CN116311574A

CN116311574A - Security inspection system based on quadruped robot and unmanned aerial vehicle

Info

Publication number: CN116311574A
Application number: CN202310004365.0A
Authority: CN
Inventors: 唐成; 刘煜; 段飞
Original assignee: Beijing Shunzao Technology Co Ltd
Current assignee: Beijing Shunzao Technology Co Ltd
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2023-06-23
Also published as: CN113781676B; CN113781676A

Abstract

The application provides a security protection inspection system based on quadruped robot and unmanned aerial vehicle, include: the unmanned aerial vehicle is used for executing security inspection tasks outside the building; the four-foot robot is used for executing security inspection tasks in and/or outside the building; the unmanned aerial vehicle includes: the unmanned aerial vehicle vision module is used for at least acquiring images/videos of the operating environment of the quadruped robot; the quadruped robot includes: the robot vision module is used for at least acquiring images/videos of the operating environment of the quadruped robot; and a robot processor device including a first processing module that generates robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot acquired by the unmanned aerial vehicle vision module, and/or generates robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot acquired by the robot vision module. The application also provides a quadruped robot and an unmanned aerial vehicle.

Description

Security inspection system based on quadruped robot and unmanned aerial vehicle

The application is a divisional application of the invention patent application with the application number of 202111081146.X, the application date of 2021, 9 and 15 days and the invention name of a security inspection system based on a quadruped robot.

Technical Field

The application relates to the technical field of security inspection, and in particular relates to a security inspection system based on a quadruped robot and an unmanned aerial vehicle.

Background

The high intelligent ground robot and the aerial robot (unmanned aerial vehicle) in the prior art have limited maneuverability in processing most working processes, for example, the mobile robot can clean indoor ground, trim outdoor lawns and trim lawns, and the unmanned aerial vehicle is mostly applied in the fields of farms, industry, military patrol and athletic entertainment.

As the demand for the application of highly intelligent ground robots and aerial robots increases, it is desirable that robots and unmanned aerial vehicles provide improved comprehensive processing skills to accomplish complex tasks. With the increasing demand of intelligent living environment, more and more civil and industrial areas have higher requirements on patrol and security in intelligent full time period, so that an integrated coordination security mechanism capable of taking into account the indoor corridor and the outdoor environment is needed, and the high-intelligent ground robot and the unmanned plane are the best combination at present.

The prior art discloses an all-terrain bionic multi-foot reconnaissance robot system, which adopts a bionic multi-foot reconnaissance robot, has a bionic leg-foot type structure, can run on various complex roads, solves the problem that the robot cannot enter under some complex environments, can fold the multi-foot bionic structure, can reduce the occupied area, and is convenient to carry and transport; in addition, because unmanned aerial vehicle collaborative work is adopted, the visual field is wider, the carrying miniature unmanned aerial vehicle expands the investigation visual angle to the air, the data interaction between the miniature unmanned aerial vehicle and the bionic robot can be realized, and the interaction between the miniature unmanned aerial vehicle and the control terminal can be realized. However, the method only belongs to conceptual innovation, and for specific residential or industrial security fields, the method is difficult to meet the high-requirement safety and accuracy requirements, and the application effect is difficult to achieve by directly multiplexing the prior art.

Disclosure of Invention

In order to solve at least one of the technical problems, the application provides a security inspection system based on a quadruped robot and an unmanned aerial vehicle.

The security inspection system based on the four-legged robot and the unmanned aerial vehicle is realized through the following technical scheme.

According to an aspect of the present application, there is provided a security inspection system based on a quadruped robot and an unmanned aerial vehicle, including:

the unmanned aerial vehicle is at least used for executing security inspection tasks outside a building; the four-foot robot is used for executing security inspection tasks in and/or outside a building;

the unmanned aerial vehicle includes:

the unmanned aerial vehicle vision module at least acquires images/videos of the operating environment of the quadruped robot;

the four-legged robot includes:

a robot vision module that obtains at least an image/video of an operating environment of the quadruped robot; and a robot processor device including a first processing module that generates robot motion control instructions based on obstacle information extracted from the image/video of the operating environment of the four-legged robot acquired by the unmanned aerial vehicle vision module, and/or generates robot motion control instructions based on obstacle information extracted from the image/video of the operating environment of the four-legged robot acquired by the robot vision module.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle comprises a coupling device, and the unmanned aerial vehicle comprises the coupling device; through the coupling device of the quadruped robot and the coupling device of the unmanned aerial vehicle, the unmanned aerial vehicle can be coupled with the quadruped robot to perform security inspection tasks as a whole; the coupling includes an electrical connection coupling, a mechanical coupling, and/or a communicative coupling.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle comprises a power source module, wherein the unmanned aerial vehicle comprises the power source module; when the unmanned aerial vehicle is coupled with the quadruped robot, the power source module of the quadruped robot can transmit power to the power source module of the unmanned aerial vehicle, and when the quadruped robot and the unmanned aerial vehicle are in a separated state, the quadruped robot and the unmanned aerial vehicle can respectively execute security inspection tasks.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle comprises a control module and a navigation module, wherein the navigation module is used for navigating the running of the quadruped robot based on the inspection route information in the security inspection task, and the control module is used for generating a driving signal of the quadruped robot based on the navigation of the navigation module.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the quadruped robot comprises an executing mechanism, and the executing mechanism executes actions based on driving signals generated by the control module.

