CN105563488B - A kind of Ye Xun robots - Google Patents
A kind of Ye Xun robots Download PDFInfo
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- CN105563488B CN105563488B CN201610104215.7A CN201610104215A CN105563488B CN 105563488 B CN105563488 B CN 105563488B CN 201610104215 A CN201610104215 A CN 201610104215A CN 105563488 B CN105563488 B CN 105563488B
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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
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Abstract
The invention discloses the body chassis of a kind of Ye Xun robots, including robot body, and driving robot body's movement, in addition to executing agency, acousto-optic device, sensor unit and control unit；Wherein, described sensor unit includes thermal imaging system, the infrared thermal-image data that described control unit is gathered according to thermal imaging system, and according to human body vital sign, judge human body vital sign type in region of patrolling and examining, when being judged as normal behaviour, then send control instruction, body chassis is driven by executing agency, so as to drive driving robot body's movement；When being judged as abnormal behaviour, then the alarm of alarm instruction drives acousto-optic device is sent.The Ye Xun robots of the present invention, not only can replace prison guard to perform prison room night patrol task, capture the infrared thermal imagery of night mankind's activity；And " can say can listen and can think deeply ", can active analysis be in irons the work and rest situation and nocturnalism, Intelligent Recognition abnormal behaviour of personnel, potential potential safety hazard is found in time.
Description
Technical field
The invention belongs to walking robot technical field, and in particular to a kind of Ye Xun robots.
Background technology
The night inspection in prison is performed by prison guard, and night prison guard patrol not only works heavy, and because of the spy of supervised entities
Different property, the danger that early warning performs patrol is higher, such as runs into emergency, it is hidden that patrolman might have larger personal safety
Suffer from.
Except being monitored by artificial patrol, existing monitoring technology also relies primarily on the camera being fixedly installed, passed through
Camera collection image, then from Control Room from monitor area situation.But, because camera is fixed, cause monitoring
Region can have certain dead angle, and monitoring is incomplete, and gather that image is more, and the monitoring personnel work of Control Room is more numerous
Weight, easily produces carelessness.
The content of the invention
It is an object of the invention to for problem present in existing monitoring technology there is provided a kind of Ye Xun robots, no
Only prison guard can be replaced to perform prison room night patrol task, capture the infrared thermal imagery of night mankind's activity；And " can say can listen and can think
Examine ", can active analysis be in irons the work and rest situation and nocturnalism, Intelligent Recognition abnormal behaviour of personnel, potential peace is found in time
Full hidden danger, early stage anticipation information is provided to intervene disposal, can mitigate the operating pressure of early warning on duty, the danger of reduction prison guard's disposal
Property, the supervision intelligent level and ability in prison is greatly improved.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of Ye Xun robots, including robot body, and the body chassis that driving robot body moves, in addition to
Executing agency, acousto-optic device, sensor unit and control unit；
Wherein, described sensor unit include thermal imaging system, described control unit according to thermal imaging system gather it is infrared
Thermal-image data, and according to human body vital sign, judge human body vital sign type in region of patrolling and examining, when being judged as normal behaviour
When, then control instruction is sent, body chassis is driven by executing agency, so as to drive driving robot body's movement；Work as judgement
During for abnormal behaviour, then the alarm of alarm instruction drives acousto-optic device is sent, and infrared image is sent to background computer.
Preferably technical scheme, described control unit includes data module, motion module and alarm module, described
Data module include database and data processor, database be used in real time write sensor unit collect data, and will
Data processor is sent into after data classification encapsulation, data processor carries out data calculating, so respectively according to the difference of data type
After be converted into kinematic parameter and alarm parameters, kinematic parameter is sent to motion module, and alarm parameters are sent to alarm module；It is described
Motion module be used to kinematic parameter being converted into control instruction driving executing agency, described alarm module is used for will alarm ginseng
Number is converted into the alarm of alarm instruction drives acousto-optic device.
Preferably technical scheme, described sensor unit also includes sound collector, magnetoresistive transducer, gyro
Instrument, laser radar and sonac, sound collector are used to gather voice data, and screen sound number according to exception rules
According to, when being judged as normal behaviour, then send control instruction, by executing agency drive body chassis, so as to drive driving machine
Device human agent moves；When being judged as abnormal behaviour, then the alarm of alarm instruction drives acousto-optic device is sent；
Described magnetoresistive transducer and gyroscope are used for flip angle pulses, the calculating robot's position data for coordinating motor, control
Unit processed carries out location data calculating according to the position data of calculating, then controls executing agency by described control instruction；
Described laser radar and sonac are used to gathering traveling data, and control unit is according to the traveling data of collection
Traveling data calculating is carried out, then controls executing agency to avoid obstacle by described control instruction.
