CN107193282B

CN107193282B - Intelligent security robot and intelligent security system

Info

Publication number: CN107193282B
Application number: CN201710456229.XA
Authority: CN
Inventors: 王猛; 宗晓; 王大勇; 李名扬; 李亮; 张晓敏; 李苏旺; 俞忠达
Original assignee: Beijing Military Cube Technology Co Ltd Of Hit Robot Group
Current assignee: Beijing Military Cube Technology Co Ltd Of Hit Robot Group
Priority date: 2017-06-16
Filing date: 2017-06-16
Publication date: 2020-07-14
Anticipated expiration: 2037-06-16
Also published as: CN107193282A

Abstract

The invention relates to an intelligent security robot and an intelligent security system, wherein the intelligent security robot comprises a main control module, and a visual sensor, a laser radar, an ultrasonic sensor, a plurality of environment sensors, a GPS unit, a walking mechanism, a wireless communication unit and an acousto-optic reminding unit which are connected with the main control module; the main control module is used for planning a path according to the scanned environment map and the acquired geographic position information and sending a signal to control the walking mechanism to walk according to the planned path; the main control module is also used for determining an obstacle avoidance mode according to the characteristic information of the obstacle; and the main control module is also used for sending an alarm signal to the sound and light reminding unit and the remote control terminal for alarming when the environmental information is detected to be abnormal. The intelligent security robot has the functions of autonomous cruising, autonomous obstacle avoidance, autonomous detection and the like, has high intelligent degree and strong environmental adaptability, and meets the requirements of intelligent security of a field area.

Description

Intelligent security robot and intelligent security system

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent security robot and an intelligent security system.

Background

After decades of development of the security industry in China, the market scale reaches nearly 5000 million yuan, wherein the product accounts for 1800 million yuan. The traditional civil air defense system is developed into the combination of civil air defense, physical air defense and technical air defense, and the life and property safety of people is effectively guaranteed. At the same time, several problems are also exposed, which are embodied as: the gap of security personnel is large, the labor cost is high, and the fluidity is large; the people have different qualities, so that the phenomena of mental paralysis and stumbling during work exist; high risk factors exist in a special environment, and threat to personnel safety; the monitoring equipment is fixedly installed, has a blind area and is easy to damage or lose efficacy; the device can not actively intervene after finding the alarm condition, which may lead to the expansion of the alarm condition.

With the rapid development of artificial intelligence technology, communication technology and the like, the mobile robot is in the way. The robot can work continuously and at high intensity, strictly abides by the operation flow, and the robot can also integrate a camera and various sensors.

Therefore, it is urgently needed to develop a security robot and an intelligent security system capable of performing autonomous patrol and other security functions in an area designated by a client.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent security robot and an intelligent security system, which can realize the autonomous patrol of the robot and have the functions of GPS positioning, autonomous obstacle avoidance and abnormal alarm.

In order to solve the technical problem, the invention provides an intelligent security robot which comprises a main control module, a visual sensor, a laser radar, an ultrasonic sensor, a plurality of environment sensors, a GPS unit, a walking mechanism, a wireless communication unit and an acousto-optic reminding unit, wherein the main control module is used for controlling the visual sensor to work;

the main control module is connected with the visual sensor, the GPS unit and the travelling mechanism and used for planning a path according to an environment map scanned by the visual sensor and the geographical position information acquired by the GPS unit and sending a signal to control the travelling mechanism to travel according to the planned path;

the main control module is also connected with the laser radar and the ultrasonic sensor and used for determining the characteristic information of the obstacle according to the information collected by the laser radar, the ultrasonic sensor and the vision sensor, determining an obstacle avoidance mode according to the characteristic information of the obstacle and sending a signal to control the walking mechanism to avoid the obstacle;

the main control module is also connected with the plurality of environment sensors, the wireless communication unit and the acousto-optic reminding unit, and is used for sending the environment information collected by the plurality of environment sensors to the remote control terminal through the wireless communication unit and sending an alarm signal to the acousto-optic reminding unit and the remote control terminal for alarming when the environment information is detected to be abnormal.

In the smart security robot according to the present invention, the plurality of environmental sensors include: infrared sensors, smoke sensors, gas sensors, temperature and humidity sensors and radiation sensors.

In the intelligent security robot according to the present invention, the main control module includes:

the cruise control unit is used for planning a path according to the environment map scanned by the visual sensor and the geographic position information acquired by the GPS unit, and sending a signal to control the walking mechanism to walk according to the planned path;

the obstacle avoidance control unit is used for determining the characteristic information of the obstacle according to the information acquired by the laser radar, the ultrasonic sensor and the vision sensor, determining an obstacle avoidance mode according to the characteristic information of the obstacle, and sending a signal to control the walking mechanism to avoid the obstacle;

and the environment monitoring unit is used for sending the environment information acquired by the plurality of environment sensors to the remote control terminal through the wireless communication unit and sending an alarm signal to the sound and light reminding unit and the remote control terminal for alarming when the environment information is detected to be abnormal.

In the intelligent security robot according to the present invention, when the obstacle avoidance control unit determines the obstacle avoidance mode according to the characteristic information of the obstacle, the obstacle avoidance control unit feeds back the obstacle to the remote control terminal through the wireless communication unit when finding that the obstacle cannot be avoided through the algorithm simulation.

In the intelligent security robot according to the present invention, the intelligent security robot further includes a charging device; the master control module further comprises: the charging control unit is connected with the charging device and the wireless communication unit and used for detecting the electric quantity of the battery, feeding the electric quantity back to the remote control terminal through the wireless communication unit, receiving a charging instruction sent by the remote control terminal and controlling the charging device to be in butt joint with the charging pile to realize charging; the remote control terminal sends a charging instruction to the intelligent security robot when the electric quantity of the battery is lower than a preset threshold value, plans a path according to the real-time position of the intelligent security robot and the position of the charging pile, and sends the path to the cruise control unit.

In the intelligent security robot according to the present invention, the charging device includes a charging motor, a charging screw slider, a transmission rod, a baffle, a charging brush, and a current detection sensor; one end of the charging screw is connected with an output shaft of the charging motor, the other end of the charging screw is connected with the baffle, the charging screw can rotate relative to the baffle, and the charging screw sliding block is sleeved on the charging screw; the transmission rod is arranged in parallel with the charging screw, one end of the transmission rod is connected with the charging screw sliding block, and the other end of the transmission rod penetrates through the baffle and is connected with the charging electric brush; when the charging screw rod rotates, the charging screw rod sliding block moves along the axial direction of the charging screw rod and pushes the charging electric brush to move through the transmission rod; the current detection sensor is used for detecting charging current; the charging control unit is connected with the laser radar, the infrared sensor, the charging motor and the current detection sensor and used for sending the positions of charging pile interfaces scanned by the laser radar and the infrared sensor to the remote control terminal for fine adjustment of the charging pile interface positions and sending control signals to the charging motor to enable the charging brush to be in butt joint with the charging pile interfaces and detect charging current through the current detection sensor, when the charging current is detected, charging is judged to be successful, otherwise, charging failure is judged and fed back to the remote control terminal.

