CN102096413A - Security patrol robot system and control method thereof - Google Patents

Security patrol robot system and control method thereof Download PDF

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Publication number
CN102096413A
CN102096413A CN 201010601679 CN201010601679A CN102096413A CN 102096413 A CN102096413 A CN 102096413A CN 201010601679 CN201010601679 CN 201010601679 CN 201010601679 A CN201010601679 A CN 201010601679A CN 102096413 A CN102096413 A CN 102096413A
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China
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robot
control
stage
patrol
host computer
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CN102096413B (en
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高庆吉
叶晨
牛国臣
武付军
于咏生
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Civil Aviation University of China
Tianjin Yaan Technology Electronic Co Ltd
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Civil Aviation University of China
Tianjin Yaan Technology Electronic Co Ltd
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Abstract

The invention discloses a security patrol robot system and a control method thereof. The system comprises a robot, a wireless network, a general packet radio service (GPRS) network and a central control system, wherein the robot and the central control system are in communication with each other in a wireless way through the wireless network or the GPRS network. The security patrol robot system integrates opto-mechatronics integration, and the robot is remotely controlled by the central control system, so that normal operation of the robot is ensured. The robot has functions of autonomous environment detection, autonomous obstacle avoiding navigation and autonomous charging, can autonomously complete tasks such as fixed route patrol, random route patrol, important position observation and the like according to specific requirements of a user under the condition of no manual intervention, and can be manually controlled remotely to patrol; and the system has omnibearing visual processing and judging capability, vision and bidirectional voice information can be remotely transmitted and monitored, environmental smoke and fire situation can be detected, and abnormity alarms can be made.

Description

Security personnel's patrol machine robot system and control method thereof
Technical field
The invention belongs to the Robotics field, particularly relate to a kind of security personnel's patrol machine robot system and control method thereof.
Background technology
In recent years, more and more researchers begins one's study and can change the service robot of human daily life, because security personnel's patrol robot has broad application prospects, has therefore become new research direction of service robot.Different with the stationarity and the passivity of supervisory system, security personnel's patrol robot is an active, system movably, utilize its mobility, robot can go on patrol and monitor in different places, and can form the distributed monitoring network system with fixing visual monitor system, with comprehensive raising safety monitoring effect.
The patrol robot of Japan Sogo guard guarantee company development can be acted as guide in office, guides the visitor to arrive the destination, and can go on patrol at night.This robot adopts wheeled construction, and positions and navigate in the mode based on road sign, can move on smooth road, and by the video camera that is installed in the robot environmental information is transferred to Control Room.But the shortcoming of this patrol robot is a function singleness, only is applicable to metastable working environments such as office, and its location and navigation still need rely on the road sign of artificial setting, and can't adapt to the change of working environment.
The security robot Chung Cheng of Taiwan's scholars Luo Ren power development has also adopted the wireless network design except can going on patrol, can carry out remote control, and have the function of automatic charging.Daytime, this robot utilized speech guide system and Touch Screen to serve as guide to visitors person, can change again evening and appoint the security personnel, and adopt the Radio Network System based on GSM to carry out remote control.But, do not mention in the document that this robot has the two-way voice transmissions function, and, therefore when high-speed mobile or turning, fall easily because this robot adopts the three-wheel motion.
Security personnel's patrol robot outward appearance of South China Science ﹠ Engineering University's development is " police dog " shape, can set the working method of autonomous patrol or manual control for, it can go on patrol according to predefined route, and independently avoiding obstacles is also revised the route that advances, it is wide to have investigative range, can continuous, multi-faceted patrol, and have functions such as burglar alarm.But this robot in use, needs in advance on request route to the robot teaching of programming, and need carry out appropriate reconstruction to its workplace, for example pastes the navigation band on the ground, will reduce the range of application of this robot so greatly.In addition, do not mention in the document that this robot has autonomous charge function yet.