Preferably technical scheme, described body chassis includes chassis body, and four omnidirectional distributions omnidirectional
Wheel, four omni-directional wheels are arranged on below chassis body by isometric pair of yoke suspended structure respectively, and each omni-directional wheel by
Single motor driving, four motors are connected with executing agency respectively.
Preferably technical scheme, described robot body also include division board, top plate, turntable, elevating mechanism,
Rotating mechanism and luffing mechanism, division board, top plate, turntable are fixedly connected sequentially from bottom to up；
Elevating mechanism includes stepper motor one, active synchronization wheel, driven synchronizing wheel, timing belt, synchronous folder, transfer block, rotation
Turn isolation bearing component, polygonal tube, active synchronization wheel is fixedly connected with the output end of stepper motor one, stepper motor one with every
It is fixedly connected from plate, driven pulley is arranged on the upper surface of top plate, timing belt is arranged between active synchronization wheel and driven synchronizing wheel,
Synchronous folder is fixedly connected with timing belt；Polygonal tube is fixedly connected with rotation isolation bearing component inner ring, synchronous folder and rotate every
Off-axis bearing assembly outer ring is fixedly connected with transfer block respectively；
Rotating mechanism includes stepper motor two, driving gear and the driven gear engaged with driving gear, driving gear
It is fixedly connected with the output end of stepper motor two, driven gear is rotatably connected with turntable, driven gear is provided centrally with polygon
Shape hole, polygonal tube is slidably connected in polygonal hole；
Luffing mechanism includes fixed block and movable block, and polygonal tube is fixedly connected with fixed block, movable block and fixed block pivot
Connect in succession, the stepper motor three rotated upwardly and downwardly for driving movable block to make, stepper motor are provided between fixed block and movable block
Three are fixedly connected with fixed block, and movable block is fixedly connected with the output end of stepper motor three, and thermal imaging system is fixed with movable block to be connected
Connect；
Preferably technical scheme, described elevating mechanism also includes line slide rail and sliding block, and slide rail is consolidated with division board
Fixed connection, sliding block is slidably connected with line slide rail, and sliding block is fixedly connected with transfer block.
Preferably technical scheme, described rotating mechanism also includes switching bearing, and switching bearing and driven gear are same
Axle is distributed, and switching bearing inner race is fixedly connected with turntable, and switching bearing outer ring is fixedly connected with driven gear.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1. by infrared vision system, Intelligent Recognition supervises the nocturnalism situation of indoor occupant, and abnormal conditions, to carry
Preceding anticipation accident/unusual condition provides intelligence and intuitively technical method；
2. supervise the basic identification of indoor occupant mood, for take into custody the psychological corrections of personnel with treatment there is provided accurate and
When information；
3. prison guard can be replaced to perform prison room night patrol task, the infrared thermal imagery of night mankind's activity is captured；Can actively it divide
The work and rest situation and nocturnalism, Intelligent Recognition abnormal behaviour for the personnel that are in irons are analysed, potential potential safety hazard is found in time, to intervene
Disposal provides early stage anticipation information, can mitigate the operating pressure of early warning on duty, and prison is greatly improved in the danger of reduction prison guard's disposal
The supervision intelligent level and ability in prison.
Brief description of the drawings
Fig. 1 is the Ye Xun robots front view of the present invention.
Fig. 2 is the Ye Xun robots full sectional view of the present invention.
Fig. 3 is the thermal imaging system state adjustment mechanism fragmentary front view of the Ye Xun robots of the present invention.
Fig. 4 is the enlarged drawing at Fig. 3 A.
Fig. 5 is the enlarged drawing at B in Fig. 3.
Fig. 6 illustrates for the assembling of the thermal imaging system state adjustment mechanism part driven gear of Zhong Yexun robots of the present invention
Figure.
Fig. 7 is the top view of the thermal imaging system state adjustment mechanism part of Ye Xun robots 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 invention.
Figure 10 is body chassis partial structural diagram of the invention.
Figure 11 patrols robot architecture's schematic block diagram for the night of the present invention.
Figure 12 is abnormal sign pattern match figure of the invention.
