CN107193282A - A kind of intelligent security guard robot and intelligent safety and defence system - Google Patents
A kind of intelligent security guard robot and intelligent safety and defence system Download PDFInfo
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- CN107193282A CN107193282A CN201710456229.XA CN201710456229A CN107193282A CN 107193282 A CN107193282 A CN 107193282A CN 201710456229 A CN201710456229 A CN 201710456229A CN 107193282 A CN107193282 A CN 107193282A
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention relates to a kind of intelligent security guard robot and intelligent safety and defence system, wherein intelligent security guard robot includes main control module and the vision sensor, laser radar, ultrasonic sensor, multiple environmental sensors, GPS unit, walking mechanism, radio communication unit and the acousto-optic reminding unit that are attached thereto；The main control module is used for environmental map and the geographical location information path planning of acquisition according to scanning, sends signal and controls the walking mechanism to be walked according to the path of planning；The main control module is additionally operable to determine avoidance mode according to the characteristic information of barrier；The main control module is additionally operable to the transmission alarm signal when detecting abnormal to the environmental information and alarmed to the acousto-optic reminding unit and remote control terminal.The intelligent security guard robot of the present invention has the functions such as autonomous cruise, automatic obstacle avoiding, autonomous detection, and intelligence degree is high, environmental suitability is strong, meets the requirement to the intelligent security guard of place.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of intelligent security guard robot and intelligent safety and defence system.
Background technology
China's security protection industry passes through the development of many decades, and market scale has reached nearly 500,000,000,000 yuan, and wherein product is accounted for
180000000000 yuan.The existing traditional people's air defense of security protection system develops into people's air defense, thing is anti-and technical precaution is combined, and has effectively ensured the people
Safety of life and property.Meanwhile, some problem is also exposed, is embodied in：Security Personnel's breach is big, and human cost is high, and
Mobility is big；Peopleware is uneven, there is thought paralysis, work the phenomenon performed a task perfunctorily；There is high wind in particular surroundings
Dangerous factor, constitutes a threat to personal security；Monitoring device, which is installed, fixes, and there is blind area, and be more easily damaged or fail；Equipment
It was found that after alert can not pro-active intervention, alert may be caused to expand.
As artificial intelligence technology and mechanics of communication etc. are developed rapidly, mobile robot is taken advantage of a situation and given birth to.Robot can connect
Continuous intensive work, and work flow is strictly observed, robot can be with integrated camera and multiple sensors.
It would therefore be highly desirable to which developing a kind of region that can be specified in client performs autonomous patrol and other safety protection functions
Security robot and intelligent safety and defence system.
The content of the invention
There is provided a kind of intelligent security guard robot and intelligent safety and defence system, energy for above-mentioned the deficiencies in the prior art by the present invention
Enough realize the autonomous patrol of robot, and the function with GPS location, automatic obstacle avoiding and abnormal alarm.
In order to solve the above-mentioned technical problem, the invention provides a kind of intelligent security guard robot, including main control module, regard
Feel sensor, laser radar, ultrasonic sensor, multiple environmental sensors, GPS unit, walking mechanism, radio communication unit
With acousto-optic reminding unit；
The main control module is connected with the vision sensor, GPS unit and walking mechanism, for according to the vision
The geographical location information path planning that the environmental map and GPS unit of sensor scan are obtained, sends signal and controls the row
Mechanism is walked to walk according to the path of planning；
The main control module is also connected with the laser radar and ultrasonic sensor, for according to laser radar, ultrasound
Wave sensor and the information of vision sensor collection determine the characteristic information of barrier, are determined according to the characteristic information of barrier
Avoidance mode, and send the signal control walking mechanism avoiding obstacles；
The main control module is also connected with the multiple environmental sensor, radio communication unit and acousto-optic reminding unit, is used
Remote control terminal is sent to by radio communication unit in the environmental information for gathering the multiple environmental sensor, and
Alarm signal is sent when detecting abnormal to the environmental information to report to the acousto-optic reminding unit and remote control terminal
It is alert.
According in intelligent security guard robot of the present invention, the multiple environmental sensor includes：Infrared sensing
Device, Smoke Sensor, gas sensor, Temperature Humidity Sensor and radiation sensor.
According in intelligent security guard robot of the present invention, the main control module includes：
Cruise control unit, the ground that environmental map and GPS unit for being scanned according to the vision sensor are obtained
Positional information path planning is managed, signal is sent and controls the walking mechanism to be walked according to the path of planning；
Avoidance obstacle unit, the information for being gathered according to laser radar, ultrasonic sensor and vision sensor is determined
The characteristic information of barrier, determines avoidance mode, and send the signal control walking mechanism according to the characteristic information of barrier
Avoiding obstacles；
Environmental monitoring unit, the environmental information for the multiple environmental sensor to be gathered passes through radio communication unit
The remote control terminal is sent to, and alarm signal is sent when detecting abnormal to environmental information and reminds single to the acousto-optic
Member and remote control terminal are alarmed.
According in intelligent security guard robot of the present invention, the avoidance obstacle unit is in the spy according to barrier
When reference breath determines avoidance mode, when finding to be unable to avoiding obstacles by algorithm simulation, pass through the radio communication unit
Feed back to the remote control terminal.
According in intelligent security guard robot of the present invention, the intelligent security guard robot also includes charging device；
The main control module also includes：Charging control unit, is connected with the charging device and radio communication unit, for detecting electricity
Pond electricity simultaneously feeds back to the remote control terminal, and receive remote control terminal transmission by the radio communication unit
Charging instruction, control charging device docks realization charging with charging pile；The remote control terminal is in battery electric quantity less than pre-
If sending charging instruction during threshold value to the intelligent security guard robot, and real time position according to intelligent security guard robot and fill
The position path planning of electric stake, and it is sent to the cruise control unit.
According in intelligent security guard robot of the present invention, the charging device includes charging machine, charging wire
Thick stick, charging screw slider, drive link, baffle plate, charging brush and current detection sensor；One end of the charging leading screw and institute
The output shaft connection of charging machine is stated, the other end is connected with the baffle plate, and the charging leading screw being capable of relatively described baffle plate turn
Dynamic, the charging leading screw slide block set is located on the charging leading screw；The drive link be arranged in parallel with the charging leading screw, and
One end of the drive link is connected with the charging screw slider, and the other end is connected through the baffle plate with the charging brush；
When the charging leading screw is rotated, the charging screw slider is moved axially along the charging leading screw, and is pushed away by the drive link
The dynamic charging brush movement；The current detection sensor is used to detect charging current；The charging control unit and institute
Laser radar, infrared sensor, charging machine and current detection sensor connection are stated, for by laser radar and infrared sensing
The position of the charging pile interface of device scanning is sent to the remote control terminal and carries out charging inlet fine position, and sends control
Signal processed makes the charging brush be docked with charging pile interface to the charging machine, and is detected by current detection sensor
Charging current, judges to charge successfully when detecting charging current, otherwise judges charging failure, and feed back to the long-range control
Terminal processed.