Security personnel's patrol robot of Institute of Automation Research of CAS high wound center development is as platform with the full autonomous robot AIM that develops voluntarily, except can finishing tasks such as obstacle collision prevention, independent navigation, also provide fire detecting system, this is the method detection of fires timely and accurately that adopts information fusion, adopts the control mode of Client/Server to realize wireless telecommunications and Remote simultaneously.But, do not mention in the document that this robot has autonomous charge function, night patrol function, also do not have the transmission and the monitoring function of voice messaging, and the document is only mentioned patrol and monitoring that this robot is suitable for indoor environments such as office, warehouse, factory building.
The theft-proof robot capable of patrolling randomly of Guizhou University development is by 4 infrared ray sensors, 4 cameras, doppler sensor and sound detection sensors, and the orientation that makes robot need not to adjust sensor just can realize that comprehensive full visual angle monitors.Simultaneously, this robot also has program control and two kinds of control modes of remote control, both can select loiter time and route randomly, switch to remote control mode again, and carry out Remote and have warning function by the video information that supervisory system is obtained according to the program of finishing in advance.But this robot need finish program in advance and go on patrol, thereby reduces its applicability.And whether also not mentioned this robot has functions such as automatic obstacle avoiding function, autonomous charge function and night patrol in the document.
The intelligent safety patrol robot of Dongguan University of Technology design has been equipped with solar tracking system, adopts GPRS network can make robot arrive impact point, with STC12C series 51 single-chip microcomputers as key control unit.But this robot has just realized simple remote control function, and the solar energy power accumulating continuous working period is very short, and work is also unstable, and there is very big delay in GPRS network control.In addition, this robot does not have the night patrol function, is not equipped with audio transmission system yet.
In a word, there is function singleness per capita in above-mentioned similar machine of the prior art, to the bad adaptability of environment, can only be operated in defectives such as indoor environment, and all central control system is not made description.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of reasonable in design, multiple functional security personnel's patrol machine robot system.
Another object of the present invention is to provide a kind of control method of above-mentioned security personnel's patrol machine robot system.
In order to achieve the above object, security personnel's patrol machine robot system provided by the invention comprises robot, wireless network, GPRS network and central control system; Wherein robot and central control system are carried out communication by wireless network or GPRS network wirelessly, and the action of robot is controlled by central control system; Robot is made up of body and control system, and described body comprises chassis, shell, fixed mount, two driving wheels and two engaged wheels, and wherein the chassis along continuous straight runs is provided with; Shell is installed in the surface on chassis; Fixed mount is around the lower edge position that is arranged on shell; Two driving wheels are separately positioned on the front part sides on chassis, and two engaged wheels are separately positioned on the both sides, rear portion on chassis, and control system then is installed in the inside and the surface of shell; Central control system is arranged in the central control room, and it mainly comprises central computer, audio-visual display device, central control system microphone, robot control rocking bar and wireless telecommunications system.
Described control system comprises host computer system and the control that links to each other with host computer system and drive system, environment sensing monitoring system, communication system, power-supply system and autonomous charging system, wherein:
Host computer system is made up of embedded industrial control mainboard, storer and CF card;
Control and drive system mainly by robot movement-control system, camera control system, voice transfer control system, carry infrared illumination and emergent visible illumination and open control system and form; Wherein the robot movement-control system mainly is made up of motion control and driver module, the 1st drive motor and the 2nd drive motor; 1st, the 2nd drive motor all links to each other with host computer system with driver module by control; Camera control system mainly is made up of PTZ driver module and PTZ control device; The voice transfer control system mainly is made up of audio frequency input/output module, loudspeaker and microphone, loudspeaker is installed in the inside of shell, and be fastenedly connected with shell, link to each other with host computer system by the audio frequency input/output module simultaneously, microphone is installed in the front end surface middle part of shell, and links to each other with host computer system by the audio frequency input/output module; Carry infrared illumination and emergent visible illumination unlatching control system and be made up of infrared illumination lamp, visible illumination lamp and flashing light, infrared illumination lamp and visible illumination lamp are installed in the front end bottom of shell, and link to each other with host computer system; Flashing light is installed in the top of shell, and is connected with host computer system;
The environment sensing monitoring system comprises ultrasonic ranging system, Pan/Tilt/Zoom camera, image pick-up card, fully-directional visual system, 3-dimensional digital compass, the 1st photoelectric encoder and the 2nd photoelectric encoder; Wherein ultrasonic ranging system links to each other with host computer system, is become by a plurality of group of ultrasonic sensors that are installed on the said fixing frame; Fully-directional visual system is installed in the top of shell, and it links to each other with host computer system by image pick-up card; Pan/Tilt/Zoom camera is installed in the top of fully-directional visual system, and links to each other with host computer system by image pick-up card; The 3-dimensional digital compass is installed in the inside of shell, and is fastenedly connected with shell, links to each other with host computer system simultaneously; The 1st photoelectric encoder and the 2nd photoelectric encoder are installed respectively on the tailing axle of the 1st, the 2 drive motor;
Communication system mainly is made up of wireless aps module and GPRS module, and wireless aps module and GPRS module are installed in the inside of shell, and all directly links to each other with host computer system;
Power-supply system is made up of DC-DC module and lead-acid battery, is used to other system's power supply in the control system;
Autonomous charging system is used for the working power voltage of detection system, when working power voltage is not enough, and the notice host computer system, and can control power-supply system and charge automatically.