Marked in figure：101- customer sides, 110- control units, 111- data modules, 111a- data processors, 111b- numbers
According to storehouse, 112- alarm modules, 113- motion modules, 140- executing agencies, 150- acousto-optic devices, 160- sensor units, 161-
Sonac, 162- laser radars, 163- gyroscopes, 164- magnetoresistive transducers, 165- thermal imaging systems, 166- sound collections
Device, 170- log patterns；
200- robot bodies, 211- division boards, 212- top plates, 213- turntables, 221- stepper motors one, 222- is actively
Synchronizing wheel, the driven synchronizing wheels of 223-, 224- timing belts, 225- is synchronously pressed from both sides, 226- transfer blocks, 227- rotation isolation bearing components,
228- polygonal tubes, 229a- line slide rails, 229b- sliding blocks, 231- stepper motors two, 232- driving gears, 233- driven tooths
Wheel, 234- switching bearings, 241- fixed blocks, 242- movable blocks, 243- stepper motors three；
300- body chassis, 301- chassis bodies, isometric pair of yoke suspended structure of 302-, 303- omni-directional wheels, 304- drivings
Motor.
Embodiment
Reference picture 1-12, a kind of Ye Xun robots of the invention, including robot body 200, and driving robot master
The body chassis 300 that body 200 is moved, in addition to executing agency 140, acousto-optic device 150, sensor unit 160 and control unit
110。
Reference picture 11, sensor unit 160 includes thermal imaging system 165, and described control unit 110 is according to thermal imaging system 165
The infrared thermal-image data of collection, and according to human body vital sign, judge human body vital sign type in region of patrolling and examining, when being judged as
During normal behaviour, then control instruction is sent, body chassis 300 is driven by executing agency 140, so as to drive driving robot master
Body 200 is moved；When being judged as abnormal behaviour, then send alarm instruction drives acousto-optic device 150 and alarm, and to background computer
Send infrared image.
Sensor unit 160 also includes sound collector 166, magnetoresistive transducer 164, gyroscope 163, laser radar 162
With sonac 161, sound collector 166 is used to gather voice data, and screens voice data according to exception rules, when sentencing
When breaking as normal behaviour, then control instruction is sent, body chassis 300 is driven by executing agency 140, so as to drive driving machine
Human agent 200 moves；When being judged as abnormal behaviour, then send alarm instruction drives acousto-optic device 150 and alarm；Magnetoresistive transducer
164 and gyroscope 163 be used to coordinate flip angle pulses, the calculating robot's position data of motor, control unit 110 is according to calculating
Position data carries out location data calculating, then controls executing agency 140 by described control instruction；Described laser radar
162 and sonac 161 be used to gather traveling data, control unit 110 carries out traveling data according to the traveling data of collection
Calculate, then control executing agency 140 to avoid obstacle by described control instruction.
Sensor unit 160 is the sensory perceptual system of Ye Xun robots, mainly realizes perception and correlation to surrounding enviroment
Interaction.It is each by the sonac 161 of sensor unit 160, laser radar 162, gyroscope 163, thermal imaging system 165 etc.
The sensor of kind of function, with realize accurate identification to surrounding environment, required tour orientation precise positioning and abnormal environment
And alarm.
Control unit 110 includes data module 111, motion module 113 and alarm module 112, described data module 111
Including database 111b and data processor 111a, database 111b is used to write the data that sensor unit 160 is collected in real time,
And feeding data processor 111a after encapsulation is sorted data into, data processor 111a enters respectively according to the difference of data type
Row data are calculated, and are then converted into kinematic parameter and alarm parameters, and kinematic parameter is sent to motion module 113, alarm parameters hair
Deliver to alarm module 112；Described motion module 113 is used to kinematic parameter being converted into control instruction driving executing agency 140,
Described alarm module 112 is alarmed for alarm parameters to be converted into alarm instruction drives acousto-optic device 150.
Data module 111 is equivalent to the brain of Ye Xun robots, and the data processing and data for being responsible for whole software systems are deposited
All work associated with the data such as storage.Its function can be divided into three major types：The reality of each sensor element data of Ye Xun robots
When write；Data in database 111b are carried out with corresponding encapsulation to meet the demand data of component layer；Daily record demand data is deposited
Storage.
The data of daily record demand realize that the main function of log pattern 170 is record night by log pattern 170
The key node and special joint patrolled during robot task is maked an inspection tour, comprising：Daily tour number of times；The beginning maked an inspection tour every time
Time, end time；Beginning tour time, the end tour time of each prison；The time of each abnormal alarm, orientation, report
Alert classification；Every time at the beginning of charging between and corresponding state of charge, charging end time.