According in intelligent security guard robot of the present invention, the main control module also includes：Face identification unit,
It is connected with the vision sensor and radio communication unit, for detecting face according to the image information of collection, and according to prestoring
Face information the face of detection is identified, when recognition failures send alarm signal enter to the acousto-optic reminding unit
Row alarm, while the face and alarm signal of detection are sent into the remote control terminal by radio communication unit.
According in intelligent security guard robot of the present invention, the cruise control unit is according to dijkstra algorithm
Path planning.
According in intelligent security guard robot of the present invention, the intelligent security guard robot also includes：Installed in intelligence
The staggered at least two row's RFID card readers in energy security robot bottom, are arranged on beat road surface for reading
The signal of RFID tag；The main control module also includes：Location lookup unit, is connected with least two row's RFID card readers,
Electronic code for the RFID tag signal according to reading searches corresponding RFID labels institute from the form prestored
In position, and determine according to RFID tag position the current location of security robot.Wherein described location lookup unit is true
Surely the sequence number i of the RFID card reader of RFID tag signal is read, the installation of i-th of RFID card reader is obtained according to the sequence number
Position and the offset of intelligent security guard robot geometric center；Pass through the current of below equation computational intelligence security robot again
Position (x, y)：
Wherein xrAnd yrRespectively search the abscissa and ordinate of obtained RFID tag position, aiAnd biRespectively
For read RFID tag signal i-th of RFID card reader installation site and intelligent security guard robot geometric center in transverse axis
Offset and the longitudinal axis offset.
According in intelligent security guard robot of the present invention, the intelligent security guard robot also includes being arranged on intelligence
Collision prevention device on energy security robot shell；The proof equipment includes guard shield, the first rotary shaft, second
Rotary shaft and staggeredly axle bed；The guard shield is arranged in first rotary shaft；First rotary shaft is located in described
Staggeredly on axle bed, and it can be rotated relative to the staggeredly axle bed；Second rotary shaft is in antarafacial with first rotary shaft
It is vertically arranged；The staggeredly axle bed set, which is set, to be fixed in second rotary shaft, and second rotary shaft can be driven relative
Robot body is rotated.
Present invention also offers a kind of intelligent safety and defence system, including remote control terminal and communicate at least one
Individual foregoing intelligent security guard robot.
According in intelligent safety and defence system of the present invention, the remote control terminal is additionally operable to according to the intelligence
The environmental information and alarm signal that security robot is uploaded are counted, and analyze the security situation in each time and region, and right
The position of at least one security robot is arranged.Implement the intelligent security guard robot and intelligent security guard of the present invention
System, has the advantages that：The intelligent security guard robot of the present invention has autonomous cruise, automatic obstacle avoiding, autonomous detection
Etc. function, intelligence degree is high, environmental suitability is strong, it is possible to by data information transfer to remote control terminal, meets pair
The requirement of the intelligent security guard of place.
Brief description of the drawings
Fig. 1 is the module frame chart of intelligent security guard robot in the system according to the present invention；
Fig. 2 is the schematic diagram of the intelligent safety and defence system provided according to the preferred embodiment of the present invention；
Fig. 3 is the composition schematic diagram according to environmental sensor in the preferred embodiment of the present invention；
Fig. 4 is the structural representation according to main control module in the preferred embodiment of the present invention；
Fig. 5 is the shaft side figure according to charging device in the preferred embodiment of the present invention；
Fig. 6 is the front view according to charging device in the preferred embodiment of the present invention；
Fig. 7 is the polycrystalline substance schematic diagram of the intelligent security guard robot according to the preferred embodiment of the present invention；
Fig. 8 is to arrange schematic diagram according to the RFID tag of the preferred embodiment of the present invention；
Fig. 9 is the front view according to proof equipment in the preferred embodiment of the present invention；
Figure 10 is the stereogram according to proof equipment in the preferred embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained on the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Referring to Fig. 1, being the module frame chart of the intelligent security guard robot provided according to the preferred embodiment of the present invention.It please tie
Close and refer to Fig. 2, for the schematic diagram of the intelligent safety and defence system provided according to the preferred embodiment of the present invention.As depicted in figs. 1 and 2, originally
Invention first aspect is there is provided a kind of intelligent security guard robot 100, including main control module 110 and is attached thereto：Vision
Sensor 120, laser radar 130, ultrasonic sensor 140, multiple environmental sensors 150, GPS unit 160, walking mechanism
170th, radio communication unit 180 and acousto-optic reminding unit 190.
Wherein, main control module 110 is used for what is obtained according to the environmental map and GPS unit of the scanning of vision sensor 120
Geographical location information path planning, sends signal control walking mechanism 170 and is walked according to the path of planning.Wherein visual sensing
Device 120 can be made up of the head and camera on the top installed in intelligent security guard robot body, and it is arranged on skeletal support plate
On, protected with protection translucent cover, to ensure that sight is not blocked.Preferably, patrolled in order that obtaining intelligent security guard robot night
Clearly picture can still be passed when patrolling back, the camera with night vision function can be used, or install illuminating lamp additional.Master control
Module 110, according to dijkstra algorithm, can plan global path according to the environmental map of scanning, and according to this path row
Walk.Therefore, after system starts, intelligent security guard robot 100 can in designated area autonomous cruise.
Main control module 110 is additionally operable to be gathered according to laser radar 130, ultrasonic sensor 140 and vision sensor 120
Information determine the characteristic information of barrier, avoidance mode is determined according to the characteristic information of barrier, and send signal control row
Walk the avoiding obstacles of mechanism 170.Laser radar 130, ultrasonic sensor 140 and vision sensor 120 are used to detect obstacle
The distance of thing, wherein laser radar 130 scanning is remote, but scanning is only plane information, is mainly used in remote obstacle
Thing is positioned and avoidance.Ultrasonic sensor 140 is equivalent to spot measurement, and distance is near, and data are few.What vision sensor 120 was obtained
It is three-dimensional information, data volume is big, difficult, is mainly used in avoidance.That is, main control module 110 utilizes laser radar 130
The information of collection is positioned to the barrier of distant place, and according to its positional information path planning avoidance.Main control module 110 is also
The information gathered using ultrasonic sensor 140 and vision sensor 120 carries out avoidance to barrier nearby.By above-mentioned
Set, when running into barrier, intelligent security guard robot 100 have automatic obstacle avoiding function, success avoidance after, continue according to
Former route cruise.
Main control module 110 is additionally operable to the environmental information that multiple environmental sensors 150 are gathered passing through radio communication unit
180 are sent to the remote control terminal 200, and main control module 110 also sends alarm signal when detecting abnormal to environmental information
Alarmed to acousto-optic reminding unit 190, while alarm signal is sent into remote control end by radio communication unit 180
Alarmed at end 200.Referring to Fig. 3, being the composition schematic diagram according to environmental sensor in the preferred embodiment of the present invention.As schemed
Shown in 3, it is preferable that aforesaid plurality of environmental sensor includes：Infrared sensor 151, Smoke Sensor 152, gas sensor
153rd, Temperature Humidity Sensor 154 and radiation sensor 155.These link sensors can gather in real time cruise region it is infrared,
The information such as smog, gas, humiture, radiation, and by wireless network by these information transfers to remote control terminal 200.Intelligence
The main control module 110 of energy security robot 100 can be by the analysis to these data, and the abnormal conditions to patrol region are made
Go out the response such as alarm.