Described environment sensing monitoring system also comprises a smog, temperature sensor, and this device is installed in the inside of shell, and links to each other with host computer system, is used to monitor the working environment, and realizes smog alarm and fire alarm.
Described driving wheel adopts inflated wheel, and engaged wheel adopts universal wheel.
The control method of security personnel's patrol machine robot system provided by the invention comprises carries out the following step in order:
1) the S1 stage of hardware initialization; This stage is first stage after powering on, and in this stage, at first the airborne hardware of robot is carried out initialization;
2) the S2 stage whether initialization is successfully judged; If judged result is a "No", enters the S13 stage of fault processing, and give the alarm; If judged result is a "Yes", airborne sensor is transferred to central control system with its perception information by wireless network or GPRS network and shows on image display, enters the S3 stage then;
3) whether robot is received the S3 stage that the steering order of central control system is judged by wireless network or GPRS network; If judged result is a "Yes", enter the S4 stage; Otherwise turn back to the porch in S3 stage;
4) the S4 stage of whether selecting independently patrol pattern to judge to the user; If judged result is a "Yes", enter the S5 stage; Otherwise enter the S14 stage;
5) user's information of gathering each sensor in the robot by central control system, and according to the movement velocity of above-mentioned information setting robot, keep away S5 stage of barrier safe distance parameter;
6) set S6 stage of robot patrol route according to electronic chart;
7) robot S7 stage of making a strategic decision according to result, patrol route and current task;
8) robot delivers to central control system with above-mentioned behavior and carries out behavior arbitration, to obtain the S8 stage of the best behavior that the robot current time should carry out;
9) host computer system sends movement instruction to carry out the S9 stage of the behavior; In this stage, host computer system will be controlled the 1st drive motor and the rotation of the 1st drive motor by control and driver module, move to drive two driving wheels;
10) the S14 stage of whether selecting Long-distance Control patrol pattern to judge to the user; If judged result is a "Yes", enter the S15 stage; Otherwise turn back to the porch in S3 stage;
11) robot finishes the S15 stage of patrol work according to the steering order of central control system;
12) to whether withdrawing from the S11 stage that the patrol pattern is judged; If judged result is a "Yes", enter the S12 stage; Otherwise turn back to the porch in S3 stage;
13) stop all S12 stages movable and the preservation state data of robot, thinking that robot goes on patrol next time provides primary data.
Security personnel's patrol robot provided by the invention system integration optical, mechanical and electronic integration, by the central control system remote control robot, can normally move to ensure robot.This robot has autonomous environment detection, automatic obstacle avoiding navigation and autonomous charge function, it can be according to staff's specific requirement task such as finish independently that under no manual intervention's situation route patrol, random path patrol and keypoint part are watched, and also manually this robot of Long-distance Control goes on patrol; The processing judgement that not only has omni-directional visual, but also can carry out the remote transmission and the monitoring of vision and double-directional speech information, but testing environment smog and fire condition are also carried out abnormal conditions and are reported to the police, and therefore can be applied to Civil Aviation Airport, senior house sub-district, important warehouse, market and other public place.
Description of drawings
Fig. 1 is that security personnel's patrol robot provided by the invention system forms synoptic diagram.
