CN105563488A - Night patrol robot - Google Patents
Night patrol robot Download PDFInfo
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- CN105563488A CN105563488A CN201610104215.7A CN201610104215A CN105563488A CN 105563488 A CN105563488 A CN 105563488A CN 201610104215 A CN201610104215 A CN 201610104215A CN 105563488 A CN105563488 A CN 105563488A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a night patrol robot. The night patrol robot comprises a robot body and a chassis mechanism for driving the robot body to move, and further comprises an actuation mechanism, an acousto-optical device, a sensor unit and a control unit, wherein the sensor unit includes a thermal imager; the control unit judges the human vital sign type in the patrol area according to infrared thermal image data acquired by the thermal imager and according to human vital signs; when normal behaviors are judged, a control instruction is sent, and the chassis mechanism is driven through the actuation mechanism so as to drive the robot body to move; and when abnormal behaviors are judged, a warning instruction is sent to drive the acousto-optical device to give an alarm. The night patrol robot can replace prison guards to actuate the night patrol task of jail rooms to capture infrared thermal images of human activities at night, and can speak, listen and think to actively analyze the work-rest conditions and the night activities of prisoners so as to intelligent identify abnormal behaviors to timely discover potential safety hazards.
Description
Technical field
The invention belongs to walking robot technical field, be specifically related to a kind of Ye Xun robot.
Background technology
The night inspection in prison is performed by prison guard, and night, prison guard's patrol not only worked heavy, and because of the particularity of supervised entities, the danger that early warning performs patrol is higher, and as run into emergency, patrolman may have larger personal safety hidden danger.
Except being monitored by artificial patrol, existing monitoring technique also mainly relies on the camera be fixedly installed, and by camera collection image, from Control Room, then observes the situation of guarded region.But because camera is fixed, cause guarded region can there is certain dead angle, monitoring is incomplete, and it is more to gather image, monitor staff's work of Control Room is comparatively heavy, easily produces carelessness.
Summary of the invention
The object of the invention is to, for Problems existing in existing monitoring technique, provide a kind of Ye Xun robot, prison guard not only can be replaced to perform prison room night patrol task, catch the infrared thermal imagery of mankind's activity at night; And " talkative meeting is listened and can be thought deeply ", can active analysis to be in irons the work and rest situation of personnel and nocturnalism, Intelligent Recognition abnormal behaviour, the potential potential safety hazard of Timeliness coverage, anticipation in early stage information is provided for intervening disposal, the operating pressure of early warning on duty can be alleviated, reduce the danger that prison guard disposes, greatly improve supervision intelligent level and the ability in prison.
To achieve these goals, the technical solution used in the present invention is:
A kind of Ye Xun robot, comprises robot body, and the body chassis of driven machine human agent movement, also comprises executing agency, acousto-optic device, sensor unit and control unit;
Wherein, described sensor unit comprises thermal imaging system, the infrared thermal-image data that described control unit gathers according to thermal imaging system, and according to human body vital sign, judging to patrol and examine human body vital sign type in region, when being judged as normal behaviour, then sending control instruction, drive body chassis by executing agency, thus drive driven machine human agent to move; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device and report to the police, and send infrared image to background computer.
As preferably technical scheme, described control unit comprises data module, motion module and alarm module, described data module comprises database and data processor, database is used for the data that write sensor unit is in real time collected, and sends into data processor after being encapsulated by Data classification, and data processor is according to the difference of data type, carry out data calculating respectively, then convert kinematic parameter and alarm parameters to, kinematic parameter is sent to motion module, and alarm parameters is sent to alarm module; Described motion module is used for kinematic parameter being converted to control instruction and drives executing agency, and described alarm module is used for alarm parameters being converted to alarm instruction drives acousto-optic device and reports to the police.
As preferably technical scheme, described sensor unit also comprises sound collector, magnetoresistive transducer, gyroscope, laser radar and sonac, sound collector is for gathering voice data, and according to exception rules screening voice data, when being judged as normal behaviour, then send control instruction, drive body chassis by executing agency, thus drive driven machine human agent to move; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device and report to the police;
Described magnetoresistive transducer and gyroscope are for coordinating flip angle pulses, calculating robot's position data of motor, and control unit positions data according to the position data calculated and calculates, and then controls executing agency by described control instruction;
Described laser radar and sonac are used for collection and advance data, and control unit calculates according to the data of advancing gathered data of advancing, and then controls executing agency by described control instruction and avoids obstacle.