According to at least one embodiment of the present application, the robot processor device comprises a third processing module and a stride pattern receiving/judging module, wherein the stride pattern receiving/judging module performs feature extraction on ladder information of images/videos extracted from an operation environment of the quadruped robot to obtain ladder features; the third processing module generates a robot stride adjustment amount based at least on the stair characteristic.

According to at least one embodiment of the present application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the third processing module comprises a stride adjustment module, and the stride adjustment module generates the robot stride adjustment amount based on the stair feature.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the third processing module transmits the stride adjustment amount of the robot to the control module of the first processing module, so that the control module generates a corresponding stride adjustment control signal.

According to at least one embodiment of the present application, the four-legged robot and unmanned aerial vehicle-based security inspection system, the third processing module triggers the inclined plane mode, the land leveling mode or the stair mode based on the stride mode received by the stride mode receiving/judging module, and transmits the triggered inclined plane mode, land leveling mode or stair mode to the control module of the first processing module, so that the control module generates a corresponding stride mode control signal.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle further comprises a remote control device, wherein the remote control device comprises a display control device, and the display control device can display images/videos of the operation environment of the quadruped robot or images/videos of the operation environment of the unmanned aerial vehicle, which are acquired by the unmanned aerial vehicle vision module; the display control device can display the image/video of the operation environment of the four-legged robot, which is acquired by the robot vision module.

According to at least one embodiment of the present application, the four-legged robot and the unmanned aerial vehicle-based security inspection system, the four-legged robot comprises a communication module, the unmanned aerial vehicle comprises a communication module, the remote control device comprises a communication module, the four-legged robot comprises a communication module, the unmanned aerial vehicle comprises a communication module, and a communication module of the remote control device, and an image/video of an operation environment of the four-legged robot and an image/video of an operation environment of the unmanned aerial vehicle can be transmitted to a display control device of the remote control device.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the remote control device further comprises a stride pattern generation module and an inspection task generation module, the inspection task generation module generates a security inspection task based on input instructions/operations input to the display control device, and the stride pattern generation module generates a corresponding stride pattern based on the input instructions/operations input to the display control device.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the first processing module comprises an obstacle information extraction module, the obstacle information extraction module performs feature extraction on obstacle information of images/videos of an operation environment of the quadruped robot to obtain obstacle features, and the control module generates the robot action control instruction based on the obstacle features.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the first processing module comprises an inspection task receiving module, the inspection task receiving module receives the security inspection task generated by the inspection task generating module of the remote control device, and the control module generates a corresponding inspection control signal based on the security inspection task.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the unmanned aerial vehicle processor device of the unmanned aerial vehicle receives the security inspection task generated by the inspection task generating module of the remote control device, and generates a corresponding inspection control signal based on the security inspection task.

According to at least one embodiment of the application, the four-legged robot and the unmanned aerial vehicle-based security inspection system comprise a sensor assembly, and the sensor assembly executes security inspection tasks based on inspection control signals generated by the first processing device.

According to at least one embodiment of the present application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the robot processing device further comprises a second processing module, the second processing module comprises a gesture information acquisition module, the gesture information acquisition module acquires current gesture information of the quadruped robot based on data transmitted by a sensor assembly and transmits the current gesture information to a control module of the first processing module, and the control module generates a corresponding stride adjustment control signal based on at least the current gesture information of the quadruped robot and the stride adjustment amount of the robot transmitted by a stride adjustment module of the third processing module.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the second processing module further comprises a mileage information acquisition module, and the mileage information acquisition module acquires mileage information of the quadruped robot based on the odometer in the sensor assembly.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the robot processor device further comprises a communication signal intensity judging module, and the communication signal intensity judging module at least acquires the communication signal intensity between the quadruped robot and the unmanned aerial vehicle in real time.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, when the communication signal intensity is lower than or equal to the intensity threshold, the communication signal intensity judging module sends a communication signal intensity warning signal to the control module of the first processing module.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the control module of the first processing module invokes map information recorded by the navigation module based on the communication signal strength warning signal, and the control module generates a return control instruction based on the map information so as to control the quadruped robot to execute a return action.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the second processing module further comprises a position information acquisition module, the position information acquisition module is at least used for generating robot running track information of the quadruped robot in a building, the position information acquisition module transmits the acquired robot running track information to the control module of the first processing module, and the control module invokes the robot running track information to generate a return control instruction based on the communication signal strength warning signal so as to control the quadruped robot to execute a return action.