Fig. 2 is a robot external structure stereographic map in security personnel's patrol machine robot system provided by the invention.
Fig. 3 is that robot control system constitutes block diagram in security personnel's patrol machine robot system provided by the invention.
Fig. 4 is a robot control system electrical structure diagram in security personnel's patrol machine robot system provided by the invention.
Fig. 5 is security personnel's patrol robot system control method process flow diagram provided by the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments security personnel's patrol machine robot system provided by the invention and control method thereof are elaborated.
As Fig. 1-shown in Figure 4, security personnel's patrol machine robot system provided by the invention comprises: robot 1, wireless network 3, GPRS network 4 and central control system 5; Wherein robot 1 and central control system 5 are carried out communication by wireless network 3 or GPRS network 4 wirelessly, and the action of robot 1 is controlled by central control system 5; Robot 1 is made up of body and control system, and described body comprises chassis 19, shell 17, fixed mount 9, two driving wheels 7 and two engaged wheels 18, wherein chassis 19 along continuous straight runs settings; Shell 17 is installed in the surface on chassis 19, forms entire machine people 1 external structure thus with chassis 19; Fixed mount 9 is around the lower edge position that is arranged on shell 17; Two driving wheels 7 are separately positioned on the front part sides on chassis 19, and two engaged wheels 18 are separately positioned on the both sides, rear portion on chassis 19, and control system then is installed in the inside and the surface of shell 17; Central control system 5 is arranged in the central control room, and it mainly comprises central computer 6, audio-visual display device 16, central control system microphone 35, robot control rocking bar 36 and wireless telecommunications system.
Described control system comprises host computer system 20 and the control that links to each other with host computer system 20 and drive system 21, environment sensing monitoring system 22, communication system 23, power-supply system 24 and autonomous charging system 25, wherein:
Host computer system 20 is made up of embedded industrial control mainboard, storer and CF card, is used for handling machine people 1 perception and monitoring information, and carries out alternately with central control system 5, around transmitting and self information, and receives the instruction of central control system 5.
Control and drive system 21 mainly by robot movement-control system, camera control system, voice transfer control system, carry infrared illumination and emergent visible illumination and open control system and form; Wherein: the robot movement-control system is used to drive the rotation of driving wheel 7, thereby control robot moves, and it mainly is made up of motion control and driver module the 38, the 1st drive motor 26 and the 2nd drive motor 27; The 1st, the 2nd drive motor 26,27 all link to each other with host computer system 20 with driver module 38 by control, host computer system 20 is passed through a high-level command collection and control and driver module 38 and is realized mutual, and provide speed, parameters such as distance, again through control and driver module 38 controls the 1st, the 2nd drive motor 26,27 operation, control generates pwm signal and directly promotes the 1st with the instruction that driver module 38 sends according to host computer system 20, the 2nd drive motor 26,27 operations, the user can realize this locality of robot movement-control system is controlled and Long-distance Control by the keyboard that robot controls on rocking bar 36 and the central computer 6; Camera control system mainly is made up of PTZ driver module 39 and PTZ control device 28, be used for the change of level, pitching camera angle of Long-distance Control Pan/Tilt/Zoom camera 13 and zoom, change action such as doubly, watch, follow the tracks of suspicious figure etc. with what cooperate that robot 1 realizes keypoint part; The voice transfer control system mainly is made up of audio frequency input/output module 40, loudspeaker 29 and microphone 12, loudspeaker 29 is installed in the inside of shell 17, and be fastenedly connected with shell 17, link to each other with host computer system 20 by audio frequency input/output module 40 simultaneously, microphone 12 is installed in the front end surface middle part of shell 17, and links to each other with host computer system 20 by audio frequency input/output module 40; The voice transfer control system is used for setting up the mutual traffic of voice road between robot 1 and central control system 5, the voice transfer control system also is installed on the central control system 5, the user can be as required be transferred to robot 1 with oneself sound by central control system microphone 35, and the sound around the robot 1 also can be transferred to central control room by microphone 12; Carrying infrared illumination and emergent visible illumination unlatching control system is made up of infrared illumination lamp 10, visible illumination lamp 11 and flashing light 15, infrared illumination lamp 10 and visible illumination lamp 11 are installed in the front end bottom of shell 17, and link to each other with host computer system 20, the user can open or close this system as required, perhaps robot 1 opens or closes this system automatically according to its running environment, so robot 1 can be in the half-light environment and the patrol work of ensuring public security night; Have warning function during flashing light 15 work, be installed in the top of shell 17, and be connected with host computer system 20.