As preferably technical scheme, described body chassis comprises chassis body, and the omni-directional wheel of four omnidirectional distribution, described four omni-directional wheels are arranged on below chassis body respectively by isometric pair of yoke suspended structure, and each omni-directional wheel is driven by independent drive motors, four drive motors are connected with executing agency respectively.
As preferably technical scheme, described robot body also comprises division board, top board, turntable, elevating mechanism, rotating mechanism and luffing mechanism, and division board, top board, turntable are fixedly connected sequentially from bottom to up;
Elevating mechanism comprises stepper motor one, active synchronization wheel, driven synchronizing wheel, Timing Belt, synchronous folder, transfer block, rotation isolation bearing assembly, polygon pipe, active synchronization wheel is fixedly connected with the output of stepper motor one, stepper motor one is fixedly connected with division board, driven pulley is arranged on the upper surface of top board, Timing Belt is arranged between active synchronization wheel and driven synchronizing wheel, and synchronous folder is fixedly connected with Timing Belt; Polygon pipe is fixedly connected with rotation isolation bearing assembly inner ring, and synchronous folder is fixedly connected with transfer block respectively with rotation isolation bearing assembly outer ring;
The driven gear that rotating mechanism comprises stepper motor two, driving gear and engages with driving gear, driving gear is fixedly connected with the output of stepper motor two, driven gear is rotatably connected with turntable, driven gear center is provided with polygonal hole, and polygon pipe is slidably connected in polygonal hole;
Luffing mechanism comprises fixed block and movable block, polygon pipe is fixedly connected with fixed block, movable block is connected with fixed block pivot joint, be provided with for driving movable block to make the stepper motor three rotated up and down between fixed block and movable block, stepper motor three is fixedly connected with fixed block, movable block is fixedly connected with the output of stepper motor three, and thermal imaging system is fixedly connected with movable block;
As preferably technical scheme, described elevating mechanism also comprises line slide rail and slide block, and slide rail is fixedly connected with division board, and slide block and line slide rail are slidably connected, and slide block is fixedly connected with transfer block.
As preferably technical scheme, described rotating mechanism also comprises switching bearing, and switching bearing coaxially distributes with driven gear, and bearing inner race of transferring is fixedly connected with turntable, and Coupling Shaft bearing outer-ring is fixedly connected with driven gear.
Owing to have employed technique scheme, the invention has the beneficial effects as follows:
1., by infrared vision system, the nocturnalism situation of Intelligent Recognition prison indoor occupant, and abnormal conditions, for anticipation accident/unusual condition in advance provides intelligence and technical method intuitively;
2. supervising the basic identification of indoor occupant mood, for taking into custody psychological corrections and the treatment of personnel, providing information accurately and in time;
3. prison guard can be replaced to perform prison room night patrol task, catch the infrared thermal imagery of mankind's activity at night; Can active analysis to be in irons the work and rest situation of personnel and nocturnalism, Intelligent Recognition abnormal behaviour, the potential potential safety hazard of Timeliness coverage, anticipation in early stage information is provided for intervening disposal, the operating pressure of early warning on duty can be alleviated, reduce the danger that prison guard disposes, greatly improve supervision intelligent level and the ability in prison.
Accompanying drawing explanation
Fig. 1 is Ye Xun robot of the present invention front view.
Fig. 2 is Ye Xun robot of the present invention full sectional view.
Fig. 3 is the thermal imaging system state guiding mechanism fragmentary front view of Ye Xun robot of the present invention.
Fig. 4 is the enlarged drawing at the A place of Fig. 3.
Fig. 5 is the enlarged drawing at B place in Fig. 3.
Fig. 6 is the assembling schematic diagram of the thermal imaging system state guiding mechanism part driven gear of Zhong Yexun robot of the present invention.
Fig. 7 is the top view of the thermal imaging system state guiding mechanism part of Ye Xun robot of the present invention.
Fig. 8 is the top view of elevating mechanism in the present invention.
Fig. 9 is body chassis structural representation of the present invention.
Figure 10 is body chassis partial structurtes schematic diagram of the present invention.
Figure 11 patrols robot architecture's schematic block diagram night of the present invention.
Figure 12 is abnormal sign pattern match figure of the present invention.