According to at least one embodiment of the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the second processing module further comprises a position information acquisition module, and the position information acquisition module is at least used for generating robot running track information of the quadruped robot in a building.

According to the security inspection system based on the quadruped robot and the unmanned aerial vehicle, the position information acquisition module transmits the acquired robot running track information to the control module of the first processing module, and the control module generates a return control instruction based on the robot running track information so as to control the quadruped robot to execute a return action.

According to at least one embodiment of the application, the security inspection system based on the quadruped robot and the unmanned aerial vehicle comprises image acquisition and/or video acquisition.

According to another aspect of the present application, there is provided a quadruped robot which can be used in a security inspection system comprising:

the unmanned aerial vehicle is at least used for executing security inspection tasks outside a building; the method comprises the steps of,

at least one quadruped robot, wherein the quadruped robot is used for executing security inspection tasks in and/or outside a building;

the unmanned aerial vehicle includes:

an unmanned aerial vehicle vision module that obtains at least images/videos of an operating environment of the quadruped robot 100;

the four-legged robot includes:

a robot vision module that acquires at least an image/video of an operating environment of the quadruped robot 100; and a robot processor device including a first processing module that generates robot motion control instructions based on obstacle information extracted from the image/video of the operating environment of the four-legged robot acquired by the unmanned aerial vehicle vision module, and/or generates robot motion control instructions based on obstacle information extracted from the image/video of the operating environment of the four-legged robot acquired by the robot vision module.

According to yet another aspect of the present application, there is provided an unmanned aerial vehicle that can be used in a security inspection system comprising:

at least one unmanned aerial vehicle, wherein the unmanned aerial vehicle is at least used for executing security inspection tasks outside a building; the method comprises the steps of,

at least one quadruped robot for performing security inspection tasks inside and/or outside a building;

the unmanned aerial vehicle includes:

the four-legged robot includes:

a robot vision module that obtains at least an image/video of an operating environment of the quadruped robot; the method comprises the steps of,

a robot processor device comprising a first processing module that generates robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot acquired by the unmanned aerial vehicle vision module, and/or generates robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot acquired by the robot vision module.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a four-legged robot based on a security inspection system of the four-legged robot and an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle of a security inspection system based on a quadruped robot and the unmanned aerial vehicle according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a remote control device of a security inspection system based on a quadruped robot and an unmanned plane according to an embodiment of the present application.

Fig. 4 is a schematic block diagram of a robot processor device of a four-legged robot according to an embodiment of the present application.

Fig. 5 is a schematic block diagram of a four-legged robot according to still another embodiment of the present application.

Fig. 6 is a schematic block diagram of a structure of a unmanned aerial vehicle according to still another embodiment of the present application.

Fig. 7 is a schematic block diagram of the vision module of the four-legged robot according to one embodiment of the present application.

Fig. 8 is a schematic block diagram of a third processing module of the robot processor device of the four-legged robot according to an embodiment of the present application.

Fig. 9 is a partial schematic block diagram of a security inspection system according to an embodiment of the present application.

Fig. 10 is a schematic block diagram of a security inspection system according to an embodiment of the present application.

Description of the reference numerals

1000. Security inspection system

100. Four-foot robot

110. Robot processor device

111. First processing module

112. Second processing module

113. Third processing module

114 stride mode receiving/judging module

115. Communication signal strength judging module

120. Communication module

130. Actuating mechanism

140. Vision module

150. Power source module

160. Coupling device

170. Sensor assembly

200. Unmanned plane

210. Unmanned aerial vehicle processor device

220. Communication module

230. Actuating mechanism

240. Unmanned aerial vehicle vision module

250. Power source module

260. Coupling device

270. Sensor assembly

300. Remote control device

310. Display control device

320. Communication module

330. Stride pattern generation module

340. Patrol task generating module

1111. Control module

1112. Barrier information extraction module

1113. Navigation module

1114. Inspection task receiving module

1121. Gesture information acquisition module

1122. Mileage information acquisition module

1123. Position information acquisition module

1131. A stride adjustment module.

Detailed Description

The present application is described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the application. It should be further noted that, for convenience of description, only the portions relevant to the present application are shown in the drawings.

In addition, embodiments and features of embodiments in the present application may be combined with each other without conflict. The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in combination with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some of the ways in which the technical concepts of the present application may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present application.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., in "sidewall") may be used herein to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

The four-legged robot and unmanned aerial vehicle-based security inspection system, the four-legged robot and the unmanned aerial vehicle of the present application are described in detail below with reference to fig. 1 to 10.