Environment sensing monitoring system 22 is input perception parts of master control system 20, be used to gather external information, and this information carried out fusion treatment, be used for behavior planning and decision-making, it comprises ultrasonic ranging system 8, Pan/Tilt/Zoom camera 13, image pick-up card 41, fully-directional visual system 14,3-dimensional digital compass the 31, the 1st photoelectric encoder 32 and the 2nd photoelectric encoder 33; Wherein ultrasonic ranging system 8 links to each other with host computer system 20, is become by a plurality of group of ultrasonic sensors that are installed on the said fixing frame 9, is used for the barrier around the detection machine people 1 in 360 ° scope, utilizes this information machine people 1 can realize automatic obstacle avoiding; Fully-directional visual system 14 is installed in the top of shell 17, and it links to each other with host computer system 20 by image pick-up card 41; Pan/Tilt/Zoom camera 13 is installed in the top of fully-directional visual system 14, and links to each other with host computer system 20 by image pick-up card 41; Pan/Tilt/Zoom camera 13 and fully-directional visual system 14 are used for gathering in real time 360 ° of images that scope is interior around the robot 1, and remote transmission is given central control system 5; 3-dimensional digital compass 31 is installed in the inside of shell 17, and is fastenedly connected with shell 17, links to each other with host computer system 20 simultaneously, is used for determining the angle of robot 1; The 1st photoelectric encoder 32 and the 2nd photoelectric encoder 33 are installed respectively on the tailing axle of the 1st, the 2 drive motor 26,27, are used for calculating respectively the mileage that two driving wheels 7 move; Robot carries out location and the navigation under the indoor environment by the information that merges Pan/Tilt/Zoom camera 13, fully-directional visual system the 14, the 1st, the 2 photoelectric encoder 32,33,3-dimensional digital compass 31 and ultrasonic ranging system 8.
Communication system 23 mainly is made up of wireless aps module 2 and GPRS module 37, and wireless aps module 2 is installed in the inside of shell 17 with GPRS module 37, and all directly links to each other with host computer system 20; Native system under normal circumstances uses wireless network 3 to communicate, and is more weak or when not having when the received signal of wireless network 3 for expanding communication ability, uses GPRS network 4 to carry out communication, so just can realize the comprehensive covering of network;
Power-supply system 24 is made up of DC-DC module and lead-acid battery, is used to other system's power supply in the control system; Lead-acid battery is as power source, and the charging sustainable work in back is more than 3 hours;
Autonomous charging system 25 is used for the working power voltage of detection system, when working power voltage is not enough, and notice host computer system 20, and can control power-supply system 24 and charge automatically.
Described environment sensing monitoring system 22 also comprises a smog, temperature sensor 34, and this device is installed in the inside of shell 17, and links to each other with host computer system 20, is used to monitor the working environment, and realizes smog alarm and fire alarm.
Described driving wheel 7 adopts inflated wheel, can play the effect of damping, and engaged wheel 18 adopts universal wheel.