Mark in figure: 101-customer side, 110-control unit, 111-data module, 111a-data processor, 111b-database, 112-alarm module, 113-motion module, 140-executing agency, 150-acousto-optic device, 160-sensor unit, 161-sonac, 162-laser radar, 163-gyroscope, 164-magnetoresistive transducer, 165-thermal imaging system, 166-sound collector, 170-log pattern;
200-robot body, 211-division board, 212-top board, 213-turntable, 221-stepper motor one, 222-active synchronization is taken turns, the driven synchronizing wheel of 223-, 224-Timing Belt, 225-synchronously presss from both sides, 226-transfer block, and 227-rotates isolation bearing assembly, 228-polygon pipe, 229a-line slide rail, 229b-slide block, 231-stepper motor two, 232-driving gear, 233-driven gear, 234-transfers bearing, 241-fixed block, 242-movable block, 243-stepper motor three;
300-body chassis, 301-chassis body, 302-isometric pair of yoke suspended structure, 303-omni-directional wheel, 304-drive motors.
Detailed description of the invention
With reference to Fig. 1-12, a kind of Ye Xun robot of the present invention, comprises robot body 200, and the body chassis 300 of driven machine human agent 200 movement, also comprises executing agency 140, acousto-optic device 150, sensor unit 160 and control unit 110.
With reference to Figure 11, sensor unit 160 comprises thermal imaging system 165, the infrared thermal-image data that described control unit 110 gathers according to thermal imaging system 165, and according to human body vital sign, judging to patrol and examine human body vital sign type in region, when being judged as normal behaviour, then sending control instruction, drive body chassis 300 by executing agency 140, thus drive driven machine human agent 200 to move; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device 150 and report to the police, and send infrared image to background computer.
Sensor unit 160 also comprises sound collector 166, magnetoresistive transducer 164, gyroscope 163, laser radar 162 and sonac 161, sound collector 166 is for gathering voice data, and according to exception rules screening voice data, when being judged as normal behaviour, then send control instruction, drive body chassis 300 by executing agency 140, thus drive driven machine human agent 200 to move; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device 150 and report to the police; Magnetoresistive transducer 164 and gyroscope 163 are for coordinating flip angle pulses, calculating robot's position data of motor, and control unit 110 positions data according to the position data calculated and calculates, and then controls executing agency 140 by described control instruction; Described laser radar 162 and sonac 161 are for gathering data of advancing, and control unit 110 calculates according to the data of advancing gathered data of advancing, and then controls executing agency 140 by described control instruction and avoids obstacle.
The sensory perceptual system of sensor unit 160 Shi Yexun robot, main realizes the perception of surrounding enviroment and relevant mutual.By the sensor of the various function such as sonac 161, laser radar 162, gyroscope 163, thermal imaging system 165 of sensor unit 160, with realize the accurate identification to surrounding environment, the precise positioning in required tour orientation and abnormal environment and alarm.
Control unit 110 comprises data module 111, motion module 113 and alarm module 112, described data module 111 comprises database 111b and data processor 111a, database 111b is used for the data that write sensor unit 160 is in real time collected, and send after Data classification encapsulation into data processor 111a, data processor 111a is according to the difference of data type, carry out data calculating respectively, then kinematic parameter and alarm parameters is converted to, kinematic parameter is sent to motion module 113, and alarm parameters is sent to alarm module 112; Described motion module 113 drives executing agency 140 for kinematic parameter being converted to control instruction, and described alarm module 112 is reported to the police for alarm parameters being converted to alarm instruction drives acousto-optic device 150.
Data module 111 is equivalent to the brain of Ye Xun robot, all work associated with the data such as the data processing of responsible whole software systems and data storage.Its function can be divided into three major types: the real-time write of Ye Xun robot each sensor part event data; Corresponding encapsulation is carried out to meet the demand data of component layer to data in database 111b; The storage of daily record demand data.
The data of daily record demand are realized by log pattern 170, and the Main Function of log pattern 170 is that record to patrol key node in robot task tour process and special joint night, comprises: the tour number of times of every day; The time started of each tour, end time; Each prison start the time of making an inspection tour, terminate the tour time; The time of each abnormal alarm, orientation, warning classification; The time started of each charging and corresponding state of charge, charging end time.