Fig. 1 is a schematic structural diagram of a four-legged robot based on a security inspection system of the four-legged robot and an unmanned aerial vehicle according to an embodiment of the present application. Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle of a security inspection system based on a quadruped robot and the unmanned aerial vehicle according to an embodiment of the present application. Fig. 3 is a schematic structural diagram of a remote control device of a security inspection system based on a quadruped robot and an unmanned plane according to an embodiment of the present application.

Fig. 4 is a schematic block diagram of the robot processor device 110 of the four-legged robot 100 according to one embodiment of the present application. Fig. 5 is a schematic block diagram of a four-legged robot 100 according to still another embodiment of the present application. Fig. 6 is a block diagram schematically illustrating a structure of a drone 200 according to still another embodiment of the present application.

Referring to fig. 1 to 6, a four-legged robot and unmanned aerial vehicle-based security inspection system 1000 according to an embodiment of the present application includes:

at least one unmanned aerial vehicle 200, the unmanned aerial vehicle 200 is at least used for executing security inspection tasks outside the building; and, at least one quadruped robot 100, the quadruped robot 100 being adapted to perform security inspection tasks inside and/or outside a building;

the unmanned aerial vehicle 200 includes:

the unmanned aerial vehicle vision module 240, the unmanned aerial vehicle vision module 240 at least acquires images/videos of the operating environment of the quadruped robot 100;

the four-legged robot 100 includes:

a robot vision module 140, the robot vision module 140 acquiring at least images/videos of the operating environment of the quadruped robot 100; and a robot processor device 110, the robot processor device 110 including a first processing module 111, the first processing module 111 generating robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot 100 acquired by the unmanned aerial vehicle vision module 240, and/or generating robot motion control instructions based on obstacle information extracted from images/videos of the operating environment of the four-legged robot 100 acquired by the robot vision module 140.

The unmanned aerial vehicle vision module 240 and the robot vision module 140 may be image capturing devices, which may be various image capturing devices capable of capturing image information and video information in the prior art.

The robot processor device 110 may include a processor in hardware form and software modules stored in a memory.

Among them, the four-legged robot 100 may include a front leg (front limb) and a rear leg (rear limb) connected to a robot body. Each leg of the four-legged robot 100 may be comprised of one or more articulated components and configured to operate with respect to each other in various degrees of freedom. Each leg may also include a respective foot that may contact a surface (e.g., the ground). The legs and feet of the four-legged robot 100 allow the robot to travel at various speeds according to the mechanics principles specified in gait. The robot body may include a base station thereon for docking and/or stowing one or more other robotic systems (e.g., drones), which may be located external to the robot body or internal to the robot body.

Preferably, the base station comprises a power supply part for supplying power to one or more other robot systems, and the power supply part is used for supplying power to the other robot systems, such as a unmanned aerial vehicle, because the volume of the robot can be controlled and more electric quantity can be carried.

The four-legged robot and unmanned aerial vehicle-based security inspection system 1000 according to the preferred embodiment of the present application, the four-legged robot 100 includes a coupling device 160, and the unmanned aerial vehicle 200 includes a coupling device 260; through the coupling device 160 of the quadruped robot 100 and the coupling device 260 of the unmanned aerial vehicle 200, the unmanned aerial vehicle 200 can be coupled to the quadruped robot 100 to perform security inspection tasks as a whole; coupling includes electrical connection coupling, mechanical coupling, and/or communicative coupling.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of each embodiment described above, preferably, the four-legged robot 100 includes a power source module 150, and the unmanned aerial vehicle 200 includes a power source module 250; when the four-legged robot 100 is coupled to the four-legged robot 100, the power source module 150 of the four-legged robot 100 can transmit power to the power source module 250 of the unmanned robot 200, and when the four-legged robot 100 and the unmanned robot 200 are in a separated state, the four-legged robot 100 and the unmanned robot 200 can perform security inspection tasks respectively.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of each embodiment described above, preferably, the first processing module 111 includes a control module 1111 and a navigation module 1113, the navigation module 1113 navigates the travel of the four-legged robot 100 based on the inspection route information in the security inspection task, and the control module 1111 generates the driving signal for the four-legged robot 100 based on the navigation of the navigation module 1113.

The navigation module 1113 preferably includes a positioning module and a map module, where the positioning module may be a GPS positioning module or a beidou positioning module, both may be a positioning module in a hardware form, and the map module is a software module.

For the four-legged robot-based and unmanned aerial vehicle-based security inspection system 1000 of each of the above embodiments, the four-legged robot 100 preferably includes an actuator 130, and the actuator 130 performs an operation based on a driving signal generated by the control module 1111.