Each prison room of the floor is maked an inspection tour automatically by Ye Xun robots, and the indoor infrared image of detection prison carries out image procossing
With identification, it can complete：
1) judge indoor inmate whether in required location.Such as inmate exceeds the scope of activities specified, then backward
Platform is alarmed；
2) room conditions are detected.If room is sky, or has inmate's abnormal aggregation, alarmed to backstage；
3) such as on the premise of background management system does not have instruction, someone walks about on the corridor of floor, then is alarmed to backstage；
4) sound is detected, to and beyond 40 decibels of (night) sounds, recording and to administrative center's transmission voice signal alarm.
Ye Xun robots can distinguish human body attitude and Activity recognition function by infrared thermal imagery, for example whether the people that serves a sentence
Member lies on a bed (normal), lies on the floor, and sits in bed, is sitting on the ground, stands in bed, stand on the ground, by the wall, standing upside down
On the ground, stand upside down in bed, be suspended in the air, squat down on the ground, squat in bed；If improper body appearance, alarmed to backstage.Detection clothes
Whether punishment personnel have improper behavior, are then alerted if there is the behavior for having abnormal behaviour pattern match list, and lie on a bed mistake
Dormancy is not processed.Abnormal behaviour includes：Abnormal sound, automatic speaking, singing, four limbs have larger abnormal operation (such as tear cloth,
The arm behavior such as stroke repeatedly).If improper behavior, alarmed to backstage.
It can also detect whether inmate's vital sign is normal, if there is in abnormal sign mould by infrared image
Then alerted in formula list of matches.Abnormal sign includes：anger,fear,disgust,happiness,sadness,
Surprise, neutral, anxiety, love, depression, contempt, pride, shame, envy, abnormal sign mould
Formula list of matches is as shown in figure 12.
The Ye Xun robots of the present invention, by the gathered data of sensor unit 160, then write data module 111 in real time
Database 111b in, classification encapsulation is then carried out by data processor 111a, including the feature of the image of thermal imaging system 165 carries
Take, the position calculating of the data of laser ranging sensor 162, the threshold decision of the data of sound collector 166, sonac 161
The logic judgment of data, the numerical computations of the data of magnetoresistive transducer 164.Kinematic parameter and alarm parameters are then converted into, is moved
Parameter is sent to motion module 113, and alarm parameters are sent to alarm module 112；Sending control instruction by motion module 113 is
Controllable executing agency 140 drives different mechanism kinematics, and can then realize sound and light alarm by alarm module 112.
Motion module 113 drives each part of Ye Xun robots to perform related motion, main point by executing agency 140
For three parts：The elevating movement of the motion of robot body, the rotary lifting movement of thermal imaging system and thermal imaging system.
Reference picture 9, Figure 10, sports bag robot containing Ye Xun of robot body 200 moves ahead, retreated, turning, laterally moving
Dynamic and static only the motion of robot body 200 is realized by body chassis 300, and body chassis 300 includes chassis
Main body 301, and four omnidirectional distributions omni-directional wheel 303, four omni-directional wheels 303 pass through isometric pair of yoke suspension knot respectively
Structure 302 is arranged on the lower section of chassis body 301, and each omni-directional wheel 303 is driven by single motor 304, four driving electricity
Machine 304 is connected with executing agency 140 respectively.Body chassis 300 forms parallel four side using isometric pair of yoke suspended structure 302
The independent suspension type structure of shape, it is ensured that omni-directional wheel 303 effectively increases chassis travelling mechanism all the time perpendicular to chassis body 301
Stationarity, shock resistance and buffer capacity, be applicable Ye Xun robots operation different road conditions.
Reference picture 3-8, the rotary lifting movement of thermal imaging system 165 and elevating movement are realized by following structure
's：
Robot body 200 also includes division board 211, top plate 212, turntable 213, elevating mechanism, rotating mechanism and bowed
Mechanism is faced upward, division board 211, top plate 212, turntable 213 are fixedly connected sequentially from bottom to up.
Elevating mechanism includes stepper motor 1, active synchronization wheel 222, driven synchronizing wheel 223, timing belt 224, synchronization
Folder 225, transfer block 226, line slide rail 229a, sliding block 229b, rotation isolation bearing component 227, polygonal tube 228, actively together
Step wheel 222 is fixedly connected with the output end of stepper motor 1, and stepper motor 1 is fixedly connected with division board 211, driven
Wheel is arranged on the upper surface of top plate 212, and 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；Polygonal tube 228 is fixedly connected with the rotation inner ring of isolation bearing component 227, sliding block
229b is slidably connected with line slide rail 229a, and synchronous folder 225, the outer ring of rotation isolation bearing component 227, sliding block 229b are respectively with turning
Block 226 is connect to be fixedly connected.Stepper motor 1 can drive the synchronous folder 225 on timing belt 224 to move up and down, so as to drive
Polygonal tube 228 and thermal imaging system 165165 are lifted, and polygonal tube 228 is slided in the polygonal hole on driven gear 233, is made
Obtain the lifting of polygonal tube 228 is not influenceed by rotating mechanism.
Rotating mechanism includes stepper motor 2 231, driving gear 232, switching bearing 234 and nibbled with driving gear 232
The driven gear 233 of conjunction, driving gear 232 is fixedly connected with the output end of stepper motor 2 231, switching bearing 234 with it is driven
Gear 233 is coaxially distributed, and the switching inner ring of bearing 234 is fixedly connected with turntable 213, the switching outer ring of bearing 234 and driven gear
233 are fixedly connected, and driven gear 233 is provided centrally with polygonal hole, and polygonal tube 228 is slidably connected in polygonal hole.It is sliding
Block 229b and line slide rail 229a cooperation can stablize lift path；Stepper motor 2 231 can drive 233 turns of driven gear
Dynamic, due to restriction effect of the polygonal hole to polygonal tube 228, polygonal tube 228 and thermal imaging system 165 rotate, rotation every
In the presence of off-axis bearing assembly 227, the rotation of polygonal tube 228 can not be influenceed by elevating mechanism miscellaneous part.
Luffing mechanism includes fixed block 241 and movable block 242, and polygonal tube 228 is fixedly connected with fixed block 241, activity
Block 242 is connected with the pivot joint of fixed block 241, is provided between fixed block 241 and movable block 242 for driving movable block 242 to make
The stepper motor 3 243 of lower rotation, stepper motor 3 243 is fixedly connected with fixed block 241, movable block 242 and stepper motor three
243 output end is fixedly connected, and thermal imaging system 165165 is fixedly connected with movable block 242.Stepper motor 3 243 can drive heat
Imager 165 completes pitching motion.Whole device is simple in construction, and enables to the pose adjustment of thermal imaging system 165 flexible, dynamic
Make non-interference, flexible operation smooth.
Motor-driven function, environment sensing function based on Ye Xun robots described above, join with reference to the structure in prison corridor
Number, realizes robot corridor is motor-driven and inspection of each prison room.
Supervise room inspection flow：
Obtain every attribute of prison room；
Robot is motor-driven to arrive specified point；
The checksum location of laser radar 162.The operating instruction of body chassis 300 is such as sent, then database 111b is write in current location；
Robot rotates in place 90 degree, and operation forward is close to monitoring room door mouthful, passes through the vernier angle of magnetoresistive transducer 164；
Obtain the optimal thermal imagery camera lens posture in the prison room；
Thermal imagery camera lens posture is adjusted to optimal intake posture；
Open thermal imaging system 165, capture images；
Preserve, and start image procossing and classification.
Pass through above-mentioned inspection flow, you can realize the inspection monitoring work to places such as prisons.
Ye Xun robots are communicated by wireless network with background computer, thermal-image data and warning message are uploaded, Yong Huke
Checked by client 101.Background computer enters row data communication and operating interactive by wireless ether nets with robot.