Each prison room of this floor maked an inspection tour automatically by Ye Xun robot, detects the infrared image that prison is indoor, carries out image procossing and identification, can complete:
1) judge that whether indoor inmate is in regulation place.As inmate exceeds the scope of activities of specifying, then report to the police to backstage;
2) room conditions is detected.If room is empty, or has inmate's abnormal aggregation, report to the police to backstage;
3) as do not have an instruction at background management system prerequisite under, the corridor of floor has people to walk about, then reports to the police to backstage;
4) detect sound, to exceeding 40 decibels of (night) sounds, recording and transmit voice signal to administrative center and report to the police.
Whether Ye Xun robot, by infrared thermal imagery, can distinguish human body attitude and Activity recognition function, such as, have inmate to lie on a bed (normally), lie on the ground, sit in bed, be sitting on the ground, stand in bed, stand on the ground, by the wall, stand upside down on the ground, stand upside down in bed, be suspended in aerial, squat down on the ground, squat in bed; If there is improper body appearance, report to the police to backstage.Detect inmate and whether have improper behavior, if there is the behavior then alarm having the list of abnormal behaviour pattern match, the insomnia that lies on a bed does not process.Abnormal behaviour comprises: abnormal sound, automatic speaking, singing, four limbs have larger abnormal operation (as tearing the behavior such as paddling repeatedly of cloth, arm).If there is improper behavior, report to the police to backstage.
Can also infrared image be passed through, whether normally detect inmate's vital sign, if there is then alarm in the list of abnormal sign pattern match.Abnormal sign comprises: anger, fear, disgust, happiness, sadness, surprise, neutral, anxiety, love, depression, contempt, pride, shame, envy, the list of abnormal sign pattern match as shown in figure 12.
Ye Xun robot of the present invention, by sensor unit 160 image data, then write in real time in the database 111b of data module 111, then carry out a point class wrapper by data processor 111a, comprise position calculation, the threshold decision of sound collector 166 data, the Logic judgment of sonac 161 data, the numerical computations of magnetoresistive transducer 164 data of the feature extraction of thermal imaging system 165 image, laser biography range finding sensor 162 data.Then convert kinematic parameter and alarm parameters to, kinematic parameter is sent to motion module 113, and alarm parameters is sent to alarm module 112; Executing agency 140 can be controlled by motion module 113 sending controling instruction and drive different mechanism kinematics, then can realize sound and light alarm by alarm module 112.
Motion module 113 drives each parts of Ye Xun robot to perform relevant motion by executing agency 140, is mainly divided into three parts: the elevating movement of the motion of robot body, the rotary lifting movement of thermal imaging system and thermal imaging system.
With reference to Fig. 9, Figure 10, the sports bag of robot body 200 containing the moving ahead of Ye Xun robot, retreat, turn, transverse shifting, static, the motion of robot body 200 is then mainly realized by body chassis 300, body chassis 300 comprises chassis body 301, and the omni-directional wheel 303 of four omnidirectional distribution, described four omni-directional wheels 303 are arranged on below chassis body 301 respectively by isometric pair of yoke suspended structure 302, and each omni-directional wheel 303 is driven by independent drive motors 304, four drive motors 304 are connected with executing agency 140 respectively.Body chassis 300 adopts isometric pair of yoke suspended structure 302, form the independent suspension type structure of parallelogram, guarantee omni-directional wheel 303 all the time perpendicular to chassis body 301, effectively improve the stationarity of chassis travelling mechanism, shock resistance and buffer capacity, to be suitable for the different road conditions that Ye Xun robot runs.
With reference to Fig. 3-8, the rotary lifting movement of thermal imaging system 165 and elevating movement are then realized by following structure:
Robot body 200 also comprises division board 211, top board 212, turntable 213, elevating mechanism, rotating mechanism and luffing mechanism, and division board 211, top board 212, turntable 213 are fixedly connected sequentially from bottom to up.
Elevating mechanism comprises stepper motor 1, active synchronization wheel 222, driven synchronizing wheel 223, Timing Belt 224, synchronously presss from both sides 225, transfer block 226, line slide rail 229a, slide block 229b, rotate isolation bearing assembly 227, polygon pipe 228, active synchronization wheel 222 is fixedly connected with the output of stepper motor 1, stepper motor 1 is fixedly connected with division board 211, driven pulley is arranged on the upper surface of top board 212, Timing Belt 224 is arranged between active synchronization wheel 222 and driven synchronizing wheel 223, and synchronous folder 225 is fixedly connected with Timing Belt 224; Polygon pipe 228 is fixedly connected with rotation isolation bearing assembly 227 inner ring, and slide block 229b and line slide rail 229a is slidably connected, and synchronously presss from both sides 225, rotation isolation bearing assembly 227 outer ring, slide block 229b be fixedly connected with transfer block 226 respectively.Stepper motor 1 can drive the synchronous folder 225 on Timing Belt 224 to move up and down, thus drive polygon pipe 228 and thermal imaging system 165165 to be elevated, slide in the polygonal hole of polygon pipe 228 on driven gear 233, make the lifting of polygon pipe 228 not by the impact of rotating mechanism.