Now the course of work to security personnel's patrol machine robot system provided by the invention is described below: robot 1 mode of operation in security personnel's patrol machine robot system provided by the invention is divided into autonomous patrol pattern and Long-distance Control is gone on patrol two kinds of patterns.Autonomous patrol pattern is a robot 1 according to user's specific requirement task such as finish independently that under no manual intervention's situation route patrol, random path patrol and keypoint part are watched; Long-distance Control patrol pattern is that artificial remote control robot 1 goes on patrol.At first, the user sets up electronic chart according to the working environment of robot 1, and it is stored in the central computer 6 of central control system 5, when robot 1 patrol, can demonstrate the current pose and the moving line of robot 1 in the electronic chart on the audio-visual display device 16, the user also can the mode by mouse action corrects the pose, robot patrol route of robot 1 etc. in real time on electronic chart.The state that the oneself state that detects when robot 1 and each airborne sensor detect is during all in normal operating conditions, can send by the mode of artificial Long-distance Control and begin the patrol instruction, make robot be operated in autonomous patrol pattern, the perhaps realtime graphic and the ultrasonic ranging system 8 of robot 1 working environment in central control system 5, gathered of user according to fully-directional visual system 14,3-dimensional digital compass 31 information such as airborne sensor such as grade, walking by robot control rocking bar 36 or keyboard remote control robot 1, turn, keep away barrier etc., it is operated under the Long-distance Control patrol pattern.The image that robot 1 utilizes Pan/Tilt/Zoom camera 13 and fully-directional visual system 14 to gather in 1 four jiaos of 360 ° of scopes of robot.Under autonomous patrol pattern, robot 1 keeps away barrier according to the information independence of ultrasonic ranging system 8; The information that merges fully-directional visual system 14,3-dimensional digital compass 8 and the 1st, the 2nd photoelectric encoder 32,33 is finished autonomous positioning and navigation; Robot 1 utilizes the working power voltage of autonomous charging system 25 detection systems, and when cell voltage was not enough, the robot 1 autonomous charging station of seeking charged; Utilize the microphone 12 and the bidirectional remote of loudspeaker 29 implementation language information to transmit; Utilize smog, temperature sensor 34 to monitor the working environment, and when abnormal conditions take place, carry out smog alarm, fire alarm etc.Simultaneously, visible illumination lamp 11 and infrared illumination lamp 10 make the robot 1 can be in the half-light environment and the patrol work of ensuring public security night.In addition, the user can give robot 1 by central control system microphone 35 with the transfer voice of oneself as required, and the sound around the robot 1 also can be transferred to central control room by microphone 12.
In addition, the user can carry out parameter setting by 5 pairs of robots of central control system 1, comprise robot 1 proper motion speed, highest movement speed, minimum alarm voltage, mode of motion, keep away barrier safe distance and robot and judge parameters such as self pose is whether normal; Can be by the situation in audio frequency bidirectional transmission, video one-way transmission and acquisition robot 1 running environment of wireless network 3 control robot 1; Current voltage that can supervisory-controlled robot 1, current pose, current travelling speed, currently execute the task, current motion mileage and current whether in the hole; Can on electronic chart, demonstrate current pose, robot 1 moving line of robot 1, and in real time the mode by mouse action on electronic chart, corrects robot 1 pose, set robot 1 patrol route (automatic setting and manual the setting) and set robot 1 and go on patrol used map and map data base; Also can set robot 1 beginning or termination patrol, independently charge or keep away the contour level of barrier task by force.
As shown in Figure 5, the control method of security personnel's patrol machine robot system provided by the invention comprises and carries out the following step in order:
1) the S1 stage of hardware initialization; This stage is first stage after powering on, and in this stage, at first robot 1 airborne hardware is carried out initialization, for example video camera, ultrasonic sensor etc.;
2) the S2 stage whether initialization is successfully judged; If judged result is a "No", enters the S13 stage of fault processing, and give the alarm; If judged result is a "Yes", airborne sensor is transferred to central control system 5 with its perception information by wireless network 3 or GPRS network 4 and shows on image display, enters the S3 stage then;
3) whether robot is received the S3 stage that the steering order of central control system is judged by wireless network or GPRS network; If judged result is a "Yes", enter the S4 stage; Otherwise turn back to the porch in S3 stage;
4) the S4 stage of whether selecting independently patrol pattern to judge to the user; If judged result is a "Yes", enter the S5 stage; Otherwise enter the S14 stage;