There is provided a kind of intelligent safety and defence system, including remote control terminal 200 and at least one for second aspect of the present invention
Individual intelligent security guard robot 100, such as the first intelligent security guard robot 100-1, the second intelligent security guard robot 100-2, the 3rd
The n-th intelligent security guards of intelligent security guard robot 100-3 ... robot 100-n.These intelligent security guard robots 100, which are arranged in, to be needed
The region to be gone on patrol, is communicated by wireless network with remote control terminal 200.Remote control terminal 200 can be fixed by GPS
Potential energy enough detects the particular location of each intelligent security guard robot, and the letter by being uploaded to intelligent security guard robot in real time
Breath data are analyzed, and perform the operations such as further alarm, for example, remind or send SMS notification by acousto-optic and manage
Member.Remote control terminal 200 can be controlled to each intelligent security guard robot 100 as needed simultaneously.Therefore, this hair
Bright intelligent safety and defence system realizes 200 pairs of remote control terminal every using intelligent security guard robot 100 as physical implementation end
The real-time control of one intelligent security guard robot 100, meets the requirement to the intelligent security guard of place.
Referring to Fig. 4, being the structural representation of main control module in the intelligent security guard robot according to the present invention.Such as Fig. 4 institutes
Show, the main control module 110 at least includes cruise control unit 111, avoidance obstacle unit 112 and environmental monitoring unit 113.
Wherein cruise control unit 111 is connected with vision sensor 120, GPS unit 160 and walking mechanism 170, is used for
The geographical location information path planning that the environmental map and GPS unit 160 scanned according to vision sensor 120 is obtained, sends
Signal controls walking mechanism 170 to be walked according to the path of planning.Preferably, cruise control unit is advised according to dijkstra algorithm
Draw path.
Avoidance obstacle unit 112 and laser radar 130, ultrasonic sensor 140, vision sensor 120 and walking mechanism
170 connections, the information for being gathered according to laser radar 130, ultrasonic sensor 140 and vision sensor 120 determines obstacle
The characteristic information of thing, avoidance mode is determined according to the characteristic information of barrier, and is sent signal control walking mechanism 170 and avoided
Barrier.It is moving obstacle also right and wrong that the characteristic information for the barrier that avoidance obstacle unit 112 is determined, which includes the barrier,
Moving obstacle, for non-moving barrier, position also including non-moving barrier of the characteristic information of the barrier and
Size；For moving obstacle, the characteristic information also position including moving obstacle, size, the mobile speed of the barrier
Degree and direction etc..Avoidance obstacle unit 112 determines avoidance mode, such as intelligent security guard machine according to the characteristic information of barrier
People advances or stopped.Preferably, avoidance obstacle unit 112 is according to the characteristic information of barrier when determining avoidance mode, when
When finding to be unable to avoiding obstacles or there is risk by algorithm simulation, long-range control is fed back to by radio communication unit 180
Terminal 200 processed, notifies console in time, waits artificial adapter.
Environmental monitoring unit 113 is connected with the multiple environmental sensor 150 and radio communication unit 180, for basis
The environmental information that multiple environmental sensors 150 are gathered, alarm signal is sent when detecting exception to acousto-optic reminding unit 190
Alarmed, while environmental information and alarm signal are sent into remote control terminal 200 by radio communication unit 180.It is different
Reason condition is divided into robot body exception and beat is abnormal, and the present invention can be detected by multiple environmental sensors 150
The exception of environmental area.
In preferred embodiment of the invention, the intelligent security guard robot 100 also includes charging device.Correspondingly, it is main
Control module 110 also includes：
Charging control unit, is connected with charging device and radio communication unit 180, for detecting battery electric quantity and passing through
Radio communication unit 180 feeds back to remote control terminal 200, and receives the charging instruction of the transmission of remote control terminal 200, control
Charging device processed docks realization charging with charging pile.
Remote control terminal 200 is then used for after receiving battery electric quantity, and whether detection battery electric quantity is less than predetermined threshold value,
It is then to send charging instruction to intelligent security guard robot 100, and the real time position according to intelligent security guard robot 100 and charging
The position path planning of stake, and it is sent to path walking of the control walking mechanism 170 of cruise control unit 111 according to the planning.
Set by said structure, intelligent security guard robot of the invention can find nearest charging pile in not enough power supply and carry out
Charging, after electricity is full of, proceeds cruise.
As it can be seen in figures 5 and 6, in the intelligent security guard robot provided for the preferred embodiment of the present invention charging device structure
Figure.The charging device includes charging machine 31, charging leading screw 34, charging screw slider 35, drive link 36, baffle plate 33, charging electricity
Brush and current detection sensor.One end of charging leading screw 34 is connected with the output shaft of charging machine 31, and the other end connects with baffle plate 33
Connect, and charging leading screw 34 can opposing flaps 33 rotate, charging screw slider 35 be set in charging leading screw 34 on.Drive link 36
Be arranged in parallel with charging leading screw 34, and one end of drive link 36 is connected with charging screw slider 35, the other end through baffle plate 33 and
The brush that charges is connected；When the leading screw 34 that charges is rotated, charging screw slider 35 is moved axially along charging leading screw 34, and passes through transmission
Bar 36 promotes charging brush movement.Current detection sensor (not shown) is used to detect charging current.
As shown in Figure 5 and Figure 6, supporting plate 32 is also included in the present embodiment, supporting plate 32 is parallel with baffle plate 33 to be set relatively
Put, supporting plate 32 is set on charging leading screw 34.One end of charging leading screw 34 is passed through after supporting plate 32, by shaft coupling 7 with filling
Motor 31 is coaxially connected, and the other end is connected on baffle plate 33.
Certainly, in another embodiment, charging leading screw 34 can also be connected with charging machine 31 using synchronizing wheel, be filled
Motor 31 can equally drive charging leading screw 34 to rotate.
Specifically, the charging machine 31 employed in the present embodiment is 57 stepper motors, and shaft coupling 7 joins for GR bellowss
Axle device.The charging machine 31 and shaft coupling 7 of other models can certainly be needed and selected according to actual conditions.
Charging machine 31 is fixed on by charging machine support 311 in the body of intelligent security guard robot.Charging machine branch
Frame 311 is L-type structure, and the output end of charging machine 31 is connected through charging machine support 311 with charging leading screw 34.
Charging leading screw 34 can relative support plate 32 and baffle plate 33 rotate.Supporting plate 32, which is provided with, to be used to wear charging wire
Angular contact bearing 8 is provided with the via of thick stick 34, via, circlip for hole 81 is arranged on the outside of angular contact bearing 8, prevented
Angular contact bearing 8 departs from via.Charging leading screw 34 is connected after passing through the endoporus of angular contact bearing 8 with charging machine 31.Work as charging
When motor 31 is rotated, charge the synchronous axial system of leading screw 34, and charging leading screw 34 coordinates with angular contact bearing 8, and angular contact bearing 8 can
It is unobstructed when rotating the relative support plate 32 of charging leading screw 34.