The driven gear 233 that rotating mechanism comprises stepper motor 2 231, driving gear 232, switching bearing 234 and engages with driving gear 232, driving gear 232 is fixedly connected with the output of stepper motor 2 231, switching bearing 234 coaxially distributes with driven gear 233, switching bearing 234 inner ring is fixedly connected with turntable 213, switching bearing 234 outer ring is fixedly connected with driven gear 233, driven gear 233 center is provided with polygonal hole, and polygon pipe 228 is slidably connected in polygonal hole.The cooperation of slide block 229b and line slide rail 229a can stable elevation path; Stepper motor 2 231 can drive driven gear 233 to rotate, because polygonal hole is to the restriction of polygon pipe 228, polygon pipe 228 and thermal imaging system 165 rotate, under the effect rotating isolation bearing assembly 227, the rotation of polygon pipe 228 can not by the impact of elevating mechanism miscellaneous part.
Luffing mechanism comprises fixed block 241 and movable block 242, polygon pipe 228 is fixedly connected with fixed block 241, movable block 242 is connected with fixed block 241 pivot joint, the stepper motor 3 243 for driving movable block 242 to do to rotate up and down is provided with between fixed block 241 and movable block 242, stepper motor 3 243 is fixedly connected with fixed block 241, movable block 242 is fixedly connected with the output of stepper motor 3 243, and thermal imaging system 165165 is fixedly connected with movable block 242.Stepper motor 3 243 can drive thermal imaging system 165 to complete pitching motion.Whole apparatus structure is simple, and can make that the pose adjustment of thermal imaging system 165 is flexible, action is non-interference, flexible operation is smooth.
Based on motor-driven function, the environment sensing function of Ye Xun robot described above, in conjunction with the structural parameters in corridor, prison, realize patrolling and examining of robot motor-driven and each prison room in corridor.
Flow process is patrolled and examined in prison room:
Obtain every attribute of prison room;
Robot is motor-driven to specified point;
Laser radar 162 checksum location.As sent body chassis 300 operating instruction, then database 111b is write in current location;
Robot original place 90-degree rotation, runs forward and is close to monitoring room door mouth, by magnetoresistive transducer 164 vernier angle;
Obtain this prison room optimal heat as camera lens attitude;
Adjustment thermal imagery camera lens attitude is to best picked-up attitude;
Open thermal imaging system 165, catch image;
Preserve, and start image procossing and classification.
Patrol and examine flow process by above-mentioned, can realize patrolling and examining monitoring work to places such as prisons.
Ye Xun robot is communicated with background computer by wireless network, thermal-image data and warning message is uploaded, and user checks by client 101.Background computer, by wireless ether net, carries out data communication and operating interactive with robot.
Claims (7)
1. a Zhong Yexun robot, comprise robot body (200), and the body chassis (300) of driven machine human agent (200) movement, it is characterized in that, also comprise executing agency (140), acousto-optic device (150), sensor unit (160) and control unit (110);
Wherein, described sensor unit (160) comprises thermal imaging system (165), the infrared thermal-image data that described control unit (110) gathers according to thermal imaging system (165), and according to human body vital sign, judge to patrol and examine human body vital sign type in region, when being judged as normal behaviour, then send control instruction, drive body chassis (300) by executing agency (140), thus drive driven machine human agent (200) mobile; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device (150) and report to the police, and send infrared image to background computer.
2. Ye Xun robot according to claim 1, is characterized in that,
Described control unit (110) comprises data module (111), motion module (113) and alarm module (112), described data module (111) comprises database (111b) and data processor (111a), the data that database (111b) is collected for writing sensor unit (160) in real time, and send into data processor (111a) after being encapsulated by Data classification, data processor (111a) is according to the difference of data type, carry out data calculating respectively, then kinematic parameter and alarm parameters is converted to, kinematic parameter is sent to motion module (113), alarm parameters is sent to alarm module (112), described motion module (113) drives executing agency (140) for kinematic parameter being converted to control instruction, and described alarm module (112) is reported to the police for alarm parameters being converted to alarm instruction drives acousto-optic device (150).