In the intelligent security robot according to the present invention, the main control module further includes: and the face recognition unit is connected with the visual sensor and the wireless communication unit and used for detecting a face according to the acquired image information, recognizing the detected face according to prestored face information, sending an alarm signal to the acousto-optic reminding unit to give an alarm when the recognition fails, and sending the detected face and the alarm signal to the remote control terminal through the wireless communication unit.

In the intelligent security robot according to the present invention, the cruise control unit plans a path according to dijkstra algorithm.

In the intelligent security robot according to the present invention, the intelligent security robot further includes: the RFID readers are arranged at the bottom of the intelligent security robot in a staggered mode and used for reading signals of RFID tags arranged on the road surface of a patrol area; the master control module further comprises: and the position searching unit is connected with the at least two rows of RFID card readers and is used for searching the position of the corresponding RFID tag from a pre-stored table according to the electronic code of the read RFID tag signal and determining the current position of the security robot according to the position of the RFID tag. The position searching unit determines a serial number i of an RFID card reader reading an RFID label signal, and acquires the offset between the installation position of the ith RFID card reader and the geometric center of the intelligent security robot according to the serial number; then, calculating the current position (x, y) of the intelligent security robot by the following formula:

wherein x_rAnd y_rRespectively the abscissa and ordinate of the location of the RFID tag, a_iAnd b_iThe offset of the installation position of the ith RFID card reader which reads the RFID label signal and the geometric center of the intelligent security robot on the horizontal axis and the offset of the intelligent security robot on the vertical axis are respectively.

In the intelligent security robot according to the present invention, the intelligent security robot further comprises an anti-collision device mounted on the housing of the intelligent security robot; the collision protection device comprises a protection shell, a first rotating shaft, a second rotating shaft and a staggered shaft seat; the protective housing is mounted on the first rotating shaft; the first rotating shaft penetrates through the staggered shaft seat and can rotate relative to the staggered shaft seat; the second rotating shaft and the first rotating shaft are arranged in a non-coplanar vertical mode; the staggered shaft seat is sleeved and fixed on the second rotating shaft and can drive the second rotating shaft to rotate relative to the robot body.

The invention also provides an intelligent security system which comprises a remote control terminal and at least one intelligent security robot communicated with the remote control terminal.

In the intelligent security system according to the present invention, the remote control terminal is further configured to perform statistics according to the environmental information and the alarm signal uploaded by the intelligent security robot, analyze security conditions of each time and area, and arrange a position of the at least one security robot. The intelligent security robot and the intelligent security system have the following beneficial effects: the intelligent security robot has the functions of autonomous cruising, autonomous obstacle avoidance, autonomous detection and the like, has high intelligent degree and strong environmental adaptability, can transmit data information to a remote control terminal, and meets the requirement of intelligent security of a field area.

Drawings

FIG. 1 is a block diagram of an intelligent security robot in a system according to the present invention;

FIG. 2 is a schematic diagram of an intelligent security system provided in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic diagram of the composition of an environmental sensor in accordance with a preferred embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a main control module according to a preferred embodiment of the present invention;

FIG. 5 is an isometric view of a charging device according to a preferred embodiment of the invention;

fig. 6 is a front view of a charging device according to a preferred embodiment of the present invention;

FIG. 7 is a schematic bottom structure diagram of an intelligent security robot according to a preferred embodiment of the present invention;

FIG. 8 is a schematic view of an RFID tag arrangement according to a preferred embodiment of the present invention;

FIG. 9 is a front view of a collision protection apparatus according to a preferred embodiment of the present invention;

fig. 10 is a perspective view of a collision protecting apparatus according to a preferred embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Fig. 1 is a block diagram of an intelligent security robot according to a preferred embodiment of the present invention. Please refer to fig. 2, which is a schematic diagram of an intelligent security system according to a preferred embodiment of the present invention. As shown in fig. 1 and fig. 2, in a first aspect of the present invention, an intelligent security robot 100 is provided, which includes a main control module 110, and connected thereto: visual sensor 120, lidar 130, ultrasonic sensor 140, a plurality of environmental sensors 150, GPS unit 160, travel mechanism 170, wireless communication unit 180, and audible and visual alert unit 190.

The main control module 110 is configured to plan a path according to the environment map scanned by the visual sensor 120 and the geographic location information acquired by the GPS unit, and send a signal to control the traveling mechanism 170 to travel according to the planned path. Wherein vision sensor 120 can constitute by cloud platform and the camera of installing on the upper portion of intelligent security robot body, and it is installed in the skeleton backup pad, protects with the protection translucent cover to guarantee that the sight is not sheltered from. Preferably, in order to enable the intelligent security robot to still transmit back a clear picture when patrolling at night, a camera with a night vision function can be adopted, or an illuminating lamp can be additionally installed. The main control module 110 may plan a global path according to the scanned environment map and according to dijkstra algorithm, and walk according to the path. Therefore, when the system is started, the smart security robot 100 can autonomously cruise in a designated area.

The main control module 110 is further configured to determine feature information of an obstacle according to information acquired by the laser radar 130, the ultrasonic sensor 140, and the vision sensor 120, determine an obstacle avoidance mode according to the feature information of the obstacle, and send a signal to control the traveling mechanism 170 to avoid the obstacle. The laser radar 130, the ultrasonic sensor 140 and the vision sensor 120 are all used for detecting obstacles, wherein the laser radar 130 scans far away, but only scans plane information, and the laser radar is mainly used for positioning and avoiding obstacles at far distance. The ultrasonic sensor 140 is equivalent to single-point measurement, and has short distance and less data. The vision sensor 120 acquires three-dimensional information, has large data volume and is difficult to process, and is mainly used for obstacle avoidance. That is, the main control module 110 uses the information collected by the lidar 130 to locate the obstacle in a distance, and plans a path to avoid the obstacle according to the position information. The main control module 110 also uses the information collected by the ultrasonic sensor 140 and the visual sensor 120 to avoid obstacles near. Through the arrangement, when an obstacle is encountered, the intelligent security robot 100 has an autonomous obstacle avoidance function, and continues to cruise according to the original route after the obstacle is successfully avoided.

The main control module 110 is further configured to send environment information collected by the plurality of environment sensors 150 to the remote control terminal 200 through the wireless communication unit 180, and the main control module 110 is further configured to send an alarm signal to the sound and light reminding unit 190 for alarming when detecting that the environment information is abnormal, and send the alarm signal to the remote control terminal 200 for alarming through the wireless communication unit 180. FIG. 3 is a schematic diagram of an environmental sensor according to a preferred embodiment of the present invention. As shown in fig. 3, preferably, the plurality of environmental sensors include: infrared sensor 151, smoke sensor 152, gas sensor 153, temperature and humidity sensor 154, and radiation sensor 155. The link sensors can acquire information such as infrared, smoke, gas, temperature, humidity and radiation of a cruise area in real time and transmit the information to the remote control terminal 200 through a wireless network. The main control module 110 of the intelligent security robot 100 can respond to an abnormal situation in the patrol area by analyzing the data.

In a second aspect of the present invention, an intelligent security system is provided, which includes a remote control terminal 200 and at least one intelligent security robot 100, such as a first intelligent security robot 100-1, a second intelligent security robot 100-2, and a third intelligent security robot 100-3 … … n intelligent security robot 100-n. The intelligent security robot 100 is arranged in an area needing patrol and communicates with the remote control terminal 200 through a wireless network. The remote control terminal 200 can detect the specific position of each intelligent security robot in real time through GPS positioning, and perform further operations such as alarming by analyzing the information data uploaded by the intelligent security robot, for example, notifying an administrator by sound and light reminding or sending a short message. Meanwhile, the remote control terminal 200 may control each intelligent security robot 100 as needed. Therefore, the intelligent security system of the invention takes the intelligent security robot 100 as a physical implementation end, realizes the real-time control of each intelligent security robot 100 by the remote control terminal 200, and meets the requirements of intelligent security of the field area.

Fig. 4 is a schematic structural diagram of a main control module in an intelligent security robot according to the present invention. As shown in fig. 4, the main control module 110 at least includes a cruise control unit 111, an obstacle avoidance control unit 112, and an environment monitoring unit 113.

The cruise control unit 111 is connected to the visual sensor 120, the GPS unit 160, and the traveling mechanism 170, and is configured to plan a route according to an environment map scanned by the visual sensor 120 and the geographic position information acquired by the GPS unit 160, and send a signal to control the traveling mechanism 170 to travel along the planned route. Preferably, the cruise control unit plans the path according to the dijkstra algorithm.

The obstacle avoidance control unit 112 is connected to the laser radar 130, the ultrasonic sensor 140, the visual sensor 120 and the traveling mechanism 170, and is configured to determine feature information of an obstacle according to information acquired by the laser radar 130, the ultrasonic sensor 140 and the visual sensor 120, determine an obstacle avoidance mode according to the feature information of the obstacle, and send a signal to control the traveling mechanism 170 to avoid the obstacle. The feature information of the obstacle determined by the obstacle avoidance control unit 112 includes whether the obstacle is a moving obstacle or a non-moving obstacle, and for the non-moving obstacle, the feature information of the obstacle further includes the position and size of the non-moving obstacle; for a moving obstacle, the feature information of the obstacle further includes the position, size, moving speed and direction of the moving obstacle. The obstacle avoidance control unit 112 determines an obstacle avoidance manner according to the feature information of the obstacle, for example, the intelligent security robot moves forward or stops. Preferably, when determining the obstacle avoidance mode according to the characteristic information of the obstacle, the obstacle avoidance control unit 112 feeds back the information to the remote control terminal 200 through the wireless communication unit 180 when finding that the obstacle cannot be avoided or a risk exists through the algorithm simulation, and notifies the console in time to wait for the manual takeover.

The environment monitoring unit 113 is connected to the plurality of environment sensors 150 and the wireless communication unit 180, and is configured to send an alarm signal to the sound and light reminding unit 190 for alarming when detecting an abnormality according to the environment information collected by the plurality of environment sensors 150, and send the environment information and the alarm signal to the remote control terminal 200 through the wireless communication unit 180. The abnormal situations are divided into robot body abnormality and patrol area abnormality, and the abnormality of the environment area can be detected by a plurality of environment sensors 150.

In a more preferred embodiment of the present invention, the smart security robot 100 further includes a charging device. Accordingly, the main control module 110 further includes:

and the charging control unit is connected with the charging device and the wireless communication unit 180 and used for detecting the electric quantity of the battery, feeding the electric quantity back to the remote control terminal 200 through the wireless communication unit 180, receiving a charging instruction sent by the remote control terminal 200 and controlling the charging device to be in butt joint with the charging pile to realize charging.

The remote control terminal 200 is configured to, after receiving the battery power, detect whether the battery power is lower than a preset threshold, if so, send a charging instruction to the intelligent security robot 100, plan a path according to the real-time position of the intelligent security robot 100 and the position of the charging pile, and send the path to the cruise control unit 111 to control the traveling mechanism 170 to travel according to the planned path. Through the structure, the intelligent security robot can find the nearest charging pile for charging when the electric quantity is insufficient, and can continue cruising after the electric quantity is full.

Fig. 5 and 6 are structural diagrams of a charging device in an intelligent security robot according to a preferred embodiment of the present invention. The charging device comprises a charging motor 31, a charging screw 34, a charging screw slider 35, a transmission rod 36, a baffle 33, a charging brush and a current detection sensor. One end of the charging screw 34 is connected with an output shaft of the charging motor 31, the other end of the charging screw is connected with the baffle 33, the charging screw 34 can rotate relative to the baffle 33, and the charging screw sliding block 35 is sleeved on the charging screw 34. The transmission rod 36 is arranged in parallel with the charging screw 34, one end of the transmission rod 36 is connected with the charging screw slider 35, and the other end of the transmission rod passes through the baffle 33 and is connected with the charging electric brush; when the charging screw 34 rotates, the charging screw slider 35 moves axially along the charging screw 34 and pushes the charging brush to move through the transmission rod 36. A current detection sensor (not shown in the figure) is used to detect the charging current.

As shown in fig. 5 and 6, the present embodiment further includes a supporting plate 32, the supporting plate 32 is parallel to and opposite to the baffle 33, and the supporting plate 32 is sleeved on the charging screw 34. One end of the charging screw 34 passes through the support plate 32 and is coaxially connected with the charging motor 31 through the coupler 7, and the other end is connected to the baffle 33.

Of course, in another embodiment, the charging screw 34 and the charging motor 31 may also be connected by a synchronous wheel, and the charging motor 31 may also drive the charging screw 34 to rotate.

Specifically, the charging motor 31 used in this embodiment is a 57-step motor, and the coupling 7 is a GR bellows coupling. Of course, other types of the charging motor 31 and the coupling 7 can be selected according to actual requirements.

The charging motor 31 is fixed in the body of the intelligent security robot through a charging motor support 311, the charging motor support 311 is of an L type structure, and the output end of the charging motor 31 penetrates through the charging motor support 311 to be connected with a charging screw 34.

The charging screw 34 is rotatable relative to the support plate 32 and the shutter 33. Be equipped with the via hole that is used for wearing to establish the lead screw 34 that charges in the backup pad 32, be equipped with angular contact bearing 8 in the via hole, circlip 81 for the hole sets up in angular contact bearing 8's the outside, prevents that angular contact bearing 8 breaks away from the via hole. The charging screw 34 passes through the inner hole of the angular contact bearing 8 and then is connected with the charging motor 31. When the charging motor 31 rotates, the charging lead screw 34 rotates synchronously, the charging lead screw 34 is matched with the angular contact bearing 8, and the angular contact bearing 8 can enable the charging lead screw 34 to rotate relative to the support plate 32 without obstruction.

Preferably, in another embodiment, the baffle 33 may also be provided with an angular contact bearing 8 through hole to penetrate the charging screw 34. The support plate 32 and the shutter 33 function to support and restrict the position of the charging screw 34 while not affecting the rotation of the charging screw 34.

As shown in fig. 5, four drive links 36 are used in this embodiment. The charging screw slide block 35 is arranged on the charging screw 34 in a penetrating mode, the transmission rod 36 is parallel to the charging screw 34, one end of the transmission rod is connected with the charging screw slide block 35, and the other end of the transmission rod penetrates through the baffle 33 to be connected with the charging electric brush.

One side of the charging screw slider 35 is connected with a charging screw nut 351. Specifically, the charging screw nut 351 is connected to the left side (in the direction shown in fig. 6) of the charging screw slider 35. The charging screw nut 351 and the charging screw slider 35 are concentrically arranged through a via hole for penetrating the charging screw 34. The charging screw slider 35 is engaged with the charging screw 34 via a charging screw nut 351. The charging screw 34 is rotated, the charging screw nut 351 and the charging screw 34 move along the charging screw 34, the charging screw slider 35 is dragged or pushed to move along the charging screw 34 axially, and the rotation of the charging screw 34 is converted into the linear motion of the charging screw slider 35. Of course, in another embodiment, the through hole of the charging screw slider 35 may also be a threaded hole, and the charging screw slider 35 is engaged with the charging screw 34 through the internal threaded hole.

When the charging screw 34 rotates, the charging screw slider 35 moves and pushes the charging brush to move through the transmission rod 36. The transmission rod 36 enables the charging electric brush to be stable in the moving process, and the charging connector does not shake when extending out of the intelligent security robot body for charging.

As shown in fig. 5 and 6, preferably, four driving rods 36 are respectively disposed at four corners of the charging screw slider 35, so as to surround the charging screw 34 in the middle, and the distances from the charging screw 34 are equal, which is a structure for making the stress more uniform and the driving process more stable.

The charging brush includes a brush connecting plate 37, a brush positive pole 372 and a brush negative pole 373, the brush positive pole 372 and the brush negative pole 373 are connected to the outside of the brush connecting plate 37 by a compression spring, and the inside of the brush connecting plate 37 is connected to the transmission rod 36. Because brush positive pole 372 and brush negative pole 373 all install on the insulation board through compression spring, compression spring with fill electric pile contact in-process and play the cushioning effect, reduced the joint that charges to charging device and the impact of filling electric pile, can effectually avoid the brush to appear virtual connecing simultaneously, cause the phenomenon of sparking.

In addition, ordinary brush and the brush area ratio of filling on the electric pile of charging is about, and the brush that charges in this embodiment is the brush that increases, and the area is about 2 ~ 4 times of the brush that fills on the electric pile. After the effective area of contact of increase electric brush charges, during the charging, intelligent security robot body need not carry out accurate removal, can normally charge, can be more safe and reliable's completion charging process.

Preferably, an insulating layer 371 is further provided, and the brush positive pole 372 and the brush negative pole 373 are connected to the brush connecting plate 37 through the insulating layer 371. Specifically, in the present embodiment, the brush connecting plate 37 is disposed perpendicular to the transmission rod 36, and the brush positive pole 372 and the brush negative pole 373 are disposed in parallel on the insulating plate at intervals, and the insulating plate is further disposed on the brush connecting plate 37.

Preferably, a transverse partition plate is further arranged above the brush connecting plate 37 and is positioned above the brush positive pole 372 and the brush negative pole 373. The corresponding position is equipped with the articulated separation blade on the shell of intelligent security robot body and as the opening that charges, and when brush connecting plate 37 stretches out, horizontal partition plate promoted the separation blade and rotates, and the brush that charges stretches out intelligent security robot's body and charges, and when brush connecting plate 37 withdrawed, the articulated separation blade fell, sheltered from the opening that charges, prevents the inside ash that falls of robot.

As shown in fig. 5 and 6, preferably, a guide rail 38 parallel to the charging screw 34 is further disposed on one side of the baffle 33, a guide rail slider 381 capable of sliding along the guide rail 38 is disposed on the guide rail 38, one end of the guide rail slider 381 is sleeved on the guide rail 38, and the other end is connected to the charging screw slider 35. Specifically, in this embodiment, the guide rail 38 is disposed at the bottom of the support plate 32 and the baffle plate 33, and during installation, the guide rail 38 may be fixed in the intelligent security robot body, and the bottom of the support plate 32 and the bottom of the baffle plate 33 are sleeved on the guide rail 38. The bottom of guide rail slider 381 cup joints at guide rail 38, and the lead screw slider 35 that charges is connected at the top, and guide rail 38 and guide rail slider 381 cooperate each other, can alleviate the pressure of the lead screw slider 35 that charges to the lead screw 34 that charges in the transmission process for the lead screw slider 35 that charges can remove more easily, and be difficult to take place offset.

Further, in order to ensure that the charging screw slider 35 does not exceed the stroke when moving along the charging screw 34, and damage is caused to the charging motor 31, the side part of the baffle 33 is further provided with two limit switches 5, the charging under the general condition can not touch the limit switches 5, when the charging motor 31 loses steps or the program has errors, the charging screw slider 35 or the electric brush connecting plate 37 will trigger the limit switches 5, the charging motor 31 is powered off, and accidents are prevented.

Of course, in another embodiment, a limit switch 5 may be disposed on the baffle 33 and the supporting plate 32, respectively, and when the charging screw slider 35 is about to exceed the stroke, the limit switch 5 is triggered to stop the rotation of the charging motor 31 rapidly.

How the two limit switches 5 are provided depends on the shorter of the transmission lever 36 and the charging screw 34: if the transmission rod 36 is short, the two limit switches 5 are respectively arranged on the baffle 33 and the support plate 32; if the charging screw 34 is short, the two limit switches 5 are arranged on the baffle 33; if the two strokes are the same, i.e. the charging screw slider 35 touches the support plate 32 when the brush connecting plate 37 touches the baffle 33, both arrangements are the same.

In order to prevent the phenomenon of losing steps of the charging motor 31, the magnet 61 is mounted on the charging screw slider 35, in the embodiment, the magnet 61 is a small magnet, the small magnet is mounted on one side of the bottom of the charging screw slider 35, the hall proximity switch 62 is mounted in the intelligent security robot body, and the hall proximity switch 62 is located right below the small magnet when the charging screw slider 35 is at the initial position. Install hall proximity switch 62 in charging lead screw 34 stroke, little magnet can realize charging motor 31 zeroing when hall proximity switch 62, clears away the accumulative error, prevents that charging motor 31 from appearing losing the step phenomenon, improves the precision of charging device motion.

Preferably, cushions (not shown) are further disposed on the left and right sides (based on the direction shown in fig. 6) of the baffle 33 and the side of the support plate 32 close to the charging screw slider 35, and of course, in another embodiment, cushions may be disposed on the left and right sides (based on the direction shown in fig. 8) of the charging screw slider 35 and the side of the brush attachment plate 37 close to the baffle 33. The cushion can select for use shock-absorbing material such as elastic rubber, can prevent to charge lead screw slider 35 and brush connecting plate 37 and directly bump with backup pad 32 or baffle 33 when accident appears, alleviates the impact of charging lead screw slider 35 and brush connecting plate 37 to the device, prevents that the device from taking place to damage.

In this embodiment, the charging control unit is connected with the charging device, and the charging control unit monitors the battery power in the intelligent security robot, and feeds back to the remote control terminal 200 through the wireless communication unit. Meanwhile, the remote control terminal 200 sends a charging instruction to the intelligent security robot when judging that the battery power is lower than a preset threshold value, plans a path according to the real-time position of the intelligent security robot and the position of the charging pile, sends the path to the cruise control unit, and controls the traveling mechanism 170 to enable the intelligent security robot to travel to the position near the nearest charging pile. Preferably, the remote control terminal 200 may perform path planning by using a position of the charging pile in a pre-stored map, or by using a position of the charging pile scanned by the intelligent security robot in real time by using a laser radar. The remote control terminal 200 may also obtain the real-time position of the intelligent security robot through the GPS, or directly obtain the real-time position of the intelligent security robot through uploading to perform path planning. When the intelligent security robot walks to the position near the nearest charging pile, the charging control unit sends the specific position of the charging pile interface scanned by the laser radar and the infrared sensor to the remote control terminal 200 so as to finely adjust the position of the charging pile interface. Preferably, laser radar 130 installs at the middle part of intelligent security robot body, is located charging device's top, need guarantee during the installation that 270 within ranges do not shelter from. And, be equipped with the opening in the position of installation lidar 130 on intelligent security robot's the shell, guarantee lidar 130's service environment. Laser radar 130 can survey obstacles around, also can survey the position of filling electric pile at charging device during operation, ensures that the electric pile is filled in inserting that the brush that charges can be accurate. After confirming that the position of the charging pile is correct, the charging control unit sends a control signal to the charging motor 31 to enable the charging brush to be in butt joint with the charging pile interface, the charging current is detected through the current detection sensor, when the charging current is detected, charging is judged to be successful, otherwise, charging failure is judged, and the charging current is fed back to the remote control terminal 200.

During the use, charge motor 31 drives the lead screw 34 that charges and rotates, and the lead screw slider 35 that charges moves to baffle 33 direction along the lead screw 34 that charges and guide rail 38, because transfer line 36 is connected between the lead screw slider 35 that charges and the brush that charges, and the brush that charges moves outside with the lead screw slider 35 that charges in step, stretches out intelligent security robot body, inserts and fills electric pile and charge, and the electric energy fills in the battery in the intelligent security robot body. After charging, the charging motor 31 drives the charging screw 34 to rotate in the opposite direction, the charging screw slider 35 moves along the charging screw 34 and the guide rail 38 toward the support plate 32, and the transmission rod 36 drives the charging brush to retract.

It should be noted that the positions and sizes of the brush positive pole 372 and the brush negative pole 373 can be changed as required, but correspondingly, the charging pile should be adjusted to match with the charging brush of the charging device.

In a more preferred embodiment of the present invention, the main control module 110 of the intelligent security robot 100 further includes:

and the face recognition unit is connected with the visual sensor 120 and the wireless communication unit 180 and is used for detecting a face according to the acquired image information, recognizing the detected face according to the prestored face information, sending an alarm signal to the sound and light reminding unit 190 to give an alarm when the recognition fails, and sending the detected face and the alarm signal to the remote control terminal 200 through the wireless communication unit 180. Therefore, the intelligent security robot with the face recognition function can automatically detect the face, and if people which cannot be recognized are found, an alarm is triggered, namely, the intelligent security robot informs a remote control terminal to perform sound and light alarm and the like.

In a more preferred embodiment of the present invention, the remote control terminal 200 of the intelligent security system is further configured to perform statistics according to the environmental information and the alarm signal uploaded by the intelligent security robot 100, analyze security conditions of each time and area, and arrange a position of at least one intelligent security robot 100. Therefore, the data analysis of the remote control terminal 200 of the present invention mainly provides the analysis of big data, analyzes the security situation in a certain area in a certain time period, and provides a scientific basis for the placement and processing of the intelligent security robot in the future.

In a more preferred embodiment of the present invention, the smart security robot 100 further has a function of correcting a position based on the RFID tag. Please refer to fig. 7 and fig. 8, which are a schematic bottom structure diagram and a schematic RFID tag layout diagram of the intelligent security robot according to the preferred embodiment of the present invention. As shown in the figure, the intelligent security robot 100 further includes: and the at least one RFID reader 2 is installed at the bottom of the intelligent security robot 100 and is used for reading signals of the RFID tags 9 installed on the road surface of the traveling area. The present invention mounts at least one RFID reader 2 at the bottom of the smart security robot 100 in advance, and arranges a plurality of RFID tags 9 on the road surface of the patrol area of the smart security robot 100. Preferably, the at least one RFID reader 2 includes two rows of RFID readers arranged on the bottom surface of the housing of the smart security robot 100 in a staggered manner, for example, two rows of RFID readers 2 arranged in a staggered manner in fig. 5, so as to improve the probability that the smart security robot 100 reads an RFID tag. The number of the RFID card readers 2 is preferably 3-10. More preferably, the RFID tags 9 installed on the road surface of the patrol area are at least one row of RFID nail tags arranged in a direction perpendicular to the traveling direction of the smart security robot, and the interval d between adjacent RFID nail tags is smaller than the width of the smart security robot. The walking mechanism 170 of the intelligent security robot 100 comprises two driving wheels 171 arranged on two sides of the bottom and a universal wheel 172 at the rear end, the RFID card reader 2 is preferably divided into two rows and is arranged at the front end of the intelligent security robot 100 in a crossed manner, full coverage in the vehicle width range of the intelligent security robot 100 is guaranteed, and the size of a coil of the RFID card reader 2 is determined according to a positioning error required by the intelligent security robot. Preferably, the coil size of the RFID reader 2 is smaller than the positioning accuracy required by the smart security robot, and more preferably 2/3 of the positioning accuracy. When the intelligent security robot 100 walks to the arrangement position of the RFID tags 9 by dead reckoning and does not deviate from the arrangement range of the RFID tags 9, one to two tags are always read by the intelligent security robot 100.

Accordingly, the main control module 110 further includes a location finding unit. The position searching unit is connected with the at least one RFID card reader 2 and used for searching the position of the corresponding RFID tag from a pre-stored table according to the electronic code of the read RFID tag signal and determining the current position of the intelligent security robot according to the position of the RFID tag. The RFID tag signal carries an electronic code (ID) of information. The invention records the positions of the RFID labels and the electronic codes (ID) of the RFID labels into the intelligent security robot in advance to form a table for inquiry and store the table. The main control module 110 may correct the geographic location information acquired by the GPS when acquiring the current location of the intelligent security robot.

When the at least one RFID card reader 2 comprises two rows of RFID card readers which are arranged on the bottom surface of the intelligent security robot in a staggered mode, the position searching unit corrects the position of the RFID label according to the installation position of the card reader which reads the RFID label signal and the offset of the geometric center of the intelligent security robot, and the current position of the intelligent security robot is obtained.

Firstly, a position searching unit determines a serial number i of an RFID card reader reading an RFID label signal, and acquires the offset between the installation position of the ith RFID card reader and the geometric center of the intelligent security robot according to the serial number; then, calculating the current position (x, y) of the intelligent security robot by the following formula:

wherein x_rAnd y_rRespectively the abscissa and ordinate of the location of the RFID tag, a_iAnd b_iThe offset of the installation position of the ith RFID card reader which reads the RFID label signal and the geometric center of the intelligent security robot on the horizontal axis and the offset of the intelligent security robot on the vertical axis are respectively. For example, when 5 RFID readers 2 are installed at the bottom of the intelligent security robot 100, if it is determined that the serial number of the RFID reader currently reading the RFID tag signal is the 5 th RFID reader, the position of the RFID tag is corrected according to the offset between the installation position of the 5 th RFID reader and the geometric center of the intelligent security robot, that is, the position of the RFID tag is corrected according to the offset between the installation position of the 5 th RFID reader and the geometric center of the intelligent

Wherein, a₅And b₅The offset of the installation position of the RFID card reader reading the RFID label signal and the geometric center of the intelligent security robot on the horizontal axis and the offset of the intelligent security robot on the vertical axis are respectively.

In a more preferred embodiment of the present invention, the smart security robot 100 further includes an anti-collision device installed on the housing of the smart security robot.

As shown in fig. 9 and 10, the collision protection device for the intelligent security robot according to the embodiment of the present invention includes a protection housing 41, a first rotating shaft 42, a second rotating shaft 43, a staggered shaft seat 44, and a mounting plate 46; the protective housing 41 is mounted on the first rotation shaft 42; the first rotating shaft 42 is arranged on the staggered shaft seat 44 in a penetrating way and can rotate relative to the staggered shaft seat 44; the second rotating shaft 43 is arranged perpendicular to the first rotating shaft 42 in a non-coplanar manner; the staggered shaft seat 44 is sleeved and fixed on the second rotating shaft 43, and the second rotating shaft 43 is installed on the body of the intelligent security robot and can rotate relative to the robot. Specifically, the rotating bearing 48 may be installed inside the intelligent security robot, so that the protective housing 41 replaces part of the protective housing 41 on the front side of the robot, that is, the front side of the robot has a piece of protective housing 41 capable of rotating in all directions. When the robot encounters an obstacle during traveling, the protective housing 41 first contacts the obstacle, and the following three situations occur according to the contact position and the contact angle: (1) the protective shell 41 drives the first rotating shaft 42 to rotate; (2) the protective shell 41, the first rotating shaft 42 and the staggered shaft seat 44 integrally drive the second rotating shaft 43 to rotate; (3) the first and

second rotation shafts

42 and 43 are rotated simultaneously. The collision injury to the intelligent security robot 100 caused by collision can be reduced by the three rotation modes.

Preferably, in the present embodiment, the second rotating shaft 43 is rotatably mounted on the mounting plate 46. In another embodiment, the second rotating shaft 43 may also be directly rotatably mounted on the smart security robot body through the rotating bearing 48. The mounting plate 46 is beneficial to realizing modular installation of the robot collision protection device, has simple structure and good universality, can be more conveniently installed and detached, and is applied to robots of different models or other equipment.

Specifically, still be equipped with mounting hole 461 on mounting panel 46, mounting panel 46 passes through mounting hole 461 to be fixed on the intelligent security robot body.

Preferably, a single collision protection device for the robot in this embodiment may be installed on the front side of the intelligent security robot body, or a plurality of collision protection devices for the robot in this embodiment may be installed around the intelligent security robot body.

As shown in fig. 9, the protective housing 41 is detachably mounted on the first rotating shaft 42 through a fixing frame 411, and if only the housing needs to be replaced, only the protective housing 41 needs to be replaced. Specifically, in the present embodiment, the first rotating shaft 42 is disposed parallel to the protective casing 41, but in other embodiments, a certain included angle may also exist between the first rotating shaft 42 and the protective casing 41 according to actual requirements. The shape of the protective casing 41 may be changed as needed, and is not limited herein.

The staggered shaft seat 44 is provided with a rotary bearing 48 in a hole for penetrating the first rotary shaft 42, and the first rotary shaft 42 is rotatably penetrated on the staggered shaft seat 44 through the rotary bearing 48. In the embodiment, the staggered shaft seat 44 is located in the middle of the first rotating shaft 42, but the staggered shaft seat 44 may be disposed at other positions on the first rotating shaft 42 as required.

Preferably, a limit spring 45 is further disposed between the staggered shaft seat 44 and the first rotating shaft 42, and a limit block 451 is further disposed in cooperation with the limit spring 45. The first rotating shaft 42 is provided with a plane or a groove which is matched with the stopper 451. One part of the limiting block 451 penetrates through the limiting spring 45 along the axial direction of the limiting spring 45, the length of the part is smaller than the axial length of the limiting spring 45, the other part is located on the outer side of the limiting spring 45, is matched with the plane or the groove bottom surface of the groove, and is wider than the diameter of the limiting spring 45.

The longitudinal section of the limiting block 451 adopted in the embodiment is T-shaped, the top surface is a plane, and the first rotating shaft 42 is also a plane. If the first rotating shaft 42 is engaged with the stopper 451 by using a groove, the bottom area of the groove should be larger than the top area of the stopper 451. The limiting block 451 is positioned with the first rotating shaft 42 through a plane, and the limiting spring 45 is in a compressed state and is used for providing pre-tightening force to the first rotating shaft 42.

In the embodiment, due to the adoption of the plane positioning and the spring pre-tightening, the problem that the protective shell 41 is unstable due to the adoption of the spring floating installation in the existing collision protection device is effectively solved, and the phenomenon that the protective shell 41 shakes to cause the misjudgment of the collision protection device when the robot body 9 moves on the ground which is not smooth enough is avoided.

As shown in the figure, the staggered shaft seat 44 is sleeved in the middle of the second rotating shaft 43 and fixed relative to the second rotating shaft 43. The second rotating shaft 43 is parallel to the mounting plate 46, two ends of the second rotating shaft 43 are rotatably mounted on the mounting plate 46 through rotating bearings 48, the rotating bearing seat 481 is connected to the mounting plate 46, the rotating bearings 48 are arranged in through holes for penetrating the second rotating shaft 43 on the rotating bearing seat 481, and two ends of the second rotating shaft 43 penetrate through inner holes of the rotating bearings 48 and can rotate relative to the mounting plate 46 together with the staggered shaft seat 44. Of course, in another embodiment, the second rotating shaft 43 and the mounting plate 46 may be disposed at an angle according to actual requirements.

As shown in fig. 10, a stopper 451 and a stopper spring 45 are also provided between the second rotation shaft 43 and the mounting plate 46. Preferably, the mounting plate 46 is provided with a hollow cylinder, the limiting spring 45 is fixed in the hollow cylinder, one part of the limiting block 451 is inserted into the central hole of the limiting spring 45 along the axial direction of the limiting spring 45, and the other part is clamped outside the limiting spring 45. After the limiting block 451 is inserted, a certain margin is left between the lower part and the mounting plate 46, and the bottom part does not contact the mounting plate 46, so that the buffering and shock absorption effects are achieved. The hollow cylinder serves to better limit the position of the spacing spring 45. The method of limiting is not exclusive and in another embodiment, a cylindrical groove in the mounting plate 46 may be used to assist in limiting the position of the spacing spring 45. The limiting block 451 and the limiting spring 45 are used for providing plane positioning and spring pre-tightening for the second rotating shaft 43.

In this embodiment, the limiting block 451 and the limiting spring 45 are located between the staggered shaft seats 44 and the rotating shaft seat 481, so that the possibility of misjudgment caused by vibration of the protective housing 41 can be reduced, the functions of buffering and shock absorption can be achieved, and the impact on the intelligent security robot body during collision can be further reduced. Of course, in another embodiment, the stopper 451 and the stopper spring 45 may be disposed outside the rotational bearing seat 481 or inside the rotational bearing seat 481.

In another embodiment, the limiting block 451 may not be provided, one end of the limiting spring 45 is connected to the interleaving shaft seat 44, and the other end is directly connected to the first rotating shaft 42; the stopper spring 45 between the mounting plate 46 and the second rotating shaft 43 is mounted in the same manner. The limiting spring 45 is in a compressed state and is used for providing a pretightening force for the first rotating shaft 42 or the second rotating shaft 43, and meanwhile, the limiting spring 45 can absorb partial impact force when collision occurs, so that collision damage to the robot is further reduced.

The first and second

rotary shafts

42 and 43 are each provided with a hall sensor 47. As shown in the figure, in the present embodiment, a hall sensor 47 is sleeved on the first rotating shaft 42 and is close to the position of the staggered shaft seat 44, for detecting the rotating angle of the first rotating shaft 42; another hall sensor 47 is sleeved on the second rotating shaft 43 and is close to the end, and is used for detecting the rotating angle of the second rotating shaft 43.

During the installation, the mounting panel 46 of collision protector 4 is installed at intelligent security robot originally internally perpendicularly, is equipped with the opening on intelligent security robot's the shell, and protective housing 41 imbeds in the opening of shell to can take place to rotate relative intelligent security robot's shell. Preferably, the collision protection device 4 is disposed directly above the universal wheel 172 and located between the universal wheel 172 and the charging device, that is, the collision protection device 4 is located directly in front of the intelligent security robot body. Obviously, in other embodiments, the collision protection device 4 may also be located in front of, on the side of, or directly behind the intelligent security robot body.

When the protective shell 41 is collided, the first rotating shaft 42 and the second rotating shaft 43 can be caused to rotate by the collision from any angle in front of the protective shell 41, the Hall sensors 47 arranged on the first rotating shaft 42 and the second rotating shaft 43 can feed back angle information to a control system of the robot, and the control system sends out a command that the robot moves in a direction opposite to the moving direction before the collision or stops the robot to move forwards.

The collision protection device 4 provided by the embodiment can reduce collision damage of an obstacle to the robot in all directions, and the collision protection device can be used as a secondary protection device for preventing collision of the robot, for example, after the robot fails to avoid the obstacle, the collision damage is reduced. Particularly, the collision protection device provided by the invention is particularly important for the obstacles such as the pointed rods and the like which are difficult to avoid by using an obstacle avoidance algorithm. And this robot collision protector adopts the modularized design, simple structure, and the commonality is good, and is with low costs, and the good reliability.

In conclusion, the intelligent security robot provided by the invention can execute autonomous patrol in the area designated by the client, and has the functions of GPS positioning, autonomous path planning, autonomous obstacle avoidance, autonomous charging and the like, so that the autonomous cruising function is realized; the intelligent security robot carries modules such as a cloud deck, infrared imaging, gas detection, smoke detection and radiation monitoring, acquires information such as audio and video, gas, smoke, infrared and radiation of a cruising area in real time, transmits the information to the remote control terminal through a wireless control network, and can make responses such as alarm and the like to abnormal conditions of the cruising area through data analysis, so that the purpose of 'staying indoors and intelligent security' is achieved. The intelligent security system provided by the invention establishes the Internet of things through at least one security robot, a wireless network and a distance control terminal, and realizes intelligent security in the application fields of a reservoir area, a factory area and the like.

It should be understood that the intelligent security system of the present invention is based on the intelligent security robot provided by the present invention, and therefore, the explanation of the specific embodiment of the intelligent security robot is also applicable to the intelligent security system.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An intelligent security robot is characterized by comprising a main control module, a visual sensor, a laser radar, an ultrasonic sensor, a plurality of environment sensors, a GPS unit, a walking mechanism, a wireless communication unit and an acousto-optic reminding unit;

the main control module is also connected with the plurality of environment sensors, the wireless communication unit and the acousto-optic reminding unit, and is used for sending environment information acquired by the plurality of environment sensors to a remote control terminal through the wireless communication unit and sending an alarm signal to the acousto-optic reminding unit and the remote control terminal for alarming when the environment information is detected to be abnormal;

the master control module comprises:

the environment monitoring unit is used for sending the environment information acquired by the plurality of environment sensors to the remote control terminal through the wireless communication unit and sending an alarm signal to the sound and light reminding unit and the remote control terminal for alarming when the environment information is detected to be abnormal;

the intelligent security robot also comprises a charging device; the master control module further comprises:

the charging control unit is connected with the charging device and the wireless communication unit and used for detecting the electric quantity of the battery, feeding the electric quantity back to the remote control terminal through the wireless communication unit, receiving a charging instruction sent by the remote control terminal and controlling the charging device to be in butt joint with the charging pile to realize charging;

the remote control terminal sends a charging instruction to the intelligent security robot when the battery power is lower than a preset threshold value, plans a path according to the real-time position of the intelligent security robot and the position of the charging pile, and sends the path to the cruise control unit;

the charging device comprises a charging motor, a charging screw slider, a transmission rod, a baffle, a charging electric brush and a current detection sensor;

one end of the charging screw is connected with an output shaft of the charging motor, the other end of the charging screw is connected with the baffle, the charging screw can rotate relative to the baffle, and the charging screw sliding block is sleeved on the charging screw; the transmission rod is arranged in parallel with the charging screw, one end of the transmission rod is connected with the charging screw sliding block, and the other end of the transmission rod penetrates through the baffle and is connected with the charging electric brush; when the charging screw rod rotates, the charging screw rod sliding block moves along the axial direction of the charging screw rod and pushes the charging electric brush to move through the transmission rod; the current detection sensor is used for detecting charging current;

the charging electric brush comprises an electric brush connecting plate, an electric brush positive pole and an electric brush negative pole, the electric brush positive pole and the electric brush negative pole are connected with the outer side of the electric brush connecting plate through a compression spring, and the inner side of the electric brush connecting plate is connected with the transmission rod; the area of the charging electric brush is 2-4 times of that of an electric brush on the charging pile; a transverse partition plate is further arranged above the electric brush connecting plate and is positioned above the positive electrode of the electric brush and the negative electrode of the electric brush, and a hinged blocking piece serving as a charging opening is arranged at a corresponding position on a shell of the intelligent security robot body;

a guide rail parallel to the charging screw rod is further arranged on one side of the baffle, a guide rail sliding block capable of sliding along the guide rail is arranged on the guide rail, one end of the guide rail sliding block is sleeved on the guide rail, and the other end of the guide rail sliding block is connected with the charging screw rod sliding block;

the charging control unit is connected with the laser radar, the infrared sensor, the charging motor and the current detection sensor, and is used for sending the positions of charging pile interfaces scanned by the laser radar and the infrared sensor to the remote control terminal for fine adjustment of the charging interface positions, sending a control signal to the charging motor to enable the charging brush to be in butt joint with the charging pile interfaces, detecting the charging current through the current detection sensor, judging that the charging is successful when the charging current is detected, and judging that the charging is failed if the charging current is not detected, and feeding the charging current back to the remote control terminal;

the intelligent security robot also comprises a collision protection device arranged on the shell of the intelligent security robot; the collision protection device comprises a protection shell, a first rotating shaft, a second rotating shaft and a staggered shaft seat; the protective housing is mounted on the first rotating shaft; the first rotating shaft penetrates through the staggered shaft seat and can rotate relative to the staggered shaft seat; the second rotating shaft and the first rotating shaft are arranged in a non-coplanar vertical mode; the staggered shaft seat is sleeved and fixed on the second rotating shaft and can drive the second rotating shaft to rotate relative to the robot body; the first rotating shaft and the second rotating shaft are respectively provided with a Hall sensor which is respectively used for detecting the rotating angles of the first rotating shaft and the second rotating shaft;

a limiting spring and a limiting block are further arranged between the staggered shaft seat and the first rotating shaft, and a plane or a groove matched with the limiting block is formed in the first rotating shaft; one part of the limiting block penetrates through the limiting spring along the axial direction of the limiting spring, the length of the part is smaller than the axial length of the limiting spring, the other part of the limiting block is located on the outer side of the limiting spring and matched with the plane or the groove bottom surface of the groove, and the width of the limiting block is larger than the diameter of the limiting spring.

2. The intelligent security robot of claim 1, wherein the plurality of environmental sensors comprises: infrared sensors, smoke sensors, gas sensors, temperature and humidity sensors and radiation sensors.

3. The intelligent security robot as claimed in claim 1, wherein the obstacle avoidance control unit feeds back to the remote control terminal through the wireless communication unit when an obstacle avoidance mode is determined according to feature information of an obstacle and when the obstacle cannot be avoided through algorithm simulation.

4. The intelligent security robot of claim 1, wherein the master control module further comprises:

and the face recognition unit is connected with the visual sensor and the wireless communication unit and used for detecting a face according to the acquired image information, recognizing the detected face according to prestored face information, sending an alarm signal to the acousto-optic reminding unit to give an alarm when the recognition fails, and sending the detected face and the alarm signal to the remote control terminal through the wireless communication unit.

5. The intelligent security robot as claimed in any one of claims 2 to 4, further comprising: the RFID readers are arranged at the bottom of the intelligent security robot in a staggered mode and used for reading signals of RFID tags arranged on the road surface of a patrol area; the master control module further comprises:

the position searching unit is connected with the at least two rows of RFID card readers and used for searching the position of the corresponding RFID tag from a pre-stored table according to the electronic code of the read RFID tag signal and determining the current position of the intelligent security robot according to the position of the RFID tag; the position searching unit determines a serial number i of an RFID card reader reading an RFID label signal, and acquires the offset between the installation position of the ith RFID card reader and the geometric center of the intelligent security robot according to the serial number; then, calculating the current position (x, y) of the intelligent security robot by the following formula:

6. An intelligent security system, which is characterized by comprising a remote control terminal and at least one intelligent security robot as claimed in any one of claims 1-5, which is communicated with the remote control terminal.