The actuator 130 includes the four-legged robot limbs, robot body, base station, and the like described above.

Fig. 7 is a block diagram schematically illustrating the structure of the vision module 140 of the four-legged robot 100 according to one embodiment of the present application. Fig. 8 is a schematic block diagram of the third processing module 113 of the robot processor device 110 of the four-legged robot according to an embodiment of the present application.

The quadruped robot 100 may be represented as a first center of gravity and a second center of gravity coupled along the direction of travel of the quadruped robot 100. The first center of gravity is associated with a front leg of the robot and the second center of gravity is associated with a rear leg of the robot. The force applied at the first centre of gravity along the vertical longitudinal axis will generally not affect the height of the second centre of gravity. When the four-legged robot 100 maneuvers in an indoor environment, such as a residential or industrial corridor, the robot may encounter terrain requiring precise leg movements and foot placement, and the indoor high-rise corridor is often most typically characterized as a step. To provide accurate leg movement and foot placement, the control module of the robot may limit the movement of the robot to traverse the terrain when the stair terrain is identified to prevent errors from occurring. Quadruped robots often have a certain volume, even with small errors, which can lead to catastrophic problems with the robot tipping over from the stairs.

According to a preferred embodiment of the present application, referring to fig. 4 and 8, the robot processor device 110 of the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 includes a third processing module 113 and a stride pattern receiving/judging module 114, and the stride pattern receiving/judging module 114 performs feature extraction on the step information of the image/video extracted from the operation environment of the four-legged robot 100 to obtain a step feature; the third processing module 113 generates a robot stride adjustment amount based at least on the stair step feature.

For the four-legged robot-based and unmanned aerial vehicle-based security inspection system 1000 of the above-described embodiments, preferably, referring to fig. 8, the third processing module 113 includes a stride adjustment module 1131, and the stride adjustment module 1131 generates a robot stride adjustment amount based on the stair feature.

Referring to fig. 9, according to a preferred embodiment of the four-legged robot-based security inspection system 1000 of the present application, the third processing module 113 transmits the robot stride adjustment amount to the control module 1111 of the first processing module 111, so that the control module 1111 generates a corresponding stride adjustment control signal.

The control module 1111 may include a controller of hardware and a software module, among other things.

The control module 1111 may include a dedicated controller dedicated to a specific control purpose. For example, one or more stair controllers may be included specifically for planning and coordinating the motion of the quadruped robot to traverse a set of stairs. For example, the stair controller may ensure that the legs and feet of the robot remain at a swing height. Other specialized controllers may include a path generator, a step positioner, and/or a body planner. The path generator is configured to determine a horizontal movement of the robot. The path generator determines obstructions about the robot within the operating environment from the sensor data. The path generator communicates the obstacle to the step locator so that the step locator can determine the position of the foot of the leg of the robot. The step positioner uses input from the sensor to generate the position of the foot (i.e., where the robot should tread). A body planner, receiving input from the sensors, is configured to adjust dynamics (e.g., rotation, pitch, yaw) of the body of the robot to successfully act/move in the operating environment.

In accordance with still another preferred embodiment of the four-legged robot-based and unmanned aerial vehicle-based security inspection system 1000 of the present application, preferably, the third processing module 113 triggers the incline mode, the land leveling mode, or the stair mode based on the stride mode received by the stride mode receiving/judging module 114, and transmits the triggered incline mode, land leveling mode, or stair mode to the control module 1111 of the first processing module 111, so that the control module 1111 generates a corresponding stride mode control signal.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of each of the above embodiments, preferably, referring to fig. 3 and 10, the system further includes a remote control device 300, where the remote control device 300 includes a display control device 310, and the display control device 310 is capable of displaying the image/video of the operation environment of the four-legged robot 100 acquired by the unmanned aerial vehicle vision module 240 or the image/video of the operation environment of the unmanned aerial vehicle 200 acquired by the display control device 310; the display control device 310 can display the image/video of the operating environment of the four-legged robot 100 acquired by the robot vision module 140.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of the above-described respective embodiments, preferably, referring to fig. 1 to 3, the four-legged robot 100 includes a communication module 120, the unmanned aerial vehicle 200 includes a communication module 220, the remote control device 300 includes a communication module 320, and images/videos of the operation environment of the four-legged robot 100 and images/videos of the operation environment of the unmanned aerial vehicle 200 can be transmitted to the display control device 310 of the remote control device 300 via the communication module 120 of the four-legged robot 100, the communication module 220 of the unmanned aerial vehicle 200, and the communication module 320 of the remote control device 300.