Claims (6)
1. a kind of Ye Xun robots, including robot body (200), and the mobile chassis machine of driving robot body (200)
Structure (300), it is characterised in that also single including executing agency (140), acousto-optic device (150), sensor unit (160) and control
First (110)；
Wherein, described sensor unit (160) includes thermal imaging system (165), and described control unit (110) is according to thermal imaging system
(165) infrared thermal-image data of collection, and according to human body vital sign, judge human body vital sign type in region of patrolling and examining, when
When being judged as normal behaviour, then control instruction is sent, body chassis (300) is driven by executing agency (140), so as to drive drive
Mobile robot main body (200) is mobile；When being judged as abnormal behaviour, then alarm instruction drives acousto-optic device (150) alarm is sent,
And send infrared image to background computer；
Described robot body (200) also includes division board (211), top plate (212), turntable (213), elevating mechanism, rotation
Rotation mechanism and luffing mechanism, division board (211), top plate (212), turntable (213) are fixedly connected sequentially from bottom to up；
Elevating mechanism include stepper motor one (221), active synchronization wheel (222), driven synchronizing wheel (223), timing belt (224),
Synchronous folder (225), transfer block (226), rotation isolation bearing component (227), polygonal tube (228), active synchronization wheel (222) with
The output end of stepper motor one (221) is fixedly connected, and stepper motor one (221) is fixedly connected with division board (211), and driven pulley is set
The upper surface in top plate (212) is put, 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)；Polygonal tube (228) is fixed with rotation isolation bearing component (227) inner ring
Connection, synchronous folder (225) and rotation isolation bearing component (227) outer ring are fixedly connected with transfer block (226) respectively；
Rotating mechanism includes stepper motor two (231), driving gear (232) and the driven tooth engaged with driving gear (232)
Take turns (233), driving gear (232) is fixedly connected with the output end of stepper motor two (231), driven gear (233) and turntable
(213) it is rotatably connected, driven gear (233) is provided centrally with polygonal hole, and polygonal tube (228) is slidably connected at polygonal hole
It is interior；
Luffing mechanism includes fixed block (241) and movable block (242), and polygonal tube (228) is fixedly connected with fixed block (241),
Movable block (242) is connected with fixed block (241) pivot joint, is provided between fixed block (241) and movable block (242) for driving work
Motion block (242) makees the stepper motor three (243) rotated upwardly and downwardly, and stepper motor three (243) is fixedly connected with fixed block (241), living
Motion block (242) is fixedly connected with the output end of stepper motor three (243), thermal imaging system (165) and the fixed company of movable block (242)
Connect.
2. Ye Xun robots according to claim 1, it is characterised in that
Described control unit (110) includes data module (111), motion module (113) and alarm module (112), described
Data module (111) includes database (111b) and data processor (111a), and database (111b) is used to write sensing in real time
The data that device unit (160) is collected, and sort data into feeding data processor (111a), data processor (111a) after encapsulation
According to the difference of data type, data calculating is carried out respectively, kinematic parameter and alarm parameters is then converted into, and kinematic parameter is sent
To motion module (113), alarm parameters are sent to alarm module (112)；Described motion module (113) is used for kinematic parameter
Control instruction driving executing agency (140) is converted into, described alarm module (112) refers to for alarm parameters to be converted into alarm
Order driving acousto-optic device (150) alarm.
3. Ye Xun robots according to claim 1, it is characterised in that
Described sensor unit (160) also include sound collector (166), magnetoresistive transducer (164), gyroscope (163), swash
Optical radar (162) and sonac (161), sound collector (166) are used to gather voice data, and are sieved according to exception rules
Voice data is selected, when being judged as normal behaviour, then control instruction is sent, body chassis is driven by executing agency (140)
(300), so as to drive driving robot body (200) mobile；When being judged as abnormal behaviour, then alarm instruction drives sound is sent
Electro-optical device (150) is alarmed；
Described magnetoresistive transducer (164) and gyroscope (163) are used for flip angle pulses, the calculating robot's positional number for coordinating motor
According to control unit (110) carries out location data calculating according to the position data of calculating, is then controlled by described control instruction
Executing agency (140)；
Described laser radar (162) and sonac (161) are used to gather traveling data, and control unit (110) basis is adopted
The traveling data of collection carry out traveling data calculating, then control executing agency (140) to avoid obstacle by described control instruction.
4. Ye Xun robots according to claim 1, it is characterised in that
Described body chassis (300) include chassis body (301), and four omnidirectional distributions omni-directional wheel (303), described four
Individual omni-directional wheel (303) is arranged on below chassis body (301) by isometric pair of yoke suspended structure (302) respectively, and each complete
Driven to wheel (303) by single motor (304), four motors (304) are connected with executing agency (140) respectively.
5. Ye Xun robots according to claim 1, it is characterised in that
Described elevating mechanism also includes line slide rail (229a) and sliding block (229b), and slide rail is fixedly connected with division board (211),
Sliding block (229b) is slidably connected with line slide rail (229a), and sliding block (229b) is fixedly connected with transfer block (226).
6. Ye Xun robots according to claim 1, it is characterised in that
Described rotating mechanism also includes switching bearing (234), switching bearing (234) and the coaxial distribution of driven gear (233), turns
Joint bearing (234) inner ring is fixedly connected with turntable (213), switching bearing (234) outer ring and the fixed company of driven gear (233)
Connect.
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