3. Ye Xun robot according to claim 1, is characterized in that,
Described sensor unit (160) also comprises sound collector (166), magnetoresistive transducer (164), gyroscope (163), laser radar (162) and sonac (161), sound collector (166) is for gathering voice data, and according to exception rules screening voice data, when being judged as normal behaviour, then send control instruction, drive body chassis (300) by executing agency (140), thus drive driven machine human agent (200) mobile; When being judged as abnormal behaviour, then sending alarm instruction drives acousto-optic device (150) and report to the police;
Described magnetoresistive transducer (164) and gyroscope (163) are for coordinating flip angle pulses, calculating robot's position data of motor, control unit (110) positions data according to the position data calculated and calculates, and then controls executing agency (140) by described control instruction;
Described laser radar (162) and sonac (161) are for gathering data of advancing, control unit (110) according to gather data of advancing advance data calculate, then by described control instruction control executing agency (140) avoid obstacle.
4. Ye Xun robot according to claim 1, is characterized in that,
Described body chassis (300) comprises chassis body (301), and the omni-directional wheel of four omnidirectional distribution (303), described four omni-directional wheels (303) are arranged on chassis body (301) below respectively by isometric pair of yoke suspended structure (302), and each omni-directional wheel (303) is driven by independent drive motors (304), four drive motors (304) are connected with executing agency (140) respectively.
5. Ye Xun robot according to claim 1, is characterized in that,
Described robot body (200) also comprises division board (211), top board (212), turntable (213), elevating mechanism, rotating mechanism and luffing mechanism, and division board (211), top board (212), turntable (213) are fixedly connected sequentially from bottom to up;
Elevating mechanism comprises stepper motor one (221), active synchronization wheel (222), driven synchronizing wheel (223), Timing Belt (224), synchronous folder (225), transfer block (226), rotate isolation bearing assembly (227), polygon pipe (228), active synchronization wheel (222) is fixedly connected with the output of stepper motor one (221), stepper motor one (221) is fixedly connected with division board (211), driven pulley is arranged on the upper surface of top board (212), Timing Belt (224) is arranged between active synchronization wheel (222) and driven synchronizing wheel (223), synchronous folder (225) is fixedly connected with Timing Belt (224), polygon pipe (228) is fixedly connected with rotation isolation bearing assembly (227) inner ring, and synchronous folder (225) is fixedly connected with transfer block (226) respectively with rotation isolation bearing assembly (227) outer ring,
The driven gear (233) that rotating mechanism comprises stepper motor two (231), driving gear (232) and engages with driving gear (232), driving gear (232) is fixedly connected with the output of stepper motor two (231), driven gear (233) is rotatably connected with turntable (213), driven gear (233) center is provided with polygonal hole, and polygon pipe (228) is slidably connected in polygonal hole;
Luffing mechanism comprises fixed block (241) and movable block (242), polygon pipe (228) is fixedly connected with fixed block (241), movable block (242) is connected with fixed block (241) pivot joint, be provided with for driving movable block (242) to make the stepper motor three (243) rotated up and down between fixed block (241) and movable block (242), stepper motor three (243) is fixedly connected with fixed block (241), movable block (242) is fixedly connected with the output of stepper motor three (243), thermal imaging system (165) is fixedly connected with movable block (242).
6. Ye Xun robot according to claim 5, is characterized in that,
Described elevating mechanism also comprises line slide rail (229a) and slide block (229b), slide rail is fixedly connected with division board (211), slide block (229b) and line slide rail (229a) are slidably connected, and slide block (229b) is fixedly connected with transfer block (226).
7. Ye Xun robot according to claim 5, is characterized in that,
Described rotating mechanism also comprises switching bearing (234), switching bearing (234) and driven gear (233) coaxially distribute, switching bearing (234) inner ring is fixedly connected with turntable (213), and switching bearing (234) outer ring is fixedly connected with driven gear (233).
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| CN113031610A (en) * | 2021-03-10 | 2021-06-25 | 上海灵至科技有限公司 | Automatic prison night inspection robot system and control method thereof |
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