Referring to fig. 3, according to the four-legged robot-based and unmanned aerial vehicle-based security inspection system 1000 of the preferred embodiment of the present application, the remote control device 300 further includes a stride pattern generation module 330 and an inspection task generation module 340, the inspection task generation module 340 generates a security inspection task based on an input instruction/operation input to the display control device 310, and the stride pattern generation module 330 generates a corresponding stride pattern (a slant pattern, a flat pattern, or a stair pattern) based on an input instruction/operation input to the display control device 310.

The display control device 310 is preferably a touch panel/touch display screen with a man-machine interaction function.

Referring to fig. 9, according to the security inspection system 1000 based on the quadruped robot and the unmanned aerial vehicle according to the preferred embodiment of the present application, the first processing module 111 includes an obstacle information extraction module 1112, the obstacle information extraction module 1112 performs feature extraction on obstacle information of an image/video of an operation environment of the quadruped robot 100, acquires obstacle features, and the control module 1111 generates a robot action control instruction based on the obstacle features.

Further, the first processing module 111 includes a patrol task receiving module 1114, the patrol task receiving module 1114 receives the security patrol task generated by the patrol task generating module 340 of the remote control device 300, and the control module 1111 generates a corresponding patrol control signal based on the security patrol task.

The security inspection control signals include control signals transmitted to the actuator 130 and control signals transmitted to the sensor assembly 170.

According to still another embodiment of the present application, based on the above embodiments, the unmanned aerial vehicle processor device 210 of the unmanned aerial vehicle 200 of the security inspection system 1000 based on the quadruped robot and the unmanned aerial vehicle receives the security inspection task generated by the inspection task generating module 340 of the remote control device 300, and generates a corresponding inspection control signal based on the security inspection task.

The inspection control signal of the unmanned aerial vehicle 200 is transmitted to the unmanned aerial vehicle vision module 240 and/or the actuator 230 of the unmanned aerial vehicle 200, and the actuator 230 includes a flight control mechanism, a propeller mechanism, etc. of the unmanned aerial vehicle 200.

Referring to fig. 5 and 6, the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 according to the preferred embodiment of the present application, the four-legged robot 100 includes a sensor assembly 170, and the sensor assembly 170 performs security inspection tasks based on inspection control signals generated by the first processing module 111.

The sensor assembly 170 includes, among other things, a torque sensor, a speed sensor, an acceleration sensor, a position sensor, a proximity sensor, a temperature sensor, etc.

The specific configuration of the sensor assembly 170 can be adjusted by those skilled in the art based on the present disclosure, and all fall within the scope of the present disclosure.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of each of the above embodiments, referring to fig. 9, the robot processor device 110 further includes a second processing module 112, the second processing module 112 includes an attitude information acquiring module 1121, the attitude information acquiring module 1121 acquires current attitude information of the four-legged robot 100 based on data transmitted by the sensor assembly 170 and transmits the current attitude information to the control module 1111 of the first processing module 111, and the control module 1111 generates a corresponding stride adjustment control signal based at least on the current attitude information of the four-legged robot 100 and the stride adjustment amount of the robot transmitted by the stride adjustment module 1131 of the third processing module 113.

The gesture information comprises the current gesture of four-foot robots, balance information of the four-foot robots, steering states of the four-foot robots and the like.

For the four-legged robot-based and unmanned aerial vehicle-based security inspection system 1000 of the above-described embodiments, preferably, the second processing module 112 further includes a mileage information obtaining module 1122, and the mileage information obtaining module 1122 obtains mileage information of the four-legged robot 100 based on the odometer in the sensor assembly 170.

Referring to fig. 4 and 9, the robot processor device 110 further includes a communication signal strength determining module 115, and the communication signal strength determining module 115 obtains at least the communication signal strength between the quadruped robot 100 and the unmanned aerial vehicle 200 in real time.

When the quadruped robot enters a building, communication signals may be attenuated, and the quadruped robot may be disconnected from the unmanned aerial vehicle.

Preferably, the communication signal strength determination module 115 sends a communication signal strength alert signal to the control module 1111 of the first processing module 111 when the communication signal strength is less than or equal to the strength threshold.

Further preferably, the control module 1111 of the first processing module 111 retrieves map information recorded by the navigation module 1114 based on the communication signal strength warning signal, and the control module 1111 generates a return control instruction based on the map information to control the quadruped robot 100 to perform a return action.

For example, when the quadruped robot 100 and the drone 200 perform security inspection tasks outside of a building, the communication connection between the quadruped robot 100 and the drone 200 may be interrupted due to site restrictions, terrain restrictions, etc., such as forests. Preferably, the quadruped robot 100 returns to the starting point for performing the security inspection task.

According to a preferred embodiment of the present application, the second processing module 112 of the security inspection system 1000 based on the quadruped robot and the unmanned aerial vehicle further includes a location information obtaining module 1123, where the location information obtaining module 1123 is at least used for generating the robot running track information of the quadruped robot 100 within the building.