It is preferred that, in another embodiment, baffle plate 33 can also fill using provided with the via of angular contact bearing 8 to wear
Electrical filament thick stick 34.Supporting plate 32 and baffle plate 33 play support and limitation charging leading screw 34 position, while not influenceing the leading screw that charges
34 rotation.
Four drive links 36 are employed in the present embodiment as shown in Figure 5.Charging screw slider 35 is located in charging leading screw 34
On, drive link 36 is connected parallel to charging leading screw 34, one end with charging screw slider 35, and the other end is through baffle plate 33 with charging
Brush is connected.
The side of charging screw slider 35 is connected with charging feed screw nut 351.Specifically, charging feed screw nut 351 is connected
In the left side of charging screw slider 35 (depending on the direction shown in Fig. 6).Charge feed screw nut 351 and charging screw slider 35
The upper via for being used to wear charging leading screw 34 is arranged concentrically.Charging screw slider 35 passes through feed screw nut 351 and the charging wire of charging
Thick stick 34 is engaged.Rotate charging leading screw 34, with charging leading screw 34 charge feed screw nut 351 along charging leading screw 34 move, dragging or
Promote charging screw slider 35 to be moved axially along charging leading screw 34, the rotation for the leading screw 34 that charges is converted into charging screw slider
35 linear motion.Certainly, in another embodiment, the via of charging screw slider 35 can also be screwed hole, charging wire
Thick stick sliding block 35 is engaged by internal screwed hole with charging leading screw 34.
When the leading screw 34 that charges is rotated, charging screw slider 35 is moved, and promotes charging brush by drive link 36
It is mobile.Drive link 36 in charging brush moving process so that can keep stable, and charging connector stretches out intelligent security guard robot sheet
It will not be shaken during bulk charging.
As shown in Figure 5 and Figure 6, it is preferable that four drive links 36 are separately positioned on the corner of charging screw slider 35,
Charging leading screw 34 is centered around centre, and it is equal to the distance of charging leading screw 34, such structure is in order that obtaining stress more
Uniformly, transmission process is more stable.
The brush that charges includes brush connecting plate 37, brush positive pole 372 and brush negative pole 373, brush positive pole 372 and brush
Negative pole 373 is connected by compression spring with the outside of brush connecting plate 37, and inner side and the drive link 36 of brush connecting plate 37 connect
Connect.Because brush positive pole 372 and brush negative pole 373 are installed on insulation board by compression spring, compression spring with charging
Staking plays cushioning effect during touching, and impact of the charging connector to charging device and charging pile is reduced, while can have
What is imitated avoids brush from virtual connection occur, causes the phenomenon that sparkles.
In addition, common charging brush is about that the charging brush in the present embodiment is with the brush area ratio on charging pile
The brush of increasing, area is about 2~4 times of the brush on charging pile.After effective contact area of increase charging brush, charging
When, intelligent security guard robot body need not be moved accurately, you can be charged normal, being capable of safer reliable completion
Charging process.
Preferably, insulating barrier 371 is additionally provided with, brush positive pole 372 and brush negative pole 373 are connected by insulating barrier 371 and brush
Fishplate bar 37 is with being connected.Specific in the present embodiment, brush connecting plate 37 is vertically arranged with drive link 36, brush positive pole 372 and electricity
The parallel interval of brush negative pole 373 is arranged on insulation board, and insulation board is installed on brush connecting plate 37 again.
Preferably, the top of brush connecting plate 37 is additionally provided with lateral partitions, on brush positive pole 372 and brush negative pole 373
Side.Correspondence position is provided with the catch being hinged and is open as charging on the shell of intelligent security guard robot body, brush connecting plate 37
During stretching, lateral partitions promote catch to rotate, and the body that charging brush stretches out intelligent security guard robot is charged, and brush connects
When fishplate bar 37 is withdrawn, the catch being hinged is fallen, and is sheltered from charging opening, is prevented robot interior from falling ash.
As shown in Figure 5 and Figure 6, it is preferable that the side of baffle plate 33 is additionally provided with the guide rail 38 parallel to charging leading screw 34, guide rail
38 are set on guide rail 38 provided with the guide rail slide block 381 that can be slided along guide rail 38, the one end of guide rail slide block 381, and the other end is with filling
Electric screw slider 35 is connected.Specific in the present embodiment, guide rail 38 is arranged on the bottom of supporting plate 32 and baffle plate 33, during installation,
Guide rail 38 can be fixed in intelligent security guard robot body, and the bottom of supporting plate 32 and baffle plate 33 is set on guide rail 38.Guide rail
The bottom of sliding block 381 is socketed in guide rail 38, top connection charging screw slider 35, guide rail 38 and the phase interworking of guide rail slide block 381
Close, pressure of the charging screw slider 35 for the leading screw 34 that charges can be mitigated in transmission process so that charging screw slider 35
It can be easier to move, and position skew is less likely to occur.
Further, for ensure charging screw slider 35 along charging leading screw 34 move when without departing from stroke, to charging electricity
Machine 31 causes damage, and the sidepiece of baffle plate 33 is additionally provided with two limit switches 5, and charging generally will not touch spacing
Switch 5, when charging machine 31 occurs losing step or program appearance mistake, charging screw slider 35 or brush connecting plate 37 will
Limit switch 5 can be triggered, charging machine 31 is powered off, accident is prevented.
Certainly, in another embodiment, a limit switch can also be respectively set on baffle plate 33 and supporting plate 32
5, when the screw slider 35 that charges will exceed stroke, triggering limit switch 5 makes charging machine 31 stop operating rapidly.
Two limit switches 5 how are set to depend on a side shorter in drive link 36 and charging leading screw 34：If drive link
36 is shorter, then two limit switches 5 are separately positioned on baffle plate 33 and supporting plate 32；If the leading screw 34 that charges is shorter, two limits
Bit switch 5 is arranged at baffle plate 33；If the two stroke is identical, i.e., charging leading screw is slided when brush connecting plate 37 touches baffle plate 33
Block 35 also touches supporting plate 32, then two kinds of plans of establishment are all.
Lost to prevent charging machine 31 from occurring on step phenomenon, charging screw slider 35 equipped with magnet 61, in the present embodiment
What middle magnet 61 was selected is small magnet, and installed in the charging bottom side of screw slider 35, proximity Hall switch 62 is arranged on intelligence
In security robot body, and charging screw slider 35 be in initial position when proximity Hall switch 62 be located at small magnet just
Lower section.Proximity Hall switch 62 is installed in the charging stroke of leading screw 34, when small magnet passes through proximity Hall switch 62, be can be achieved
Charging machine 31 is zeroed, and removes accumulated error, prevents charging machine 31 from occurring losing step phenomenon, improves the essence of charging device motion
Degree.
Preferably, the left and right sides (being defined by direction shown in Fig. 6) of baffle plate 33 and supporting plate 32 are close to charging screw slider
35 side is additionally provided with cushion pad (not shown), certainly, in another embodiment, can also be in charging screw slider
35 left and right sides (being defined by direction shown in Fig. 8) and brush connecting plate 37 set cushion pad close to the side of baffle plate 33.It is slow
Charging screw slider 35 and electricity can be prevented from vibration-absorptive materials such as elastic caoutchoucs when there is contingency by rushing pad
Brush connecting plate 37 directly collides with supporting plate 32 or baffle plate 33, mitigates 37 pairs of charging screw slider 35 and brush connecting plate
The impact of device, anti-locking apparatus is damaged.