5) user's information of gathering each sensor in the robot by central control system, and according to the movement velocity of above-mentioned information setting robot, keep away S5 stage of barrier safe distance parameter;
6) set S6 stage of robot patrol route according to electronic chart;
7) robot S7 stage of making a strategic decision according to result, patrol route and current task; In this stage, when robot receives parameter of user value and patrol route, it will be handled the information of airborne sensor, and make a strategic decision according to result, patrol route and current task, with the generation behavior, the information that for example merges fully-directional visual system, 3-dimensional digital compass, ultrasonic ranging system and photoelectric encoder positions behavior, utilize the perception information of ultrasonic ranging system to keep away barrier behavior, cell voltage carries out independently charging behavior etc. when not enough;
8) robot delivers to central control system with above-mentioned behavior and carries out behavior arbitration, to obtain the S8 stage of the best behavior that the robot current time should carry out;
9) host computer system sends movement instruction to carry out the S9 stage of the behavior; In this stage, host computer system 20 will be controlled the 1st drive motor 26 and 27 rotations of the 1st drive motor by control and driver module, move to drive two driving wheels 7;
10) the S14 stage of whether selecting Long-distance Control patrol pattern to judge to the user; If judged result is a "Yes", enter the S15 stage; Otherwise turn back to the porch in S3 stage;
11) robot finishes the S15 stage of patrol work according to the steering order of central control system; In this stage, the realtime graphic of the robot working environment that the user can gather according to fully-directional visual system in central control system and the information of airborne sensor, walking by robot control rocking bar 36 or keyboard remote control robot, turn, keep away barrier etc., make it finish patrol work;
12) to whether withdrawing from the S11 stage that the patrol pattern is judged; If judged result is a "Yes", enter the S12 stage; Otherwise turn back to the porch in S3 stage;
13) stop all S12 stages movable and the preservation state data of robot, thinking that robot goes on patrol next time provides primary data.

Claims (5)

1. security personnel's patrol machine robot system, it is characterized in that: described security personnel's patrol machine robot system comprises robot (1), wireless network (3), GPRS network (4) and central control system (5); Wherein robot (1) and central control system (5) are carried out communication by wireless network (3) or GPRS network (4) wirelessly, and the action of robot (1) is controlled by central control system (5); Robot (1) is made up of body and control system, and described body comprises chassis (19), shell (17), fixed mount (9), two driving wheels (7) and two engaged wheels (18), wherein chassis (19) along continuous straight runs setting; Shell (17) is installed in the surface of chassis (19); Fixed mount (9) is around the lower edge position that is arranged on shell (17); Two driving wheels (7) are separately positioned on the front part sides of chassis (19), and two engaged wheels (18) are separately positioned on the both sides, rear portion on chassis (19), and control system then is installed in the inside and the surface of shell (17); Central control system (5) is arranged in the central control room, and it mainly comprises central computer (6), audio-visual display device (16), central control system microphone (35), robot control rocking bar (36) and wireless telecommunications system.
2. security personnel's patrol machine robot system according to claim 1, it is characterized in that: described control system comprises host computer system (20) and the control that links to each other with host computer system (20) and drive system (21), environment sensing monitoring system (22), communication system (23), power-supply system (24) and autonomous charging system (25), wherein:
Host computer system (20) is made up of embedded industrial control mainboard, storer and CF card;
Control and drive system (21) mainly by robot movement-control system, camera control system, voice transfer control system, carry infrared illumination and emergent visible illumination and open control system and form; Wherein the robot movement-control system mainly is made up of motion control and driver module (38), the 1st drive motor 2 (6) and the 2nd drive motor (27); 1st, the 2nd drive motor (26,27) all links to each other with host computer system (20) with driver module (38) by control; Camera control system mainly is made up of PTZ driver module (39) and PTZ control device (28); The voice transfer control system mainly is made up of audio frequency input/output module (40), loudspeaker (29) and microphone (12), loudspeaker (29) is installed in the inside of shell (17), and be fastenedly connected with shell (17), link to each other with host computer system (20) by audio frequency input/output module (40) simultaneously, microphone (12) is installed in the front end surface middle part of shell (17), and links to each other with host computer system (20) by audio frequency input/output module (40); Carrying infrared illumination and emergent visible illumination unlatching control system is made up of infrared illumination lamp (10), visible illumination lamp (11) and flashing light (15), infrared illumination lamp (10) and visible illumination lamp (11) are installed in the front end bottom of shell (17), and link to each other with host computer system (20); Flashing light (15) is installed in the top of shell (17), and is connected with host computer system (20);