Referring to fig. 9, the position information acquisition module 1123 preferably acquires robot trajectory information of the four-legged robot 100 within the building based on the position sensor of the sensor assembly 170.

Further preferably, the position information acquiring module 1123 transmits the acquired robot moving trajectory information to the control module 1111 of the first processing module 111, and the control module 1111 generates a return control instruction based on the robot moving trajectory information to control the quadruped robot 100 to perform a return action. Preferably, return to the position of the quadruped robot 100 prior to entering the building.

For the four-legged robot and unmanned aerial vehicle-based security inspection system 1000 of the above embodiments, the security inspection task preferably includes image acquisition and/or video acquisition.

According to another aspect of the present application, there is provided a quadruped robot 100, which can be used in a security inspection system 1000, the security inspection system 1000 comprising:

At least one unmanned aerial vehicle 200, the unmanned aerial vehicle 200 is at least used for executing security inspection tasks outside the building; the method comprises the steps of,

at least one quadruped robot 100, the quadruped robot 100 being used for performing security inspection tasks inside and/or outside a building;

the unmanned aerial vehicle 200 includes:

the four-legged robot 100 includes:

According to yet another aspect of the present application, there is provided a drone 200, which can be used for a security inspection system 1000, the security inspection system 1000 comprising:

the unmanned aerial vehicle 200 includes:

the four-legged robot 100 includes:

For the processors, memories described above, where the processors may operate as one or more general purpose hardware processors or special purpose hardware processors (e.g., digital signal processors, application specific integrated circuits, etc.). The processor may be configured to execute the computer readable program instructions and manipulate the data, both stored in the data store. The processor may also interact directly or indirectly with other components of the quadruped robot, such as sensors, power supplies, mechanical components, and/or electrical components.

The memory may be one or more types of hardware memory. For example, the data store may include or take the form of one or more computer-readable storage media that are readable or accessible by a processor. One or more computer-readable storage media may include volatile and/or nonvolatile storage components, such as optical, magnetic, organic, or other types of memory or storage, which may be wholly or partially integrated with the processor. In some embodiments, the data store may be a single physical device. In other embodiments, the data store may be implemented using two or more physical devices that may communicate with each other through wired or wireless communication. As before, the data store may include computer readable program instructions and data. The data may be any type of data, such as configuration data, sensor data, and/or diagnostic data, among other possibilities.

The controller described above may include one or more circuits, digital logic units, computer chips, and/or microprocessors configured (perhaps in other tasks) to interface between any combination of mechanical components, sensors, power supplies, electrical components, control systems, and/or users of the quadruped robot. In some embodiments, the controller may be a purpose built embedded device for performing specific operations with one or more subsystems of the robotic device.

The quadruped robot can process inspection data according to the sensor assembly carried by the robot and the robot processor device, and comprises a remote computing resource. For example, communication may be through a network using a remote system (e.g., a remote computer/server or cloud-based environment). Robots can identify the inherent architecture in a room, such as stairs or fire doors, through remote computing resources, such as according to standardized remote computing resources, and can implement stairway and/or fire door opening and closing by borrowing remote resources.

According to yet another embodiment of the present application, during operation of the unmanned aerial vehicle 200, the flight control unit of the unmanned aerial vehicle 200 communicates with the sensor assembly 270 and the inertial navigation module, updates state information such as attitude angle, linear acceleration, flying height, etc. of the unmanned aerial vehicle at the current sampling time, controls the flying state of the unmanned aerial vehicle 200 through the power source module 250 of the unmanned aerial vehicle 200 by using the proportional integral/derivative controller (which may be a part of the unmanned aerial vehicle processor device), and at the same time, transmits the unmanned aerial vehicle state information transmitted by the flight control unit, the position information obtained by the positioning module of the unmanned aerial vehicle 200, and the image obtained by the camera device processed by the unmanned aerial vehicle processor device 210 of the unmanned aerial vehicle 200, calculates the motion parameters of the unmanned aerial vehicle 200 itself, controls the flying trajectory of the unmanned aerial vehicle 200 through the flight control unit, and calculates and plans the advancing path of the quadruped robot 100, and transmits the result to the quadruped robot 100 through the wireless communication module of the unmanned aerial vehicle 200.

According to still another embodiment of the present application, when the four-legged robot 100 is determined to be in-building behavior, the landing base station behavior of the unmanned aerial vehicle 200 is restricted, and when the four-legged robot 100 enters into a building, particularly inside a residential building, in consideration of safety factors and legal regulations of the unmanned aerial vehicle 200, the landing base station behavior of the unmanned aerial vehicle 200 is restricted, that is, when the four-legged robot 100 is located in the building for inspection, the unmanned aerial vehicle 200 cannot log into the base station of the four-legged robot 100. At this time, if a return voyage of the quadruped robot 100 due to a continuous voyage occurs, the unmanned aerial vehicle 200 obtains an expected patrol end time through communication with the quadruped robot 100 in the building, and arranges the return voyage at the end of the time. If the cruising cannot be completed within the time, the unmanned aerial vehicle 200 preferably uses the working conditions of other quadruped robots to return to the home position. Under the condition that only one cruising quadruped robot exists, the unmanned aerial vehicle 200 cannot finish inspection due to cruising, and then the unmanned aerial vehicle automatically returns to the total base station to carry out cruising charging.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above embodiments are merely for clarity of illustration of the application and are not intended to limit the scope of the application. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present application.

Claims

1. Security inspection system based on four-legged robot and unmanned aerial vehicle, its characterized in that includes:

the unmanned aerial vehicle is at least used for executing security inspection tasks outside a building; and

The unmanned aerial vehicle includes:

the four-legged robot includes:

a robot vision module that obtains at least an image/video of an operating environment of the quadruped robot; and

2. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 1, wherein the robot processor device comprises a third processing module and a stride pattern receiving/judging module, wherein the stride pattern receiving/judging module performs feature extraction on ladder information of images/videos extracted from an operation environment of the four-legged robot to obtain ladder features; the third processing module generates a robot stride adjustment amount based at least on the stair characteristic.

3. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 2, wherein the robot processor device further comprises a second processing module, the second processing module comprises a gesture information acquisition module, the gesture information acquisition module acquires current gesture information of the four-legged robot based on data transmitted by a sensor assembly and transmits the current gesture information to a control module of the first processing module, and the control module generates a corresponding stride adjustment control signal based at least on the current gesture information of the four-legged robot and the stride adjustment amount of the robot transmitted by a stride adjustment module of the third processing module.

4. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 3, wherein the second processing module further comprises a mileage information acquisition module that acquires mileage information of the four-legged robot based on an odometer in the sensor assembly.

5. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 2, wherein the third processing module comprises a stride adjustment module that generates the robot stride adjustment amount based on the stair characteristics.

6. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 5, wherein the third processing module triggers a slope mode, a land leveling mode or a stair step mode based on the stride mode received by the stride mode receiving/judging module, and transmits the triggered slope mode, land leveling mode or stair step mode to the control module of the first processing module, so that the control module generates a corresponding stride mode control signal.

7. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 6, further comprising a remote control device, wherein the remote control device comprises a display control device capable of displaying the image/video of the operating environment of the four-legged robot or the image/video of the operating environment of the unmanned aerial vehicle acquired by the unmanned aerial vehicle vision module; the display control device can display the image/video of the operation environment of the four-legged robot, which is acquired by the robot vision module.

8. The four-legged robot and unmanned aerial vehicle-based security inspection system according to claim 7, wherein the four-legged robot includes a communication module, the unmanned aerial vehicle includes a communication module, and the remote control device includes a communication module, and via the communication module of the four-legged robot, the communication module of the unmanned aerial vehicle, and the communication module of the remote control device, an image/video of an operation environment of the four-legged robot and an image/video of an operation environment of the unmanned aerial vehicle can be transmitted to a display control device of the remote control device;

Optionally, the remote control device further includes a stride pattern generation module and a patrol task generation module, the patrol task generation module generates a security patrol task based on an input instruction/operation input to the display control device, and the stride pattern generation module generates a corresponding stride pattern based on an input instruction/operation input to the display control device;

optionally, the first processing module includes an obstacle information extraction module, the obstacle information extraction module performs feature extraction on obstacle information of an image/video of an operation environment of the quadruped robot to obtain an obstacle feature, and the control module generates the robot action control instruction based on the obstacle feature;

optionally, the first processing module includes a patrol task receiving module, the patrol task receiving module receives the security patrol task generated by the patrol task generating module of the remote control device, and the control module generates a corresponding patrol control signal based on the security patrol task;

optionally, the unmanned aerial vehicle processor device of the unmanned aerial vehicle receives a security inspection task generated by the inspection task generating module of the remote control device, and generates a corresponding inspection control signal based on the security inspection task;

Optionally, the quadruped robot includes a sensor assembly, and the sensor assembly performs a security inspection task based on the inspection control signal generated by the first processing module.

9. A quadruped robot capable of being used in a security inspection system, comprising: the security inspection system comprises

the unmanned aerial vehicle includes:

the four-legged robot includes:

10. An unmanned aerial vehicle, it can be used for security protection inspection system, its characterized in that includes: the security inspection system comprises

At least one unmanned aerial vehicle, wherein the unmanned aerial vehicle is at least used for executing security inspection tasks outside a building; and

the unmanned aerial vehicle includes:

the four-legged robot includes: