor, housing 16 are installed on robot body.The Path Recognition sensor is two groups, every group of Path Recognition
Sensor includes two laser type photoelectric sensors, inside housings forward direction and backward directions respectively one group of installation；Forwards
To laser type photoelectric sensor 62, laser type photoelectric sensor 63 in housing left and right installation, the laser type photoelectric transfer of left part
63 angle Right deviation of sensor, 62 angle of laser type photoelectric sensor of right part is left-leaning, so that the two beam laser launched are handed in front
Fork 66；Similarly two laser type photoelectric sensors of backward directions left and right installation inside housings, the laser type photoelectricity of left part
64 angle Right deviation of sensor, 65 angle of laser type photoelectric sensor of right part is left-leaning, so that the two beam laser launched are in front
Intersect.The obstacle recognition sensor is ultrasonic sensor, shares two groups, and one is respectively installed in the front and rear of housing
Group, every group of obstacle recognition sensor include ultrasonic probe 61 8.Path safety automation judgment means 6 are to travel path
Situation carries out safety automation judgement and judgement information is sent to control interactive device 5.
The operation principle of laser type photoelectric sensor is：When the laser of transmitting is irradiated to the mechanical path 7 in front, occur
Reflection, such as without mechanical path 7, does not then reflect, and thus judging mechanical path 7, whether safety is intact.
The operation principle of obstacle recognition sensor：Ultrasonic echo positioning principle, its ultrasonic probe 61 is with most flood
120 degree of vertical 70 degree of range of radiation are equalled, searching target, when there is barrier, sends signal up and down.
The function executor 4 includes control process module, data memory, humidity sensor, temperature sensor, energy
Degree of opinion sensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp,
Sample collection case 14.Data memory, humidity sensor, temperature sensor, visibility are connected in control process module
Sensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp, sample
Vasculum 14；The sample collection case 14 includes babinet, the gas collecting storehouse 17 in babinet, solid material taking hand 16 and liquid
Body pick-up arm 15.Control process module, data memory, humidity sensor, temperature sensor, visibility sensor, thermal imaging
Instrument, mobile speed measurement instrument, video camera, ultrasonic sensor, sample collection case 14 are arranged in robot body, lamps for environmental illumination, bee
Device, warning lamp ring outside robot（Do not indicated on figure）.Function executor 6 by humidity sensor, temperature sensor,
Visibility sensor, thermal imaging system, mobile speed measurement instrument, video camera, ultrasonic sensor, sample collection case 14 patrol road automatically
The relevant information data for patrolling robot is acquired.The information data of collection, the position data of relevant information data
（Obtained by positioning navigation device 4）It is stored on data memory and is sent to control process module, control process module root
Relevant treatment is carried out according to the order of control interactive device 5.Data after processing are by controlling interactive device 5 to be sent to Background control
Center；The sending function that interactive device 5 is sent to background control center is such as controlled to break down, then the data after handling are stored in
On data storage.Deng being then forwarded to background control center after troubleshooting.
Control process module analyzes the data of collection compared with the data value set, abnormal if any data exception
Data-signal is through controlling interactive device 5 to be prompted to background control center；Interactive device 5 is controlled to signal to ground driving dress at the same time
1 is put, stops robot movement, and signals to function executor 4 at the same time, makes video camera alignment abnormal environment position, starts bee
Ring device and warning lamp carries out live acousto-optic hint, when light is too dark if also automatically turn on lamps for environmental illumination and carry out light filling；Meet ring
The uncomfortable pleasant place gone in border, background control center by controlling interactive device 5 to assign drive command to surface drive 1,
The automatic patrol robot of road is marched into designated position, starts 14 collection site sample of sample collection case, after the completion of collection under
Up to return command.
The positioning navigation device 3 includes signal management and control mainboard, GPS/GIS locators, signal management and control mainboard and GPS/
GIS locators connect；Signal management and control mainboard receives background control center by controlling the order that interactive device 5 is issued, and passes through
The position signal positioning current location that GPS/GIS locators provide, and compared with the target location of background control center setting, it is defeated
Go out control signal and give control interactive device 5, then surface drive 1 is signaled to by control interactive device 5, so that ground is driven
Dynamic device 1 is advanced by setting travel path.
The energy storage power supply device 2 include control mainboard, storage battery, charger, control mainboard respectively with storage battery, fill
Electric appliance connects, and the function of control mainboard is that accumulator electric-quantity height is detected automatically, and testing result is sent to control
Interactive device 5, to decide whether to charge.When not enough power supply, control mainboard, which signals to, controls interactive device 5, then by
5 order surface drive 1 of interactive device is controlled to pass through the location information Automatic-searching of positioning navigation device 3 to nearest charging
Stake is charged.
The back of the robot body is equipped with mechanical guiding device 8, which includes flute profile directive wheel
8th, directive wheel 9, directive wheel 10, directive wheel 11 8,13 1 groups swivel bearing 16, connecting shaft 12 8, installation of retaining frame, institute
The flute profile directive wheel 11 stated is installed on the swivel bearing of the connecting shaft 12, and connecting shaft 12 is installed in retaining frame 13, retaining frame 13
It is installed on robot body.Flute profile directive wheel, for one group, is divided into upper directive wheel group and lower guide wheel group, upper directive wheel with four
Group and lower guide wheel group are respectively arranged on robot body back the upper side and lower side.
The automatic patrol robot of the road is oriented in the case where walking along the mechanical path 7 being manually laid with by flute profile
Wheel is fastened with the mechanical path 7 being manually laid with, and is driven and advanced by surface drive 1.
The path safety automation judgment means 6, function executor 4, positioning navigation device 3, energy storage power supply device 2 are also
It is connected with the drive module of surface drive 1；When surface drive 1 does not receive the normal work of control interactive device 5
During signal or when controlling interactive device 5 to fail, drive module voluntarily starts work, directly receives and sentences from path safety automation
Disconnected device 6, function executor 4, positioning navigation device 3,2 signal of energy storage power supply device simultaneously handle and send dependent instruction, make it
Perform relevant action.At this moment surface drive 1 replaces the part control process function of control interactive device 5, plays pair
Control centre acts on, it is ensured that the automatic patrol robot of road is safe for operation.
Present invention additionally comprises also external background control center and charging pile.
Claims (9)
1. a kind of automatic patrol robot of road, including robot body, it is characterised in that it is further included arranged on robot body
The surface drive of bottom, control interactive device, path safety automation judgment means on robot body, function are held
Row device, positioning navigation device and energy storage power supply device, the back of robot body are equipped with mechanical guiding device, control interactive device
On be connected to surface drive, path safety automation judgment means, positioning navigation device, function executor and energy storage supply
Energy device, surface drive, path safety automation judgment means, function executor, positioning navigation device, control interactive device
Powered by energy storage power supply device；The surface drive includes drive control module, DC brushless motor, live-roller
Wheel, accident brake, the control interactive device include interactive controlling processing module, wireless transceiver, signal adapter, people
Machine interactive terminal, the path safety automation judgment means include housing, Path Recognition sensor and obstacle in housing
Thing identification sensor, housing are installed on robot body；The Path Recognition sensor is two groups, and every group of Path Recognition passes
Sensor includes two laser type photoelectric sensors, inside housings forward direction and backward directions respectively one group of installation, the laser
Formula photoelectric sensor is when the laser of transmitting is irradiated to the mechanical path in front, reflects, such as without mechanical path, does not then send out
Raw reflection, thus judging mechanical path, whether safety is intact.
2. the automatic patrol robot of road according to claim 1, it is characterised in that the drive control module and straight
Brushless electric machine, accident brake connection are flowed, DC brushless motor is connected with Live roller, accident brake and DC brushless motor
Shaft connects, and drive control module receives the control instruction of control interactive device and controls surface drive by control instruction
Action starts accident brake braking by DC brushless motor shaft locking.
3. the automatic patrol robot of road according to claim 1, it is characterised in that the interactive controlling processing module
It is connected with wireless transceiver, signal adapter, human-computer interaction terminal；Interactive controlling processing module receives and processing is driven from ground
Dynamic device, path safety automation judgment means, function executor, positioning navigation device, the signal of energy storage power supply device, after processing
Signal be conveyed to signal adapter and change into wireless signal, then sent by wireless transceiver；Wireless transceiver is received letter
Signal adapter number is sent to, signal adapter will be sent to interactive controlling processing module after the conversion of received wireless signal；Hand over
Mutually control processing module is sent to surface drive, path safety automation judgment means, function after handling signal and holds
Row device, positioning navigation device, energy storage power supply device.
4. the automatic patrol robot of road according to claim 1, it is characterised in that two of the forward direction swash
Light formula photoelectric sensor is installed in housing upper or so, the laser type photoelectric sensor angle Right deviation of left part, the laser type of right part
Photoelectric sensor angle is left-leaning, so that the two beam laser launched are in front cross；Similarly two laser types of backward directions
Photoelectric sensor left and right installation inside housings, the laser type photoelectric sensor angle Right deviation of left part, the laser type photoelectricity of right part
Sensor angles are left-leaning, so that the two beam laser launched are in front cross；The obstacle recognition sensor is ultrasonic wave
Sensor, shares two groups, respectively installs one group in the front and rear of housing, every group of obstacle recognition sensor is visited comprising ultrasonic wave
First eight；Path safety automation judgment means carry out safety automation judgement to the situation of travel path and judgement information are sent to
Control interactive device.
5. the automatic patrol robot of road according to claim 1, it is characterised in that the function executor includes control
Processing module processed, data memory, humidity sensor, temperature sensor, visibility sensor, thermal imaging system, mobile speed measurement instrument,
Video camera, ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp and sample collection case；Connect respectively in control process module
Be connected to data memory, humidity sensor, temperature sensor, visibility sensor, thermal imaging system, mobile speed measurement instrument, video camera,
Ultrasonic sensor, lamps for environmental illumination, buzzer, warning lamp, sample collection case；The sample collection case includes babinet, sets
In the gas collecting storehouse in babinet, solid material taking hand and liquid pick-up arm.
6. the automatic patrol robot of road according to claim 1, it is characterised in that the positioning navigation device includes
Signal management and control mainboard, GPS/GIS locators, signal management and control mainboard are connected with GPS/GIS locators；Signal management and control mainboard receives control
The order of interactive device processed, the position signal positioning surface drive current location provided by GPS/GIS locators, and with
The target location of setting is compared, and output control signal gives control interactive device, then signals to ground by control interactive device and drive
Dynamic device, so that surface drive is advanced by setting travel path.
7. the automatic patrol robot of road according to claim 1, it is characterised in that the energy storage power supply device includes
Control mainboard, storage battery, charger, control mainboard are connected with storage battery, charger respectively, and the function of control mainboard is to electric power storage
Pond electricity height is detected automatically, and testing result is sent to control interactive device, to decide whether to charge.
8. the automatic patrol robot of road according to claim 1, it is characterised in that the mechanical guiding device includes groove
Shape directive wheel eight, one group swivel bearing 16, connecting shaft eight, installation of retaining frame, the flute profile directive wheel are installed on institute
State on the swivel bearing of connecting shaft, connecting shaft is installed in retaining frame, and retaining frame is installed on robot body；Flute profile directive wheel is with four
Zhi Weiyi groups, are divided into upper directive wheel group and lower guide wheel group, and upper directive wheel group and lower guide wheel group are respectively arranged on robot body
Back the upper side and lower side.
9. the automatic patrol robot of road according to claim 1, it is characterised in that the path safety automation judges
Device, function executor, positioning navigation device, energy storage power supply device are also connected with the drive control module of surface drive；
When controlling interactive device failure, drive control module voluntarily starts work, is performed to path safety automation judgment means, function
Device, positioning navigation device, energy storage power supply device send control signal, them is performed relevant action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410731641.4A CN104483969B (en) | 2014-12-05 | 2014-12-05 | The automatic patrol robot of road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410731641.4A CN104483969B (en) | 2014-12-05 | 2014-12-05 | The automatic patrol robot of road |
Publications (2)
| Publication Number | Publication Date |
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| CN104483969A CN104483969A (en) | 2015-04-01 |
| CN104483969B true CN104483969B (en) | 2018-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410731641.4A Expired - Fee Related CN104483969B (en) | 2014-12-05 | 2014-12-05 | The automatic patrol robot of road |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105856187B (en) * | 2016-05-05 | 2018-07-03 | 宁波华狮智能科技有限公司 | The microwave safety check robot of automatic identification dangerous material |
| CN106406306A (en) * | 2016-08-30 | 2017-02-15 | 北京百度网讯科技有限公司 | Indoor navigation method based on robot and indoor navigation device and system thereof and server |
| CN106950968A (en) * | 2017-04-28 | 2017-07-14 | 四川玛瑞焊业发展有限公司 | A kind of detection device for defeated pipeline weld seam |
| CN107801003A (en) * | 2017-11-13 | 2018-03-13 | 苏州和吉兴物联科技有限公司 | One kind patrol monitor camera device and patrol monitoring method |
| CN107809617A (en) * | 2017-11-13 | 2018-03-16 | 苏州和吉兴物联科技有限公司 | One kind patrol monitor camera device |
| CN108374366B (en) * | 2018-02-08 | 2020-08-11 | 湖南工程学院 | Highway patrol robot |
| CN110111579A (en) * | 2019-05-07 | 2019-08-09 | 山东交通学院 | A kind of unattended highway automatic tour inspection system and application method |
| CN113888859A (en) * | 2020-07-01 | 2022-01-04 | 胡武文 | Unmanned patrol police system for expressway |
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| IL153758A (en) * | 2002-12-31 | 2007-09-20 | Israel Aerospace Ind Ltd | Unmanned tactical platform |
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| JP5721980B2 (en) * | 2010-09-03 | 2015-05-20 | 株式会社日立製作所 | Automated guided vehicle and travel control method |
| CN203941450U (en) * | 2014-01-08 | 2014-11-12 | 吉林大学 | A kind of intelligent security guard patrol dolly |
| CN203870474U (en) * | 2014-04-08 | 2014-10-08 | 上海好创机电工程有限公司 | Automatic navigation patrol robot for visual monitoring |
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| CN102736623A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Track self-directed moving robot |
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| CN203950202U (en) * | 2013-12-18 | 2014-11-19 | 国网宁夏电力公司宁东供电公司 | Intelligent Mobile Robot |
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Granted publication date: 20180417 Termination date: 20181205 |