CN105904468A - Multifunctional patrol robot with independent map building function and independent wireless charging function - Google Patents

Multifunctional patrol robot with independent map building function and independent wireless charging function Download PDF

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Publication number
CN105904468A
CN105904468A CN201610414615.8A CN201610414615A CN105904468A CN 105904468 A CN105904468 A CN 105904468A CN 201610414615 A CN201610414615 A CN 201610414615A CN 105904468 A CN105904468 A CN 105904468A
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CN
China
Prior art keywords
module
robot
wireless charging
autonomous
main control
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Pending
Application number
CN201610414615.8A
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Chinese (zh)
Inventor
林宇
王小宁
张少军
潘翔
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Beijing University of Technology
University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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Application filed by University of Science and Technology Beijing USTB filed Critical University of Science and Technology Beijing USTB
Priority to CN201610414615.8A priority Critical patent/CN105904468A/en
Publication of CN105904468A publication Critical patent/CN105904468A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages

Abstract

The invention provides a multifunctional patrol robot with an independent map building function and an independent wireless charging function, and belongs to the technical field of robots. The robot comprises a robot body and a movable chassis, wherein the robot body is arranged on the movable chassis; a Kinect sensor, a horn, a combustible gas sensor and a fire smoke sensor are arranged on the outer part of the robot body; the movable chassis is moved by dual motors arranged in the movable chassis; and the robot body internally comprises a main control module, a network and wireless communication module, a motor drive module, an independent wireless charging module, a voice playing module, an intelligent identifying module, a combustible gas alarm module, a fire smoke alarm module and the like. The robot has the independent map building function and the self-charging function, and can independently go on patrol and work for a long time in an unfamiliar environment; and the robot is combined with internet of things, so that the service of the robot is increased; and the robot is more intelligent and user-friendly by virtue of a navigation module and the independent wireless charging module.

Description

A kind of multi-functional patrol robot with autonomous map structuring and wireless charging
Technical field
The present invention relates to robotics, particularly relate to one have autonomous map structuring and The multi-functional patrol robot of wireless charging.
Background technology
Along with the development in city, the crowd massing amount in large-scale place such as such as market, museum etc. is more come The biggest, stolen event occurs again and again, and safety precaution becomes the cardinal task that currently must solve. In existing security protection system, monitoring camera is the most simply installed in control point, disposes available manpower Guarantor person goes on patrol.This measure exist by monitoring range limited cause place blind spot, by imaging Image switch cause time blind spot, because Security Personnel is careless and inadvertent or tired tried out causes Monitor the leaks such as blind spot.
Along with modern machines people's technology and the development of network technology, the range of application of robot is more come The biggest.Especially in service field, the application of robot is the most of great interest and payes attention to. Now, such as household service robot, medical robot, rescue robot etc. have been applied Example.In terms of security and guard technology, security robot also arises at the historic moment, but existing security protection machine People is to set patrol approach and place, operation complexity, and cannot be carried out path optimizing, nothing Method preferably meets the demand of strange secure environment.
Summary of the invention
The technical problem to be solved in the present invention is to provide one and has autonomous map structuring and wireless The multi-functional patrol robot of charging.This robot includes robot body and mobile chassis, machine Device human body is arranged on mobile chassis, and robot body is outside installs Kinect sensor, loudspeaker , combustible gas sensor and fire hazard aerosol fog sensor, main control is set inside robot body Module, network and radio communication module, motor drive module, autonomous wireless charging module, Navigation module, image capture module, automatic obstacle avoiding module, voice playing module, fuel gas Alarm module and fire hazard aerosol fog alarm module;Main control module respectively with network and radio communication Module, motor drive module, autonomous wireless charging module, navigation module, image capture module, Automatic obstacle avoiding module, voice playing module, combustible gas alarm module, fire hazard aerosol fog warning mould Block is connected.
Wherein, robot body is hollow housing.Car for walking is installed bottom mobile chassis Wheel, mobile chassis is moved by the bi-motor arranged in it, and mobile chassis type of drive is Wheel drive, the form of the embedded car body of wheel in bi-motor.
Each module concrete function is:
Arranging network and radio communication module on main control module, main control module passes through network And radio communication module receives signal and processes it.
User carries out information friendship by network and radio communication module with long-range safety protection robot Mutually, user command signal is passed to by network and radio communication module by network and RTTY The control interface of main control module realizes remote control robot;
Motor drive module is communicated with main control module by serial communication interface, is used for connecing Bi-motor is controlled by the control signal receiving main control module transmission;
Autonomous wireless charging module is arranged on bottom robot, autonomous wireless charging module and master control Molding block is connected, and for sending charging signals to main control module, main control module receives charging Carrying out processing and feeding back to autonomous wireless charging module after signal, autonomous wireless charging module is searched Position of source feed back to main control module near rope, main control module receives position of source signal After carry out processing and control robot and move near position of source, autonomous wireless charging module pair This robot carries out the autonomous wireless charging of non-docking;
Navigation module is connected with main control module, and navigation module includes being arranged on robot body The vision sensing equipment in portion, vision sensing equipment utilizes the RGB color of Kinect sensor to take the photograph Shadow machine and optical depth induction apparatus are the most anti-as the image information of vision sensor detection surrounding Feeding navigation module, the ambient image information that navigation module feeds back according to vision sensing equipment is carried out Result is also fed back to main control module by autonomous map structuring, and main control module receives result Control robot after processing to move;
Image capture module is connected with main control module, for gathering the RGB of Kinect sensor Colour camera catch video signal and be sent to main control module, main control module passes through net Video signal is sent to client by network and radio communication module, client to signal at Reason;
Automatic obstacle avoiding module makes barrier present on robot energy intelligent decision patrol route Position and size, and can independently cut-through thing, continued patrol mission;
Soundplay module is connected with main control module, simultaneously be arranged on this security patrol machine Loudspeaker outside human body are connected and are realized the output of voice by main control module;
Combustible gas alarm module is connected with main control module, and combustible gas alarm module is passed through can Combustion gas body sensor detects the fuel gas signal in surrounding and processes, simultaneously at general Reason result feeds back to main control module, and main control module controls speech play after receiving feedback result Module is reported to the police;
Fire hazard aerosol fog alarm module is connected with main control module, and fire hazard aerosol fog alarm module is by fire Calamity Smoke Sensor detects the fire hazard aerosol fog signal in surrounding and processes, simultaneously will knot Fruit is anti-gives main control module, and after main control module receives feedback result, control language playing module enters Row is reported to the police.
Having the beneficial effect that of the technique scheme of the present invention:
The multi-functional patrol machine with autonomous map structuring and wireless charging that the present invention provides People is applicable to such as the places such as market, museum, Jin Dian, jeweler's shop, and this robot has unknown ring Autonomous map constructing function and autonomous wireless charging function under border, it is not necessary to change existing environment Directly use, persistently can work under the conditions of left unguarded;This robot also has image acquisition Function, can transmit patrol situation video in real time;This robot also has fire alarm, coal simultaneously The relevant intelligent functions such as gas leakage warning;Robot is combined by the present invention with technology of Internet of things, Add the service of robot, and made by navigation module and autonomous wireless charging module Robot is more intelligent and hommization.
Accompanying drawing explanation
Fig. 1 is the multi-functional patrol plane with autonomous map structuring and wireless charging of the present invention Device people's structural representation;
Fig. 2 is the multi-functional patrol plane with autonomous map structuring and wireless charging of the present invention Device human body's structural representation.
Wherein: 1-robot body;2-mobile chassis;3-main control module;4-network and nothing Line telecommunication module;5-motor drive module;The autonomous wireless charging module of 6-;7-navigation module; 8-image capture module;9-automatic obstacle avoiding module;10-soundplay module;11-fuel gas Alarm module;12-fire hazard aerosol fog alarm module;13-Kinect sensor;14-loudspeaker;15- Combustible gas sensor;16-fire hazard aerosol fog sensor.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below To be described in detail in conjunction with the drawings and the specific embodiments.
The present invention provides a kind of multi-functional patrol plane with autonomous map structuring and wireless charging Device people.
As it is shown in figure 1, this robot includes robot body 1 and mobile chassis 2, robot Body 1 is arranged on mobile chassis 2, and robot body 1 is outside installs loudspeaker 14, flammable Gas sensor 15, fire hazard aerosol fog sensor 16 and Kinect sensor 13.
As in figure 2 it is shown, robot body 1 is internal arranges main control module 3, network and wireless Telecommunication module 4, motor drive module 5, autonomous wireless charging module 6, navigation module 7, Image capture module 8, automatic obstacle avoiding module 9, voice playing module 10, combustible gas alarm Module 11 and fire hazard aerosol fog alarm module 12;Main control module 3 respectively with network and radio Communication module 4, motor drive module 5, independently fill radio module 6, navigation module 7, figure As acquisition module 8, automatic obstacle avoiding module 9, voice playing module 10, combustible gas alarm mould Block 11, fire hazard aerosol fog alarm module 12 are connected.
Robot body 1 is hollow housing, and hollow housing uses batten to be supporter, internal sleeve Lucite circle, outside binding high strength fibre line, outermost layer is had to post aviation laminate and make.
Installing the wheel for walking bottom mobile chassis 2, mobile chassis 2 type of drive is double Wheel drive, the form of the embedded car body of wheel in motor.
In the work process of this robot, the major function of the internal each module of robot body 1 For:
Arranging network and radio communication module 4 on main control module 3, main control module 3 leads to Cross network and radio communication module 4 receives signal and processes it;
User carries out information by network and radio communication module 4 with long-range safety protection robot Alternately, user command signal is passed through network and RTTY by network and radio communication module 4 The control interface being passed to main control module 3 realizes remote control robot;
Motor drive module 5 is communicated with main control module 3 by serial communication interface, uses In the control signal receiving main control module 3 transmission, bi-motor is controlled;
Autonomous wireless charging module 6 is arranged on bottom robot, autonomous wireless charging module 6 with Main control module is connected 3, for sending charging signals, main control module to main control module 3 Carry out processing and feeding back to autonomous wireless charging module 6 after 3 reception charging signals, the most wireless Charging module 6 is searched for neighbouring position of source and feeds back to main control module 3, main control module 3 Carry out processing and control robot after receiving position of source signal and move near position of source, from Main wireless charging module 6 carries out the autonomous wireless charging of non-docking to this robot;
Navigation module 7 is connected with main control module 3, and navigation module 7 includes being arranged on robot The vision sensing equipment of body upper part, vision sensing equipment utilizes Kinect sensor 13 RGB color camera and optical depth induction apparatus detect the figure of surrounding as vision sensor As information and feed back to navigation module, the environment that navigation module 7 feeds back according to vision sensing equipment Image information carries out autonomous map structuring and result feeds back to main control module 3, master control Molding block 3 receives control robot after result processes and moves;
Image capture module 8 is connected with main control module 3, is used for gathering Kinect sensor The video signal of the RGB color camera grabs of 13 is also sent to main control module 3, master control Video signal is sent to client by network and radio communication module 4 by molding block 3, visitor Signal is processed by family end;
Automatic obstacle avoiding module 9 makes barrier present on robot energy intelligent decision patrol route Position and size, and can independently cut-through thing, continued patrol mission;
Soundplay module 10 is connected with main control module 3, simultaneously be arranged on this patrol plane Loudspeaker 14 outside device human body 1 are connected and pass through main control module 3 and realize the output of voice;
Combustible gas alarm module 11 is connected with main control module 3, combustible gas alarm module 11 are detected the fuel gas signal in surrounding by combustible gas sensor 15 and are located Reason, feeds back to main control module 3 simultaneously by result, and main control module 3 receives feedback knot Control voice playing module 10 after Guo to report to the police;
Fire hazard aerosol fog alarm module 12 is connected with main control module 3, fire hazard aerosol fog alarm module 12 are detected the fire hazard aerosol fog signal in surrounding by fire hazard aerosol fog sensor 16 and are located Reason, instead gives main control module 3 simultaneously by result, and main control module 3 is controlled after receiving feedback result Soundplay module 10 processed is reported to the police.
The above is the preferred embodiment of the present invention, it is noted that for the art Those of ordinary skill for, on the premise of without departing from principle of the present invention, it is also possible to do Going out some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (9)

1. there is a multi-functional patrol robot for autonomous map structuring and wireless charging, its It is characterised by: include robot body (1) and mobile chassis (2), robot body (1) Be arranged on mobile chassis (2), robot body (1) is outside install loudspeaker (14), can Combustion gas body sensor (15), fire hazard aerosol fog sensor (16) and Kinect sensor (13), Robot body (1) is internal arranges main control module (3), network and radio communication module (4), motor drive module (5), autonomous wireless charging module (6), navigation module (7), Image capture module (8), automatic obstacle avoiding module (9), voice playing module (10), flammable Gas alarm module (11) and fire hazard aerosol fog alarm module (12);Main control module (3) point Not and network and radio communication module (4), motor drive module (5), autonomous wireless charging Module (6), navigation module (7), image capture module (8), automatic obstacle avoiding module (9), Voice playing module (10), combustible gas alarm module (11), fire hazard aerosol fog alarm module (12) It is connected;Combustible gas sensor (15) is connected with combustible gas alarm module (11), fire Smoke Sensor (16) is connected with fire hazard aerosol fog alarm module (12).
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described robot body (1) is hollow housing.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described mobile chassis (2) bottom is installed and is used for walking Wheel, mobile chassis (2) type of drive is wheel drive in bi-motor, the embedded car body of wheel Form.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described autonomous wireless charging module (6) is arranged on machine Device human body (1) bottom, robot moves near position of source, autonomous wireless charging mould Block (6) carries out the autonomous wireless charging of non-docking to robot.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described navigation module (7) includes being arranged on robot The Kinect sensor (13) that body (1) is outside, navigation module (7) utilizes Kinect to pass After the RGB color camera of sensor (13) and optical depth induction apparatus carry out autonomous map structuring, Control robot by main control module (3) to move according to the path of contexture by self.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described image capture module (8) gathers Kinect and passes The video signal of the RGB color camera grabs of sensor (13) is also sent to main control module (3), main control module (3) passes through network and radio communication module (4) by video signal Being sent to client, signal is processed by client.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described automatic obstacle avoiding module (9) ensures robot intelligence Position and the size of barrier present on patrol route, and autonomous cut-through thing can be judged, Continue patrol mission.
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described voice playing module (10) and robot body (1) outside loudspeaker (14) are connected, and control voice output by main control module (3).
Many merits with autonomous map structuring and wireless charging the most according to claim 1 Energy patrol robot, it is characterised in that: described combustible gas sensor (15) is by detect Signal passes to combustible gas alarm module (11), is then passed to main control module (3); The signal detected is passed to fire hazard aerosol fog alarm module (12) by fire hazard aerosol fog sensor (16), It is then passed to main control module (3).
CN201610414615.8A 2016-06-13 2016-06-13 Multifunctional patrol robot with independent map building function and independent wireless charging function Pending CN105904468A (en)

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CN106598052A (en) * 2016-12-14 2017-04-26 南京阿凡达机器人科技有限公司 Robot security inspection method based on environment map and robot thereof
CN106695833A (en) * 2017-02-18 2017-05-24 蚌埠市圆周率电子科技有限公司 Fire early warning anti-theft robot
CN106787175A (en) * 2016-11-29 2017-05-31 国网山东省电力公司济南供电公司 A kind of switchgear house telesecurity monitoring system
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CN107219271A (en) * 2017-07-12 2017-09-29 苏州赛福德自动化科技有限公司 A kind of detection device for being used to detect environment flammable gas content
CN107443403A (en) * 2017-09-21 2017-12-08 深圳市鑫汇达机械设计有限公司 A kind of robot for being used to go on patrol
CN107543531A (en) * 2017-08-13 2018-01-05 天津职业技术师范大学 A kind of Robot visual location system
CN108312150A (en) * 2017-12-31 2018-07-24 天津木牛流马科技发展股份有限公司 Building service robot
CN108334089A (en) * 2018-02-08 2018-07-27 合肥工业大学 Map constructing method and device, the method, apparatus and chip that control robot
CN109960248A (en) * 2017-12-25 2019-07-02 沈阳新松机器人自动化股份有限公司 It is a kind of can automatically walk mobile chassis system
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CN106767750A (en) * 2016-11-18 2017-05-31 北京光年无限科技有限公司 A kind of air navigation aid and system for intelligent robot
CN106787175A (en) * 2016-11-29 2017-05-31 国网山东省电力公司济南供电公司 A kind of switchgear house telesecurity monitoring system
CN106598052A (en) * 2016-12-14 2017-04-26 南京阿凡达机器人科技有限公司 Robot security inspection method based on environment map and robot thereof
CN106695833A (en) * 2017-02-18 2017-05-24 蚌埠市圆周率电子科技有限公司 Fire early warning anti-theft robot
CN107193277A (en) * 2017-05-05 2017-09-22 宁波华狮智能科技有限公司 Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically
CN107219271A (en) * 2017-07-12 2017-09-29 苏州赛福德自动化科技有限公司 A kind of detection device for being used to detect environment flammable gas content
CN107543531A (en) * 2017-08-13 2018-01-05 天津职业技术师范大学 A kind of Robot visual location system
CN107543531B (en) * 2017-08-13 2019-10-11 天津职业技术师范大学 A kind of Robot visual location system
CN107443403A (en) * 2017-09-21 2017-12-08 深圳市鑫汇达机械设计有限公司 A kind of robot for being used to go on patrol
CN109960248A (en) * 2017-12-25 2019-07-02 沈阳新松机器人自动化股份有限公司 It is a kind of can automatically walk mobile chassis system
CN109976327A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 A kind of patrol robot
CN109968366A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 A kind of multifunction domestic appliance people
CN108312150A (en) * 2017-12-31 2018-07-24 天津木牛流马科技发展股份有限公司 Building service robot
CN108334089A (en) * 2018-02-08 2018-07-27 合肥工业大学 Map constructing method and device, the method, apparatus and chip that control robot
CN108334089B (en) * 2018-02-08 2021-05-18 合肥工业大学 Map construction method and device, robot control method and device, and chip
CN110154021A (en) * 2019-05-17 2019-08-23 北京科技大学 A kind of sensor electromagnetism self-assembly intelligent robot
CN110154021B (en) * 2019-05-17 2021-03-23 北京科技大学 Sensor electromagnetism self-assembly intelligent robot

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Application publication date: 20160831