Environment sensing monitoring system (22) comprises ultrasonic ranging system (8), Pan/Tilt/Zoom camera (13), image pick-up card (41), fully-directional visual system (14), 3-dimensional digital compass (31), the 1st photoelectric encoder (32) and the 2nd photoelectric encoder (33); Wherein ultrasonic ranging system (8) links to each other with host computer system (20), is become by a plurality of group of ultrasonic sensors that are installed on the said fixing frame (9); Fully-directional visual system (14) is installed in the top of shell (17), and it links to each other with host computer system (20) by image pick-up card (41); Pan/Tilt/Zoom camera (13) is installed in the top of fully-directional visual system (14), and links to each other with host computer system (20) by image pick-up card (41); 3-dimensional digital compass (31) is installed in the inside of shell (17), and is fastenedly connected with shell (17), links to each other with host computer system (20) simultaneously; The 1st photoelectric encoder (32) and the 2nd photoelectric encoder (33) are installed respectively on the tailing axle of the 1st, the 2 drive motor (26,27);
Communication system (23) mainly is made up of wireless aps module (2) and GPRS module (37), and wireless aps module (2) is installed in the inside of shell (17) with GPRS module (37), and all directly links to each other with host computer system (20);
Power-supply system (24) is made up of DC-DC module and lead-acid battery, is used to other system's power supply in the control system;
Autonomous charging system (25) is used for the working power voltage of detection system, when working power voltage is not enough, and notice host computer system (20), and can control power-supply system (24) and charge automatically.
3. security personnel's patrol machine robot system according to claim 2, it is characterized in that: described environment sensing monitoring system (22) also comprises a smog, temperature sensor (34), this device is installed in the inside of shell (17), and link to each other with host computer system (20), be used to monitor the working environment, and realize smog alarm and fire alarm.
4. security personnel's patrol machine robot system according to claim 1 is characterized in that: described driving wheel (7) adopts inflated wheel, and engaged wheel (18) adopts universal wheel.
5. the control method of security personnel's patrol machine robot system as claimed in claim 1, it is characterized in that: described control method comprises carries out the following step in order:
1) the S1 stage of hardware initialization; This stage is first stage after powering on, and in this stage, at first the airborne hardware of robot (1) is carried out initialization;
2) the S2 stage whether initialization is successfully judged; If judged result is a "No", enters the S13 stage of fault processing, and give the alarm; If judged result is a "Yes", airborne sensor is transferred to central control system (5) with its perception information by wireless network (3) or GPRS network (4) and shows on image display, enters the S3 stage then;
3) whether robot is received the S3 stage that the steering order of central control system is judged by wireless network or GPRS network; If judged result is a "Yes", enter the S4 stage; Otherwise turn back to the porch in S3 stage;
4) the S4 stage of whether selecting independently patrol pattern to judge to the user; If judged result is a "Yes", enter the S5 stage; Otherwise enter the S14 stage;
5) user's information of gathering each sensor in the robot by central control system, and according to the movement velocity of above-mentioned information setting robot, keep away S5 stage of barrier safe distance parameter;
6) set S6 stage of robot patrol route according to electronic chart;
7) robot S7 stage of making a strategic decision according to result, patrol route and current task;
8) robot delivers to central control system with above-mentioned behavior and carries out behavior arbitration, to obtain the S8 stage of the best behavior that the robot current time should carry out;
9) host computer system sends movement instruction to carry out the S9 stage of the behavior; In this stage, host computer system (20) will be controlled the 1st drive motor (26) and the 1st drive motor (27) rotation by control and driver module, move to drive two driving wheels (7);
10) the S14 stage of whether selecting Long-distance Control patrol pattern to judge to the user; If judged result is a "Yes", enter the S15 stage; Otherwise turn back to the porch in S3 stage;
11) robot finishes the S15 stage of patrol work according to the steering order of central control system;
12) to whether withdrawing from the S11 stage that the patrol pattern is judged; If judged result is a "Yes", enter the S12 stage; Otherwise turn back to the porch in S3 stage;
13) stop all S12 stages movable and the preservation state data of robot, thinking that robot goes on patrol next time provides primary data.
CN2010106016791A 2010-12-23 2010-12-23 Security patrol robot system and control method thereof Expired - Fee Related CN102096413B (en)

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