CN107000206A - Security robot - Google Patents
Security robot Download PDFInfo
- Publication number
- CN107000206A CN107000206A CN201580014660.8A CN201580014660A CN107000206A CN 107000206 A CN107000206 A CN 107000206A CN 201580014660 A CN201580014660 A CN 201580014660A CN 107000206 A CN107000206 A CN 107000206A
- Authority
- CN
- China
- Prior art keywords
- security
- robot
- robot body
- security protection
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
Abstract
A kind of security robot, the security robot includes：Robot body (10)；Security protection patrol mechanism (30), it is placed in the robot body (10), is monitored to the security protection region to setting, to obtain corresponding monitoring data and be exported to distal end；Walking mechanism (50), it is placed in the bottom of the robot body (10), to drive the robot body (10) to be advanced in the security protection region of the setting；Cleaning mechanism (70), it is arranged on the robot body (10), is presently in the clean condition of position in the security protection region for detecting, and perform cleaning action according to the clean condition；Controller, it is built in the robot body, and is connected respectively with security protection patrol mechanism (30), walking mechanism (50) and cleaning mechanism (70) electric signal.Above-mentioned security robot can realize a variety of functions of needing to perform by mobile in a region, and any obstruction is caused thus without to the region.
Description
The present invention relates to intelligent robot technology field, more particularly to a kind of security robot.
With developing rapidly for intelligent robot correlation technique, application involved by intelligent robot is also more and more, so as in every aspects such as live and works with being consequently increased, according to it with the need for upper, existing intelligent robot includes sweeping robot, security robot etc., and it addition of some functions of required realization.
In any region, if necessary to take into account a variety of functions simultaneously, then a variety of intelligent robots can be placed in the region, thus will to there are a variety of intelligent robots in the same area, and then realize a variety of functions required for the region.
However, the layout scheme of this intelligent robot has serious defect for by the mobile intelligent robot for realizing its function.The same area if necessary by intelligent robot realize sweep the floor, security protection go on patrol etc. a variety of functions, then can cause the intelligent robot that multiple movements are there are in the region, and then hamper the application of intelligent robot in the region.
The content of the invention
Based on this, it is necessary to provide a kind of security robot, it can realize a variety of functions of needing to perform by mobile in a region, and any obstruction is caused thus without to the region.
In order to solve the above technical problems, will adopt the following technical scheme that：
A kind of security robot, including：
Robot body；
Mechanism is gone on patrol in security protection, and it is placed in the robot body, is supervised to the security protection region to setting
Control, to obtain corresponding monitoring data and be exported to distal end；
Walking mechanism, it is placed in the bottom of the robot body, to drive the robot body to be advanced in the security protection region of the setting；
Cleaning mechanism, it is arranged on the robot body, is presently in the clean condition of position in the security protection region for detecting, and perform cleaning action according to the clean condition；
Controller, it is built in the robot body, and is connected respectively with security protection patrol mechanism, walking mechanism and cleaning mechanism electric signal.
In one of the embodiments, the security robot also includes power supply module；
The controller includes control board and the microprocessor being placed in the control board, and the control board is connected with security protection patrol mechanism, walking mechanism and cleaning mechanism electric signal respectively；
The power supply module is placed in the robot body, and is connected with the control board electric signal.
In one of the embodiments, the microprocessor goes on patrol mechanism, walking mechanism, cleaning mechanism electric signal by the control board and the security protection and is connected, the microprocessor goes on patrol mechanism by the security protection and obtains track route, the walking mechanism is controlled according to the track route, and the clean condition exported according to the cleaning mechanism controls the execution of the cleaning action.
In one of the embodiments, the robot body is column, and top and bottom the radially tapered top for forming semi-ellipsoid shape and are similar to the circular-arc bottom face of plane respectively.
In one of the embodiments, the cleaning mechanism includes the clean air package being connected with the controller electric signal, the clean air package includes the air detection sensor and anion generator connected each other by controller electric signal, the anion generator is built in the robot body, and extends to form the release structure of anion laterally.
In one of the embodiments, the cleaning mechanism includes the floor cleaning component for being installed in the robot body bottom, the floor cleaning component includes motor, the cleaning brush and negative pressure device being fixed on the machine shaft, the opening of the negative pressure device is placed in the bottom of the robot body, to store the rubbish that the cleaning brush is cleaned.
In one of the embodiments, the cleaning brush is in cross shape.
In one of the embodiments, the center of the cleaning brush opens up through hole, the through hole and the electricity
Machine rotating shaft, which is engaged, is fixed on the cleaning brush on the motor.
In one of the embodiments, the security protection patrol mechanism includes the mast driving mechanism that the mast being placed at the top of the robot body, the camera for being installed in the mast top, wireless communication module and the driving mast are rotated, and the wireless communication module is connected with the camera electric signal.
In one of the embodiments, the security protection patrol mechanism also includes infrared sensor, and the infrared sensor is arranged on the mast.
As shown from the above technical solution, the security robot that the present invention is provided includes robot body, mechanism is gone on patrol in security protection, walking mechanism and cleaning mechanism, its walking mechanism is placed in the bottom of robot body, robot body is driven to be advanced in the security protection region of setting, security protection patrol machine is then placed in robot body, to monitor security protection region, obtain corresponding monitoring data and exported to distal end, the cleaning mechanism being arranged on robot body then detects the clean condition that security protection region is presently in position, cleaning action is performed according to clean condition, thus security robot will be caused to have merged needs and moved realized security protection and cleaning function, the function that the movement is realized is blended in a security robot, for one has used the region of security robot, multiple intelligent robots need not be placed for this, and then any obstruction will not be also caused to the region.
Fig. 1 is a kind of structural representation of security robot provided in an embodiment of the present invention；
Fig. 2 is the bottom view of security robot in Fig. 1.
Description of reference numerals is as follows：10th, robot body；30th, security protection patrol mechanism；310th, mast；330th, camera；370th, infrared sensor；390th, ultrasonic sensor；50th, walking mechanism；510th, slipper；511st, driving wheel；513rd, driven pulley；70th, cleaning mechanism；703rd, structure is discharged；710th, air detection sensor；750th, floor cleaning component；751st, cleaning brush；753rd, negative pressure device.
Embodying the exemplary embodiment of feature of present invention and advantage will describe in detail in the following description.It should be understood that the present invention can have various changes in different embodiments, it is neither departed from the scope of the present invention, and explanation therein and diagram are treated as purposes of discussion in itself, and is not used to the limitation present invention.
In one embodiment, as shown in figure 1, a kind of security robot, including robot body 10, security protection go on patrol mechanism 30, walking mechanism 50, cleaning mechanism 70 and controller (not shown), wherein：
Agent structure of the robot body 10 to form security robot, walking mechanism 50 is placed in the bottom of robot body 10, to drive robot body 10 to be advanced in the security protection region of setting, realizes the walking function in security robot.
Security protection patrol mechanism 30 is placed in robot body 10, is monitored to the security protection region to setting, to obtain corresponding monitoring data and be exported to distal end.It is adapted with this, reception is obtained monitoring data by the terminal positioned at distal end, and the remote monitoring in security protection region is realized according to monitoring data, the situation in security protection region can be checked by reading monitoring data at any time in the terminal.
Cleaning mechanism 70 is arranged on robot body 10, is presently in the clean condition of position in security protection region for detecting, and perform cleaning running according to clean condition.
By setting of the cleaning mechanism 70 in security robot, security robot will be caused to have merged cleaning function, and then also cleaning action is being performed to the position advanced along band during it performs security protection patrol.
Controller is built in robot body 10, and is connected respectively with security protection patrol mechanism 30, walking mechanism 50 and the electric signal of cleaning mechanism 70, and then security protection patrol mechanism 30, walking mechanism 50 and cleaning mechanism 70 are controlled.
Further, in the present embodiment, security robot as described above also includes power supply module (not shown), the power supply module is placed in robot body 10, and be connected with controller electric signal, so as to which power supply module is connected by the electric signal with controller and is gone on patrol mechanism 30, walking mechanism 50 and the electric signal of cleaning mechanism 70 with security protection respectively and is connected, and then realize the function of supplying power of various parts in security robot.
In actual applications, the power supply module is large-scale lithium battery, and its charging inlet (not shown) electric signal set with robot body 10 is connected, and while being powered for each part, can also be charged in not enough power supply by charging inlet.
Controller includes control board and the microprocessor being placed in control board, and microprocessor and power supply module are connected with control board electric signal.
On this basis, security protection patrol mechanism 30, walking mechanism 50 and cleaning mechanism 70 are connected with the control board electric signal in controller, and realization control and function of supplying power in the presence of microprocessor and power supply module.
Wherein, based on demand of the security protection patrol mechanism 30 to distal end output monitoring data, security protection patrol mechanism
30 built-in wireless communication modules, the wireless communication module is placed in control board, just the electricity required for work is obtained, and the terminal positioned at distal end to security robot can input various instructions by this wireless communication module, the instruction inputted is inputted to microprocessor via wireless communication module, control board, microprocessor will export corresponding control signal according to the instruction of input, is controlled so as to go on patrol track route of the mechanism 30 in security protection region to security protection.
Microprocessor goes on patrol mechanism 30, walking mechanism 50, the electric signal of cleaning mechanism 70 by control board and security protection and is connected, microprocessor goes on patrol mechanism 30 by security protection and obtains track route, walking mechanism 50 is controlled according to track route, and the clean condition exported according to cleaning mechanism 70 controls the execution of cleaning action.
Specifically, cleaning mechanism 70 includes the clean air package (not shown) being connected with the electric signal of controller 90, clean air package includes the air detection sensor 710 and anion generator connected each other by the electric signal of controller 90, anion generator is built in robot body 10, and extension forms the release structure 703 of anion laterally.
Air detection sensor 710 is used for the air regime for detecting security protection region, and the air regime that detection is obtained is transferred to controller, and controller exports corresponding control signal according to air regime, to control anion generator to carry out clean environment to security protection region.
Wherein, the air detection sensor 710 set in security robot includes a variety of air contaminant sensors, in a preferred embodiment, further comprises poisonous gas sensor, to adapt to the various hostile environments where security robot.
For example, the air contaminant sensor can be PM2.5 sensors, carbon dioxide sensor, formaldehyde sensor etc., and poisonous gas sensor can be the sensor of the toxic gas such as carbon monoxide, hydrogen sulfide, sulfur dioxide and chlorine.
Air detection sensor 710 is installed on the side of robot body 10, to facilitate the detection for carrying out air regime.
Anion generator under the control of the controller, the release of anion is carried out by its release structure 703 set in the side of robot body 10, to carry out the cleaning of air to security protection region.In a preferred embodiment, release structure 703 is placed on the junction at side and top in robot body 10.
In another embodiment, cleaning mechanism 70 includes the floor cleaning component 750 for being installed in the bottom of robot body 10, floor cleaning component 750 includes motor (not shown), the cleaning brush 751 and negative pressure device 753 being fixed on machine shaft, and the opening of the negative pressure device 753 is placed in robot body 10
Bottom, with store cleaning brush 751 cleaning rubbish.
That is, the floor cleaning component 750 that security robot is set up is cleaned to the ground to security protection region, and then can be completed therewith when security robot is gone on patrol according to certain track route by ground cleaning, the resource of security robot is effectively allocated, to realize effective utilization of resource.
In a preferred embodiment, cleaning brush 751 is in cross shape, thinks and is presently in the optimal cleaning performance in position so that the size even trickle rubbish for being presently in position presence is collected in together, and is stored by negative pressure device 753.
Further, the center of cleaning brush 751 opens up through hole, and the through hole is engaged with machine shaft is fixed on cleaning brush 751 on motor.By the cooperation of motor and cleaning brush 751, with the rotation of motor, the also concomitant rotation of cleaning brush 751, the rubbish of its position will be collected in together with the rotation of cleaning brush 751.
Further, negative pressure device 753 includes negative pressure box, blower fan and the filter screen cooperated, wherein, separated between negative pressure box and blower fan by filter screen, and negative pressure box forms negative-pressure adsorption mouthful 7531 in the bottom of robot body 10, and rubbish is adsorbed in negative pressure box.
In one embodiment, security protection patrol mechanism 30 includes mast 310, camera 330, wireless communication module (not shown) and mast driving mechanism.
Mast 310 is placed in the top of robot body 10, and camera 330 is installed in the top of mast 310, and wireless communication module is connected with the electric signal of camera 330, is placed in control board.Wireless communication module and camera 330 are connected by the electric signal with control board and are connected with microprocessor electric signal.In a preferred embodiment, camera 330 is high definition night camera head.
In this security protection patrol mechanism 30, monitoring data obtained by camera 330 is monitored to security protection region will be connected with the electric signal of wireless communication module by it and be transferred to wireless communication module, and then export monitoring data to distal end in the presence of wireless communication module.
Mast driving mechanism is used to drive mast 310 to rotate so that the also concomitant rotation of camera 330, carries out 360 degree of monitoring without dead angle to security protection region, ensures its effective monitoring in security protection region,
Specifically, mast driving mechanism includes gear and motor, mast 310 is rotated with motor by gear and is connected.With the rotation of motor, gear also concomitant rotation, and then drive mast 310 continuously to be rotated.
In one embodiment, security protection patrol mechanism 30 further comprises infrared sensor 370, the infrared sensor 370 is arranged on mast 310, and be connected with the control board electric signal in controller, the presence for whether having life entity around security robot is detected with the rotation with mast 310, this detection is given birth to
The result that life body whether there is is transferred in controller, in order to which the action such as avoidance is responded and performed to this.
It should be noted that the built-in electronic map related to security protection region of security robot as described above, will advance according to the course of this electronic map and acquisition in security protection region.
Further, security protection patrol mechanism 30 further comprises several ultrasonic sensors 390, any ultrasonic sensor 390 is installed on the semi arch of side one of the front side of robot body 10, i.e. robot body 10, and the semi arch is corresponding with the direct of travel of security robot.
In one embodiment, walking mechanism 50 includes slipper 510 and slides drive part (not shown), the slipper 510 is connected with sliding drive part rotation, and the rotation in the case where sliding the driving of drive part, to realize its traveling in security protection region.
Specifically, slipper 510 includes driving wheel 511 and driven pulley 513, driving wheel 511 and driven pulley 513 are uniformly arranged in the bottom of robot body 10.In a preferred embodiment, the quantity of driving wheel 511 is two, and the quantity of driven pulley 513 is one.
Another aspect, for several ultrasonic sensors 390 in the installed in front of robot body 10, the semi arch center formed is relative with driven pulley 513, that is to say, that semi arch center is overlapped with driven pulley 513 in vertical direction.
Sliding drive part includes gear and servomotor, servomotor is connected with pinion rotation, and gear is rotated with driving wheel 511 and is connected, so as to drive driving wheel 511 to rotate by the rotation of servomotor, and then traveling of the place security robot in security protection region is realized.
Wherein, the quantity of servomotor is corresponding with driving wheel.
By setting as described above, security robot will be caused to integrate many, can freely monitor security protection region, and with the function of cleaning ground, dust suction and air cleaner, so as to realize its multipurpose function with moving for security robot.
Although describing the present invention with reference to several exemplary embodiments, it is to be understood that, term used is explanation and exemplary and nonrestrictive term.Because the present invention can be embodied without departing from the spiritual or substantive of invention in a variety of forms, it is to be understood that, above-mentioned embodiment is not limited to any foregoing details, and should widely be explained in the spirit and scope that appended claims are limited, therefore the whole changes fallen into claim or its equivalent scope and remodeling all should be appended claims and covered.
Claims (10)
- A kind of security robot, it is characterised in that including：Robot body；Mechanism is gone on patrol in security protection, and it is placed in the robot body, is monitored to the security protection region to setting, to obtain corresponding monitoring data and be exported to distal end；Walking mechanism, it is placed in the bottom of the robot body, to drive the robot body to be advanced in the security protection region of the setting；Cleaning mechanism, it is arranged on the robot body, is presently in the clean condition of position in the security protection region for detecting, and perform cleaning action according to the clean condition；Controller, it is built in the robot body, and is connected respectively with security protection patrol mechanism, walking mechanism and cleaning mechanism electric signal.
- Security robot according to claim 1, it is characterised in that the security robot also includes power supply module；The controller includes control board and the microprocessor being placed in the control board, and the control board is connected with security protection patrol mechanism, walking mechanism and cleaning mechanism electric signal respectively；The power supply module is placed in the robot body, and is connected with the control board electric signal.
- Security robot according to claim 2, it is characterized in that, the microprocessor goes on patrol mechanism, walking mechanism, cleaning mechanism electric signal by the control board and the security protection and is connected, the microprocessor goes on patrol mechanism by the security protection and obtains track route, the walking mechanism is controlled according to the track route, and the clean condition exported according to the cleaning mechanism controls the execution of the cleaning action.
- Security robot according to claim 1, it is characterised in that the robot body is column, and top and bottom the radially tapered top for forming semi-ellipsoid shape and are similar to the circular-arc bottom face of plane respectively.
- Security robot according to claim 1, it is characterized in that, the cleaning mechanism includes the clean air package being connected with the controller electric signal, the clean air package includes the air detection sensor and anion generator connected each other by controller electric signal, the anion generator is built in the robot body, and extends to form the release structure of anion laterally.
- Security robot according to claim 1, it is characterized in that, the cleaning mechanism includes the floor cleaning component for being installed in the robot body bottom, the floor cleaning component includes motor, the cleaning brush and negative pressure device being fixed on the machine shaft, the opening of the negative pressure device is placed in the bottom of the robot body, to store the rubbish that the cleaning brush is cleaned.
- Security robot according to claim 6, it is characterised in that the cleaning brush is in cross shape.
- Security robot according to claim 6, it is characterised in that the center of the cleaning brush opens up through hole, the through hole is engaged with the machine shaft and the cleaning brush is fixed on the motor.
- Security robot according to claim 1, it is characterized in that, the security protection patrol mechanism includes the mast driving mechanism that the mast being placed at the top of the robot body, the camera for being installed in the mast top, wireless communication module and the driving mast are rotated, and the wireless communication module is connected with the camera electric signal.
- Security robot according to claim 9, it is characterised in that the security protection patrol mechanism also includes infrared sensor, and the infrared sensor is arranged on the mast.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/094692 WO2017084008A1 (en) | 2015-11-16 | 2015-11-16 | Security protection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107000206A true CN107000206A (en) | 2017-08-01 |
Family
ID=58717174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580014660.8A Pending CN107000206A (en) | 2015-11-16 | 2015-11-16 | Security robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107000206A (en) |
| WO (1) | WO2017084008A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107649470A (en) * | 2017-09-19 | 2018-02-02 | 山东大学 | A kind of pipeline cleaning robot and method for being suitable for different tube diameters change |
| CN108606725A (en) * | 2018-06-27 | 2018-10-02 | 南京工业职业技术学院 | A kind of SCM Based robot |
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN110076748A (en) * | 2019-05-15 | 2019-08-02 | 沈阳航空航天大学 | A kind of autonomous patrol robot in campus based on Beidou positioning |
| CN112261362A (en) * | 2020-09-29 | 2021-01-22 | 厦门盈趣科技股份有限公司 | Security and protection floor sweeping robot, linkage security and protection method and storage medium |
| CN116647643B (en) * | 2023-06-01 | 2024-03-26 | 西藏康发电子工程有限公司 | Intelligent security monitoring system |
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| CN107649470A (en) * | 2017-09-19 | 2018-02-02 | 山东大学 | A kind of pipeline cleaning robot and method for being suitable for different tube diameters change |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017084008A1 (en) | 2017-05-26 |
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Application publication date: 20170801 |