In the present embodiment, charging control unit is connected with charging device, charging control unit monitoring intelligent security guard robot
Interior battery electric quantity, and remote control terminal 200 is fed back to by radio communication unit.Meanwhile, remote control terminal 200 exists
Judge that charging instruction is sent when battery electric quantity is less than predetermined threshold value gives intelligent security guard robot, and according to intelligent security guard robot
Real time position and charging pile position path planning, and be sent to cruise control unit, control walking mechanism 170 makes intelligence
Security robot is run near nearest charging pile.Preferably, the remote control terminal 200 can utilize the map prestored
The position of middle charging pile, or intelligent security guard robot carry out path by the position of the charging pile of laser radar real time scan
Planning.The remote control terminal 200 can also obtain the real time position of intelligent security guard robot by GPS, or directly obtain
The real time position for the intelligent security guard robot that intelligent security guard robot passes through upload carries out path planning.Intelligent security guard robot
When running near nearest charging pile, the charging pile that charging control unit again scans laser radar and infrared sensor
The particular location of interface is sent to remote control terminal 200, to carry out the fine setting of charging inlet position.Preferably, laser radar
130 are arranged on the middle part of intelligent security guard robot body, positioned at the top of charging device, need to ensure in the range of 270 ° during installation
Do not block.Also, it is provided with opening in the position for installing laser radar 130 on the shell of intelligent security guard robot, it is ensured that laser
The use environment of radar 130.Laser radar 130 can detect peripheral obstacle, can also be detected when charging device works
The position of charging pile, it is ensured that charging brush can accurately insert charging pile.After errorless in the position for confirming charging pile, charging
Control unit retransmits control signal makes charging brush be docked with charging pile interface to charging machine 31, and passes through current detecting
Sensor detects charging current, judges to charge successfully when detecting charging current, otherwise judges charging failure, and feed back to
Remote control terminal 200.
In use, charging machine 31 drives charging leading screw 34 to rotate, charging screw slider 35 is along charging leading screw 34 and guide rail
38 to the direction of baffle plate 33 move, due to drive link 36 be connected to charging screw slider 35 and charging brush between, charging brush with
Charging screw slider 35 is synchronous to be moved laterally, stretches out intelligent security guard robot body, and insertion charging pile is charged, electric energy
It is filled with the battery in intelligent security guard robot body.After charging terminates, charging machine 31 drives charging leading screw 34 reversely to turn
Dynamic, charging screw slider 35 is moved along charging leading screw 34 and guide rail 38 to the direction of supporting plate 32, and drive link 36 drives charging brush
Withdraw.
It should be noted that the position and size of brush positive pole 372 and brush negative pole 373 can become as needed
Change, but accordingly, charging pile should also be adjusted, and be matched with the charging brush of charging device.
In preferred embodiment of the invention, the main control module 110 of the intelligent security guard robot 100 also includes：
Face identification unit, is connected with vision sensor 120 and radio communication unit 180, for the image according to collection
Infomation detection face, and the face of detection is identified according to the face information prestored, send alarm signal when recognition failures
Number alarmed to acousto-optic reminding unit 190, while the face and alarm signal of detection are sent out by radio communication unit 180
Give remote control terminal 200.Therefore, the present invention possesses the intelligent security guard robot meeting automatic detection people of face identification functions
Face, the personnel as discovery fails identification will trigger alarm, that is, notify remote control terminal and carry out sound and light alarm etc..
In preferred embodiment of the invention, the remote control terminal 200 of intelligent safety and defence system is additionally operable to according to intelligence
The environmental information and alarm signal that security robot 100 is uploaded are counted, and analyze the security situation in each time and region,
And the position of at least one intelligent security guard robot 100 is arranged.Therefore, the data of remote control terminal 200 of the present invention
The main analysis for being to provide big data of analysis, analyzes the security situation in some region of some period, to following intelligence
The foundation of offer science is placed and handled to security robot.
In preferred embodiment of the invention, the intelligent security guard robot 100 also has based on RFID tag to position
The function being corrected.Fig. 7 and Fig. 8 are please referred to, intelligent security guard robot respectively according to the preferred embodiment of the invention
Polycrystalline substance schematic diagram and RFID labels arrangement schematic diagram.As illustrated, intelligent security guard robot 100 also includes：Install
At least one RFID card reader 2 in the bottom of intelligent security guard robot 100, is arranged on travel zone road surface for reading
The signal of RFID tag 9.The present invention installs at least one RFID card reader 2 in the bottom of intelligent security guard robot 100 in advance,
And multiple RFID tags 9 are arranged on the road surface of the beat in intelligent security guard robot 100.Preferably, described at least one
Individual RFID card reader 2 includes the staggered two rows RFID card reader of enclosure bottom installed in intelligent security guard robot 100,
For example in Fig. 55 staggered two rows RFID card readers 2, RFID tag is read to improve intelligent security guard robot 100
Probability.The quantity of RFID card reader 2 is preferably 3~10.It is highly preferred that the RFID marks on beat road surface
Label 9 are along at least row's RFID nail labels, and adjacent RFID perpendicular to intelligent security guard robot direct of travel arrangement
The spacing d of nail label is less than the width of intelligent security guard robot.The walking mechanism 170 of intelligent security guard robot 100 includes setting
Put two driving wheels 171 in two bottom sides, and rear end a universal wheel 172, RFID card reader 2 is preferably divided into two rows
Arranged crosswise is in the front end of intelligent security guard robot 100, it is ensured that all standing in the range of the overall width of intelligent security guard robot 100,
The position error that the coil size of RFID card reader 2 is required according to intelligent security guard robot is determined.Preferably, RFID is read
The coil size of card device 2 is less than the 2/3 of the positioning precision, more preferably positioning precision of intelligent security guard robot requirement.Work as intelligence
Security robot 100 arranges part by reckoning walking to RFID tag 9, and does not deviate by the arrangement of RFID labels 9
Scope, federation of intelligent security guard robot 100 reads one to two labels.
Correspondingly, main control module 110 also includes location lookup unit.The location lookup unit with it is described at least one
RFID card reader 2 is connected, and the electronic code for the RFID tag signal according to reading is searched pair from the form prestored
The RFID tag position answered, and determine according to RFID tag position the current location of intelligent security guard robot.RFID
Electronic code (ID) information is carried in label signal.It is of the invention in advance to mark each RFID tag position and RFID
In electronic code (ID) the typing intelligent security guard robot of label, the form for inquiry and storage are formed.Main control module 110 exists
When obtaining the current location of the intelligent security guard robot, the GPS geographical location information obtained can be corrected.
When at least one RFID card reader 2 includes being arranged on staggered two row in intelligent security guard robot shells bottom surface
During RFID card reader, location lookup unit is according to the installation site of the card reader for reading RFID tag signal and intelligent security guard machine
The offset of device people's geometric center, is modified to RFID tag position, obtains the present bit of intelligent security guard robot
Put.
First, location lookup unit determines to read the sequence number i of the RFID card reader of RFID tag signal, according to the sequence
Number obtain the offset of installation site and the intelligent security guard robot geometric center of i-th of RFID card reader；Pass through following public affairs again
The current location (x, y) of formula computational intelligence security robot：
Wherein xrAnd yrRespectively search the abscissa and ordinate of obtained RFID tag position, aiAnd biRespectively
For read RFID tag signal i-th of RFID card reader installation site and intelligent security guard robot geometric center in transverse axis
Offset and the longitudinal axis offset.For example, when 5 RFID card readers 2 are installed in the bottom of intelligent security guard robot 100,
Assuming that when determining the serial number the 5th of the current RFID card reader for reading RFID tag signal, then being read according to the 5th RFID
The offset of the installation site of card device and intelligent security guard robot geometric center is modified to RFID tag position, i.e.,
Wherein, a5And b5Respectively read the installation site and intelligent security guard machine of the RFID card reader of RFID tag signal
People's geometric center is in the offset of transverse axis and the offset of the longitudinal axis.
In preferred embodiment of the invention, the intelligent security guard robot 100 also includes being arranged on intelligent security guard machine
Collision prevention device on people's shell.
As shown in Figure 9 and Figure 10, the proof equipment of intelligent security guard robot provided in an embodiment of the present invention includes anti-
Protect shell 41, the first rotary shaft 42, staggeredly the second rotary shaft 43, axle bed 44 and installing plate 46；Guard shield 41 is arranged on first
In rotary shaft 42；First rotary shaft 42 is located on staggeredly axle bed 44, and can staggered relative axle bed 44 rotate；Second rotation
Axle 43 is vertically arranged with the first rotary shaft 42 in antarafacial；Staggeredly axle bed 44, which is arranged, is fixed in the second rotary shaft 43, the second rotation
Rotating shaft 43 is arranged on the body of intelligent security guard robot, and being capable of opposed robots' rotation.Specifically, can be using rotation
Bearing 48 is arranged on intelligent security guard robot interior, makes the partial protection shell 41 on front side of the substitute machine people of guard shield 41,
That is, make that there is one piece of guard shield 41 that can be rotated to all directions on front side of robot.When robot is touched during traveling
During to barrier, the elder generation of guard shield 41 and bar contact, according to contact position and the difference of angle, it may appear that following three kinds
Situation：(1) guard shield 41 drives the first rotary shaft 42 to rotate；(2) guard shield 41, the first rotary shaft 42 and staggeredly axle bed
44 the second rotary shafts 43 of overall drive are rotated；(3) first rotary shafts 42 and the second rotary shaft 43 rotate simultaneously.Three kinds turn
Flowing mode, which can be realized, reduces the collision injury that collision is caused to intelligent security guard robot 100.
Preferably, in the present embodiment, the second rotary shaft 43 is rotatably arranged on installing plate 46.In another implementation
In mode, the second rotary shaft 43 directly can also rotatably be arranged on intelligent security guard robot body by swivel bearing 48
On.The modularization for setting installing plate 46 to be advantageously implemented robot proof equipment is installed, and simple in construction, and versatility is good,
More can easily install with dismantle the proof equipment, and be applied to different model robot or other
Equipment.
Specifically, mounting hole 461 is additionally provided with installing plate 46, installing plate 46 is fixed on intelligent security guard by mounting hole 461
On robot body.
Preferably, the robot proof equipment in independent the present embodiment can be used to be arranged on intelligent security guard machine
The front side of device human body, it would however also be possible to employ the robot proof equipment in multiple the present embodiment is arranged on intelligent security guard machine
Around device human body.
As shown in figure 9, guard shield 41 is removably mounted in the first rotary shaft 42 by fixed mount 411, such as only need
Housing is changed, guard shield 41 is only changed.Specific in the present embodiment, the first rotary shaft 42 is parallel with guard shield 41
Set, certainly, in further embodiments, according to practical situation needs, also may be used between the first rotary shaft 42 and guard shield 41
There is certain angle.The shape of guard shield 41 can change as needed, not limit herein.
Staggeredly axle bed 44, which is used to wear, is provided with swivel bearing 48 in the hole of the first rotary shaft 42, the first rotary shaft 42 passes through
Swivel bearing 48 is rotatably located on staggeredly axle bed 44.In the present embodiment, staggeredly axle bed 44 is located in the first rotary shaft 42
Between, it is of course also possible to which as needed staggeredly other positions in the first rotary shaft 42 will be arranged on by axle bed 44.
Preferably, limit spring 45 staggeredly is additionally provided between the rotary shaft 42 of axle bed 44 and first, matched with limit spring 45
That closes is additionally provided with a limited block 451.First rotary shaft 42 is provided with the plane being engaged with limited block 451 or groove.It is spacing
Axial direction of the part for block 451 along limit spring 45 is located in limit spring 45, and the length of the part is less than limit spring
45 axial length, another part is located at the outside of limit spring 45, and coordinates with plane or the groove bottom of groove, and width
More than the diameter of limit spring 45.
The longitudinal section of limited block 451 used in the present embodiment is T-shaped, and top surface is what is used in plane, the first rotary shaft 42
It is also plane.If the first rotary shaft 42 is engaged with limited block 451 using groove, the floor space of groove should be more than spacing
The top area of block 451.The rotary shaft 42 of limited block 451 and first is in compressive state by plane positioning, limit spring 45, is used for
Pretightning force is provided to the first rotary shaft 42.
In the present embodiment, as a result of plane positioning and spring pre-tightening, existing proof equipment is efficiently solved
Middle use spring floating installs the problem of guard shield 41 caused is unstable, it is to avoid robot body 9 is not smooth enough
When being moved on ground, guard shield 41 shakes, and causes the erroneous judgement of proof equipment.
As illustrated, staggeredly axle bed 44 is set in the centre of the second rotary shaft 43 and is relatively fixed with the second rotary shaft 43.
Second rotary shaft 43 is be arranged in parallel with installing plate 46, and two ends are rotatably arranged on installing plate 46 by swivel bearing 48, rotation
Rotating shaft bearing 481 is connected on installing plate 46, is used to wear in the via of the second rotary shaft 43 on rotating shaft holder 481 to be provided with
Swivel bearing 48, the two ends of the second rotary shaft 43 are located in the endoporus of swivel bearing 48, it is possible to staggeredly axle bed 44 1
Rotated with plate 46 is mounted opposite.Certainly, in another embodiment, the second rotary shaft 43 and installing plate 46 can also be according to realities
Border needs and set at an angle.
As shown in Figure 10, limited block 451 and limit spring 45 also are provided between the second rotary shaft 43 and installing plate 46.It is excellent
Selection of land, installing plate 46 is fixed in hollow cylinder provided with a hollow cylinder, limit spring 45, a part for limited block 451
Along the centre bore for being axially inserted into limit spring 45 of limit spring 45, another part is connected to outside limit spring 45.Limited block
After 451 insertions, certain surplus is left between lower section and installing plate 46, bottom does not contact installing plate 46, play buffering and damping
Effect.The effect of hollow cylinder is the position of more preferable limitation limit spring 45.The method of limitation is not unique, another
In individual embodiment, it would however also be possible to employ set cylindrical groove on installing plate 46 to aid in limiting the position of limit spring 45.It is spacing
Block 451 and limit spring 45 are used to provide plane positioning and spring pre-tightening to the second rotary shaft 43.
In the present embodiment, limited block 451 and limit spring 45 are located at staggeredly between axle bed 44 and rotating shaft holder 481, remove
Guard shield 41 can be reduced and shake the possibility for causing erroneous judgement, buffering and the function of damping can also be played, further subtracted
The impact that intelligent security guard robot body is subject to when colliding less.Certainly, in another embodiment, limited block 451 and spacing bullet
Spring 45 can also be arranged on inside the outside of rotating shaft holder 481 or rotating shaft holder 481.
In another embodiment, limited block 451 can not also be set, the one end of limit spring 45 is connected to staggeredly axle bed 44
On, the other end is connected directly between in the first rotary shaft 42；Limit spring 45 between the rotary shaft 43 of installing plate 46 and second is used
Same mode is installed.Limit spring 45 is in compressive state, for providing pretension to the first rotary shaft 42 or the second rotary shaft 43
Power, meanwhile, limit spring 45 can absorb the strength of part impact when colliding, and further reduce what robot was subject to
Collsion damage.
Hall sensor 47 is equipped with first rotary shaft 42 and the second rotary shaft 43.As illustrated, in the present embodiment,
One Hall sensor 47 is set in the first rotary shaft 42 and close to the position of staggeredly axle bed 44, for detecting that first rotates
The anglec of rotation of axle 42；Another Hall sensor 47 is set in the second rotary shaft 43 and close to the position of end, for examining
Survey the anglec of rotation of the second rotary shaft 43.
During installation, the installing plate 46 of proof equipment 4 is vertically mounted in intelligent security guard robot body, intelligence peace
The shell of anti-robot is provided with opening, the opening of the insertion shell of guard shield 41, it is possible to relatively intelligent security robot
Shell rotate.Preferably, proof equipment 4 is arranged on the surface of universal wheel 172, positioned at universal wheel 172 and filling
Between electric installation, i.e., proof equipment 4 is located at the front of intelligent security guard robot body.Obviously, in other embodiment
In, proof equipment 4 can also be located at side front, side or the dead astern of intelligent security guard robot body.
In use, when guard shield 41 is collided, being collided at any angle from the front of guard shield 41 can all cause
First rotary shaft 42 and the second rotary shaft 43 are rotated, the hall sensing in the first rotary shaft 42 and the second rotary shaft 43
Device 47 can feed back to angle information the control system of robot, and control system sends robot to colliding the preceding direction of motion
Opposite direction motion, or send the order that stopping robot moving forward.
The proof equipment 4 that the present embodiment is provided can mitigate collision of the barrier to robot in all directions and damage
Wound, and the proof equipment can as robot anticollision secondary protection device, for example, robot obstacle-avoiding lose
After losing, reducing collisions damage.The barrier for being difficult to be evaded with obstacle avoidance algorithm especially for sharp bar class etc., what the present invention was provided
Proof equipment is particularly important.And the robot proof equipment uses modularized design, simple in construction, versatility
Good, cost is low, good reliability.
In summary, the region that the intelligent security guard robot that the present invention is provided can be specified in client performs autonomous patrol,
There is the functions such as GPS location, contexture by self path, automatic obstacle avoiding, recharging simultaneously, autonomous cruise function is realized；Intelligence
Security robot is equipped with the modules such as head, infrared imaging, gas detection, Smoke Detection, Radiation monitoring in itself, in real time collection
The information such as audio frequency and video, gas, smog, the infrared, radiation of cruise region, are arrived these information transfers by wireless control network
Remote control terminal, and intelligent security guard robot can make alarm by data analysis to the abnormal conditions in patrol region
Deng response, the purpose of " home-confined, intelligent security guard " is realized.The intelligent safety and defence system that the present invention is provided passes through at least one
Security robot, wireless network and length of run control terminal, establish Internet of Things, realize the application fields such as reservoir area, plant area
Intelligent security protection.
It should be appreciated that, the intelligent security guard robot that intelligent safety and defence system of the invention is provided based on the present invention, therefore
Elaboration to the specific embodiment of intelligent security guard robot is also applied for intelligent safety and defence system.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to the foregoing embodiments for pipe, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part technical characteristic is equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical scheme
Spirit and scope.
Claims (10)
1. a kind of intelligent security guard robot, it is characterised in that passed including main control module, vision sensor, laser radar, ultrasonic wave
Sensor, multiple environmental sensors, GPS unit, walking mechanism, radio communication unit and acousto-optic reminding unit；
The main control module is connected with the vision sensor, GPS unit and walking mechanism, for according to the vision sensor
The geographical location information path planning that the environmental map and GPS unit of scanning are obtained, sends signal and controls the walking mechanism
Walked according to the path of planning；
The main control module is also connected with the laser radar and ultrasonic sensor, for according to laser radar, ultrasonic wave biography
Sensor and the information of vision sensor collection determine the characteristic information of barrier, and avoidance side is determined according to the characteristic information of barrier
Formula, and send the signal control walking mechanism avoiding obstacles；
The main control module is also connected with the multiple environmental sensor, radio communication unit and acousto-optic reminding unit, for inciting somebody to action
The environmental information of the multiple environmental sensor collection is sent to remote control terminal by radio communication unit, and to described
Environmental information detection sends alarm signal when abnormal and alarmed to the acousto-optic reminding unit and remote control terminal.
2. intelligent security guard robot according to claim 1, it is characterised in that the multiple environmental sensor includes：It is red
Outer sensor, Smoke Sensor, gas sensor, Temperature Humidity Sensor and radiation sensor.
3. intelligent security guard robot according to claim 1, it is characterised in that the main control module includes：
Cruise control unit, the geographical position that environmental map and GPS unit for being scanned according to the vision sensor are obtained
Confidence ceases path planning, sends signal and controls the walking mechanism to be walked according to the path of planning；
Avoidance obstacle unit, the information for being gathered according to laser radar, ultrasonic sensor and vision sensor determines obstacle
The characteristic information of thing, avoidance mode is determined according to the characteristic information of barrier, and is sent signal and controlled the walking mechanism to avoid
Barrier；
Environmental monitoring unit, the environmental information for the multiple environmental sensor to be gathered is sent to by radio communication unit
The remote control terminal, and alarm signal is sent when detecting abnormal to environmental information to the acousto-optic reminding unit and long-range
Control terminal is alarmed.
4. intelligent security guard robot according to claim 3, it is characterised in that the avoidance obstacle unit is according to obstacle
When the characteristic information of thing determines avoidance mode, when finding to be unable to avoiding obstacles by algorithm simulation, pass through the channel radio
News unit feeds back to the remote control terminal.
5. intelligent security guard robot according to claim 3, it is characterised in that the intelligent security guard robot also includes filling
Electric installation；The main control module also includes：
Charging control unit, is connected with the charging device and radio communication unit, for detecting battery electric quantity and by described
Radio communication unit feeds back to the remote control terminal, and receives the charging instruction of remote control terminal transmission, control charging
Device docks realization charging with charging pile；
The remote control terminal sends charging instruction when battery electric quantity is less than predetermined threshold value to the intelligent security guard robot,
And real time position and the position path planning of charging pile according to intelligent security guard robot, and it is sent to the cruise control list
Member.
6. intelligent security guard robot according to claim 3, it is characterised in that the charging device include charging machine,
Charge leading screw, charging screw slider, drive link, baffle plate, charging brush and current detection sensor；
One end of the charging leading screw is connected with the output shaft of the charging machine, and the other end is connected with the baffle plate, and described
Charge leading screw can relatively described flapper, the charging leading screw slide block set be located at it is described charging leading screw on；The drive link
It is be arranged in parallel with the charging leading screw, and one end of the drive link is connected with the charging screw slider, the other end passes through institute
Baffle plate is stated to be connected with the charging brush；When the charging leading screw is rotated, the charging screw slider is along the charging lead screw shaft
The charging brush is promoted to move to movement, and by the drive link；The current detection sensor is used to detect charging electricity
Stream；
The charging control unit is connected with the laser radar, infrared sensor, charging machine and current detection sensor, is used
Charged in the position of laser radar and the charging pile interface of infrared sensor scanning is sent into the remote control terminal
Interface position is finely tuned, and send control signal makes the charging brush be docked with charging pile interface to the charging machine, and is led to
Overcurrent detection sensor detects charging current, judges to charge successfully when detecting charging current, otherwise judges charging failure,
And feed back to the remote control terminal.
7. intelligent security guard robot according to claim 3, it is characterised in that the main control module also includes：
Face identification unit, is connected with the vision sensor and radio communication unit, for being examined according to the image information of collection
Face is surveyed, and the face of detection is identified according to the face information prestored, alarm signal is sent when recognition failures to institute
State acousto-optic reminding unit to be alarmed, while the face and alarm signal of detection are sent to by radio communication unit described remote
Process control terminal.
8. the intelligent security guard robot according to any one of claim 2~7, it is characterised in that the intelligent security guard machine
Device people also includes：Installed in the staggered at least two row's RFID card readers in intelligent security guard robot bottom, installed for reading
The signal of RFID tag on beat road surface；The main control module also includes：
Location lookup unit, is connected, the electricity for the RFID tag signal according to reading with least two row's RFID card readers
Son coding searches corresponding RFID tag position from the form prestored, and is determined according to RFID tag position
The current location of intelligent security guard robot；Wherein described location lookup unit determines to read the RFID Card Readers of RFID tag signal
The sequence number i of device, the inclined of the installation site of i-th of RFID card reader and intelligent security guard robot geometric center is obtained according to the sequence number
Shifting amount；Pass through the current location (x, y) of below equation computational intelligence security robot again：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>x</mi>
<mo>=</mo>
<msub>
<mi>x</mi>
<mi>r</mi>
</msub>
<mo>+</mo>
<msub>
<mi>a</mi>
<mi>i</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<msub>
<mi>y</mi>
<mi>r</mi>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mi>i</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
Wherein xrAnd yrRespectively search the abscissa and ordinate of obtained RFID tag position, aiAnd biRespectively read
Offset of the installation site and intelligent security guard robot geometric center of i-th of RFID card reader of RFID tag signal in transverse axis
And the offset of the longitudinal axis.
9. the intelligent security guard robot according to any one of claim 2~7, it is characterised in that the intelligent security guard machine
Device people also includes the collision prevention device being arranged in intelligent security guard robot shells；It is outer that the proof equipment includes protection
Shell, the first rotary shaft, the second rotary shaft and staggeredly axle bed；The guard shield is arranged in first rotary shaft；Described
One rotary shaft is located on the staggeredly axle bed, and can be rotated relative to the staggeredly axle bed；Second rotary shaft with it is described
First rotary shaft is vertically arranged in antarafacial；The staggeredly axle bed set, which is set, to be fixed in second rotary shaft, and can drive institute
State the rotation of the second rotary shaft opposed robots body.
10. a kind of intelligent safety and defence system, it is characterised in that including remote control terminal and at least one such as power communicated
Profit requires the intelligent security guard robot any one of 1~9.
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| CN201710456229.XA CN107193282B (en) | 2017-06-16 | 2017-06-16 | Intelligent security robot and intelligent security system |
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| CN108284427A (en) * | 2017-11-24 | 2018-07-17 | 浙江国自机器人技术有限公司 | Security robot and its automatic detecting method |
| CN108297058A (en) * | 2017-11-24 | 2018-07-20 | 浙江国自机器人技术有限公司 | Intelligent security guard robot and its automatic detecting method |
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| CN109693568B (en) * | 2019-01-26 | 2023-11-03 | 珠海市运泰利自动化设备有限公司 | Charging method of AGV automatic charging system integrating successful physical quantity feedback |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| CN109822597A (en) * | 2019-04-14 | 2019-05-31 | 北京中大科慧科技发展有限公司 | A kind of fully-automatic intelligent crusing robot of data center |
| CN110339541A (en) * | 2019-05-21 | 2019-10-18 | 羽约(厦门)运动科技有限公司 | A kind of mobile badminton net post |
| WO2021023227A1 (en) * | 2019-08-05 | 2021-02-11 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN111061280A (en) * | 2020-03-13 | 2020-04-24 | 广州赛特智能科技有限公司 | Robot automatic charging method, device, system, terminal device and storage medium |
| CN111546333A (en) * | 2020-04-24 | 2020-08-18 | 深圳市优必选科技股份有限公司 | Robot and automatic control method and device thereof |
| CN111673769A (en) * | 2020-06-24 | 2020-09-18 | 浙江神汽电子商务有限公司 | Intelligent voice business robot |
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| CN112256021A (en) * | 2020-09-25 | 2021-01-22 | 常熟云开智能科技有限公司 | Workshop environment monitoring robot track control method capable of recognizing dust scattering |
| CN113414754A (en) * | 2021-07-02 | 2021-09-21 | 深圳市东之韵科技有限公司 | Security robot based on Internet of things |
| CN113616115A (en) * | 2021-07-14 | 2021-11-09 | 湖南格兰博智能科技有限责任公司 | Escaping algorithm suitable for sweeper |
| CN115705045A (en) * | 2021-08-03 | 2023-02-17 | 北京小米移动软件有限公司 | Autonomous cruising method and device of movable equipment and movable equipment |
| CN114347099A (en) * | 2021-12-31 | 2022-04-15 | 北京信通泰克科技有限公司 | Intelligent robot home security monitoring system |
| CN116300975A (en) * | 2023-05-19 | 2023-06-23 | 深圳市云帆自动化技术有限公司 | Robot inspection system between offshore platform distribution room |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100176 Beijing, Daxing District, Beijing economic and Technological Development Zone, No. two, No. 8, No. 8 building, No. 8, No. 8, No. Applicant after: Harbin Beijing robotics group Cube Technology Ltd Address before: 100176 room 508, building A, 11 building, 8 hospital, two cooling street, Beijing economic and Technological Development Zone, Daxing District, Beijing. Applicant before: Beijing army cube Robot Technology Co., Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |