CN107984480A - Intelligent safety patrol robot - Google Patents

Intelligent safety patrol robot Download PDF

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Publication number
CN107984480A
CN107984480A CN201711350428.9A CN201711350428A CN107984480A CN 107984480 A CN107984480 A CN 107984480A CN 201711350428 A CN201711350428 A CN 201711350428A CN 107984480 A CN107984480 A CN 107984480A
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CN
China
Prior art keywords
balance ring
module
universal balance
robot
intelligent safety
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711350428.9A
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Chinese (zh)
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Zhi Wei Electronic Technology Co Ltd
Original Assignee
Changsha Zhi Wei Electronic Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Zhi Wei Electronic Technology Co Ltd filed Critical Changsha Zhi Wei Electronic Technology Co Ltd
Priority to CN201711350428.9A priority Critical patent/CN107984480A/en
Publication of CN107984480A publication Critical patent/CN107984480A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for

Abstract

The present invention provides a kind of intelligent safety patrol robot, robot uses the main machine structure of gyroscope, when host has counterweight, ensure the counterweight face of rotary body host all the time towards ground, pass through the detection of distance to the ground, robot can be prevented to be lifted or topple, thus with light compact, the low advantage of cost, by using the control system of above-mentioned robot, the autonomous positioning of robot can be achieved, realize the guide of travel path and target, and there is humiture, smog, catch fire, toxic gas, the super large sound, quick object movement, recording, video recording, it is close, touch, the local sound moved, light, electric alarm and self-defence function.

Description

Intelligent safety patrol robot
Technical field
The present invention relates to robot technology, and in particular to a kind of structure of intelligent safety patrol robot and its control system System.
Background technology
With the high speed development of economic and technical, the living standard of people is continuously improved, convenience of the people to life, peace Full property and the high efficiency of production it is also proposed the requirement of higher, therefore come into being applied to the intelligent robot of industry-by-industry. In many industries, especially high risk industries, by using intelligent robot, people can solve releasing from dangerous onerous toil Come, and intelligent safety robot is because it has great application value in actual life, be recent years in robot field A kind of robot received significant attention.
Robot is divided into fixed and autonomous formula.The stationary machine people of certain position operation can only be fixed on, its Function and application scope is subject to certain restrictions.And autonomous mobile robot is then movable to what stationary machines people can not reach Position, has more preferable mobility and adaptability, completes more complicated operation task.Intelligent safety robot belongs to autonomous Robot, can perceive environment and oneself state by sensor, real now with object-oriented autonomous fortune in the environment of obstacle It is dynamic, so as to complete the robot system of certain operation function.
Existing intelligent safety robot is more important in addition to having the function of self poisoning, path navigation and target and positioning Be in terms of there is self-protection, data acquisition and alarm.Existing intelligent safety robot is often asked there are following Topic:Intelligent safety robot cannot realize self-protection for the purpose of injuring and attack other side, so existing intelligent safety Robot all uses larger volume (usually similar with people's height, floor space is 4-5 times of people), and uses entity knot Structure, has larger weight, carrys out collision free to arouse attention, and avoids being moved by people using heavier weight, so that The power drive of bigger is needed, thus, powerful motor and battery are essential, and which in turns increases robot sheet The weight of body, adds the consumption of robot energy itself, adds the difficulty that robot moves in itself, adds intelligent safety The cost of robot.
The content of the invention
The object of the present invention is to provide a kind of miniaturization, lightweight, low cost intelligent safety patrol robot.
The present invention program is as follows:Intelligent safety patrol robot, including rack for walking and it is detachably arranged at machine Host on frame, rack are equipped with hoofing part module, and the host uses gyroscope, and gyroscope includes top sieve revolution frame, The first universal balance ring being arranged in top sieve revolution frame, plane where the first universal balance ring and top sieve revolution frame Place plane is vertical, and straight line where the axis of the connector between the first universal balance ring and top sieve revolution frame is returned with top sieve The diameter for turning frame on the same line, is equipped with vertical with plane where the first universal balance ring in the first universal balance ring Second universal balance ring, straight line where the axis of the connector between the second universal balance ring and the first universal balance ring with it is described On the same line, the second universal balance ring is vertical with plane where top sieve revolution frame for the diameter of first universal balance ring, Spin axis is equipped with along the diametric(al) of the second universal balance ring, the spin axis and first universal flat in the second universal balance ring The plane where ring that weighs is vertical, and rotary body is equipped with the spin axis;
Be equipped with mainframe box and the battery pack as counterweight on the rotary body, be equipped with mainframe box drive control module, Drive battery module and function module, the drive control module and the hoofing part module wireless telecommunications, the function mould Block includes warning device, and three-dimensional sensor array is equipped with mainframe box, and mainframe box bottom is equipped with ground short-range sensors, The drive control module drives battery module, function module, sensor array and ground short-range sensors with described respectively It is electrically connected;
The drive control module includes main control computer and the drive control communication interface being arranged on main control computer, long-range width Band communication interface, local wireless broadband interface, satellite positioning communication interface, high speed USB hub and driving battery module interface.
The principle of the present invention and have the beneficial effect that:
Illustrate, intelligent safety patrol robot of the present invention, hereinafter referred to as robot.
1. intelligent safety patrol robot of the present invention is mainly by the drive part moved, the control section of moving and security work( Three parts of energy form, and form modular design, each module can be provided with the intelligent master control unit of oneself, can be independent Renewal, upgrading, iteration, application.
2. in dynamic unknown environment, intelligent safety patrol robot of the present invention is by using three-dimensional sensor array Row, under the control of drive control module, gather different range data to realize positioning.Also, three-dimensional sensor array Realize robot to perceive the more of external environment condition, to provide more, more fully integrated information data.
3. due to being provided with drive control communication interface on the main control computer of drive control module, long-range broadband connections connects Mouth, local wireless broadband interface and satellite positioning communication interface, therefore, can use global position system, wireless network guiding system System, the guide of path and traveling target is gone on patrol as it.Drive control communication interface is used for the nothing of the hoofing part module of rack The interface of line traffic control;Long-range broadband connections interface, by the 4G networks of telecommunication, is not having for intelligent safety patrol robot When having local wireless broadband interface (Wi-fi) with the long-distance video image transmitting of backstage platform, remote alarms information and it is long-range mutually The subsidiary communications of dynamic manipulation;Local wireless broadband interface (Wi-Fi), can with mobile phone by the broadband Wi-Fi network of local wireless Wireless proximity telemanagement is realized to intelligent safety patrol robot;Satellite positioning communication interface, GPS are intelligent safety patrol planes The main positioning method of device people, for a wide range of outside intelligent safety patrol robot room and positioning at a distance.
4. the present invention connects the control mechanism of robot and hoofing part module, gyro using the mechanical structure of gyroscope Instrument can be connected with the rack with different driving form, and different institutions can be achieved by varying the control mode in control mechanism Driving.Simultaneously as rack and host are detachably connected, therefore according to different needs, rack may be selected have difference The structure of function, such as has the function of avoidance in outdoor selection, detours, leap, climbing, descending, crosses and dropproof rack, this Invention is by selecting different racks, it can be achieved that intelligent safety patrol can be carried out with outdoor indoors.
5. using wireless telecommunications between drive control module and the hoofing part module of rack, reduce gyroscope and driving Line between control module, simplifies the connection mode between gyroscope and drive control module so that robot of the present invention Structure is simpler, and appearance is more succinct.
6. being placed in the battery pack of a rotating body, as the configuration of rotary body, remain horizontal when can rotate rotary body, Counterweight face is all the time towards ground at the same time.
7. the ground short-range sensors of mainframe box bottom are placed in, for remote under the non-automatic control pattern of robot of the present invention Detection signal, is passed to the main control computer of drive control module, by leading by alarm detection during ground (as turned on one's side or being picked up by people) Control machine control sends or sends warning message, achievees the purpose that robot self-insurance.
To sum up, since the host of robot of the present invention uses gyroscope arrangement, since gyroscope arrangement is compact, with showing There is technology to compare, robot of the invention have concurrently at the same time self-insurance, it is compact, light the characteristics of, therefore without larger power drive, Cost is lower, and practicality is high, has preferable market application foreground.
It is a kind of it is preferable that, spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo revolution frames are formed and supplied Circuit, for being electrically connected battery pack and hoofing part module.By above-mentioned design, hoofing part module of the invention can be direct It is powered by battery pack, without additionally installing other driving powers, further mitigates the weight of the present invention, reduce the present invention Cost.
It is another it is preferable that, the hoofing part module is driven by motor, spin axis, the second universal balance ring, First universal balance ring and Tuo Luo revolution frames form power supply circuit, and the electric energy for motor to be produced supplies drive control mould at the same time Block, driving battery module, function module, sensor array and ground short-range sensors., can when the electricity of battery pack exhausts Powered by the motor in rack to mainframe box.
Further, the mainframe box is six face babinets, and sensor array shows five groups, wherein four groups are separately positioned on host On four vertical planes of case, another group is arranged on the top surface of mainframe box, every group of sensor array include ultrasonic distance measuring module, Camera, microwave motion sensor, temperature sensor, humidity sensor, photoelectric sensor and smoke sensor device.The sensor The design form of array, forms the aware space of omnibearing stereo, can perceive more information, information is more comprehensively.Ultrasound It is used for ranging away from module, realizes the three-dimensional localization of robot site surrounding environment substantially;Infrared camera is used for robot View data collection;Microwave motion sensor is used for detecting whether have mobile object in surrounding enviroment, as early warning.
Brief description of the drawings
Fig. 1 is the structure diagram of the intelligent safety patrol robot host of the present invention;
Fig. 2 is the structure diagram of mainframe box in Fig. 1 embodiments;
Fig. 3 is the illustrative view of functional configuration of drive control module;
Fig. 4 is the illustrative view of functional configuration for driving battery module;
Fig. 5 is the front view of sensor array;
Fig. 6 is the right view of sensor array.
Embodiment
Below by embodiment, the present invention is described in further detail:
Reference numeral in Figure of description 1 includes:Top sieve revolution frame 101, the first universal balance ring 102, second are universal Balance ring 103, spin axis 104, rotary body 105, first connecting rod 106, second connecting rod 107.
The intelligent safety patrol robot of the present embodiment, including rack and host, rack are set thereon as walking mechanism There is hoofing part module, hoofing part module can use the motor driving itself set, also can supply electric drive by external power.
As shown in Figure 1:Host uses gyroscope arrangement, and gyroscope arrangement includes cricoid top sieve revolution frame 101, passes through Two first connecting rods 106 are connected to the first universal balance ring 102 of top sieve revolution 101 inside casing of frame, the axis of two first connecting rods 106 The diameter of straight line where line and top sieve revolution frame 101 on the same line, with top sieve return by 102 place plane of the first universal balance ring It is vertical to turn 101 place plane of frame.It is equipped with and the first universal balance by two second connecting rods 107 in the first universal balance ring 102 The second vertical universal balance ring 103 of 102 place plane of ring, between the second universal balance ring 103 and the first universal balance ring 102 Two second connecting rods axis where straight line and the first universal balance ring 102 diameter on the same line, the 20000th It is vertical with top sieve revolution 101 place plane of frame at the same time to balance ring 103.One is radially provided with along the second universal balance ring 103 Spin axis 104, the spin axis 104 is vertical with 102 place plane of the first universal balance ring, and rotation is equipped with above-mentioned spin axis 104 Swivel 105, above-mentioned rotary body 105 and the first universal balance ring 102 are at grade.Under top sieve revolution frame 101 Portion is equipped with bearing, and the longitudinal center line of the longitudinal center line of the bearing and the spin axis 104 is propping up on the same line The bottom of seat is provided with chassis, for being attached with above-mentioned rack.
In the present embodiment, spin axis 104, the second universal balance ring 103, the first universal balance ring 102 and Tuo Luo revolution frames 101 are used as current supply circuit.The inside of rotary body 105 sets high-energy battery group, is powered by above-mentioned current supply circuit for rack.If rack Upper to be provided with motor, then motor can also be powered by current supply circuit to rotary body 105.
Mainframe box is equipped with rotary body 105, the shape of mainframe box can be box-shaped, or spherical, and the present embodiment is case Shape.
As shown in Fig. 2, mainframe box includes the sensor array being arranged on outside babinet and the driving for being arranged on box house Control module 206, driving battery module 207 and function module 208.The present embodiment intelligent safety patrol robot has five groups of sensings Device array, wherein first group of sensor array 201, second group sensor array 202, the 3rd group of sensor array 203, the 4th group Sensor array 204 is located at four vertical planes of mainframe box, and the 5th group of sensor array 205 is installed on intelligent safety patrol machine The top of people's mainframe box.In Fig. 2, ground short-range sensors are not shown.What the ground short-range sensors of the present embodiment used It is ultrasonic range finder.
Drive control module as shown in Figure 3, including main control computer and be arranged on main control computer drive control communication connect Mouth (Zigbee), long-range broadband connections interface (4G), local wireless broadband interface (Wi-Fi), satellite positioning communication interface (GPS), high speed USB hub, driving battery module interface.Wherein, high speed USB hub is two pieces, sets five biographies respectively Sensor array interface and five functional module interface.
Main control computer:It is the core intelligence component of intelligent safety patrol robot, which is resident " Internet of Things network operation system The each intelligent parts for forming intelligent safety patrol robot are realized control in real time, processing, scheduling and management by system ";
Local wireless broadband interface (Wi-Fi):, can be to intelligent guarantor with mobile phone by the broadband Wi-Fi network of local wireless Peace patrol robot realizes wireless proximity telemanagement, it can also be used to which intelligent safety patrol robot is preferably remote with backstage platform The communication of journey transmission of video images, remote alarms information and remote interaction manipulation, and gone on patrol for intelligent safety patrol robot The local guiding in path;
Long-range broadband connections interface (4G):By the 4G networks of telecommunication, do not having for intelligent safety patrol robot When having local wireless broadband interface (Wi-fi) with the long-distance video image transmitting of backstage platform, remote alarms information and it is long-range mutually The subsidiary communications of dynamic manipulation;
Satellite positioning communication interface (GPS):GPS is the main detent mechanism of intelligent safety patrol robot, for intelligence A wide range of and positioning at a distance outside security guard patrol robot chamber, with determine the operation main path of intelligent safety patrol robot and Target;
Drive control communication interface (Zigbee):Interface for the wireless control of the hoofing part module of rack;
Drive battery module interface:For driving the interface of battery module;
High speed USB hub:Collection line interface for multiple components;
Sensor array interface 1-5:Interface for sensor array module;
Function module interface 1-5:Interface for other difference in functionality modules of intelligent safety patrol robot.
As shown in figure 4, the driving battery module that driving battery module includes main controller and is connected respectively with main controller connects Mouth, the charging of intelligent wireless charger/manager, battery track/and locator, gyro sensor, acceleration transducer, ground is short Range sensor, wherein, intelligent wireless charger/manager is connected with high-energy battery group.
Drive battery module main controller:It is the main control part for driving battery module, track for driving battery to charge/ Locator, wireless charger/manager, gyro sensor, the data acquisition of acceleration transducer, operational administrative and control;
Drive battery module interface:For the interface with intelligent safety patrol robot drive control module;
High-energy battery group:It is the energy storage component of intelligent safety patrol robot electric energy, and the gravity counterweight of rotary body 105 Component, it is ensured that the host of intelligent safety patrol robot can keep horizontal state any when;
Intelligent wireless charger/manager:Intelligent wireless charger and power management in driving battery module Component, there is provided battery, which is full of, automatically powers off signal, the function such as low warning of battery capacity;
Battery charging tracks/locator:Battery charging in driving battery module tracks/and locator is in intelligence When the battery capacity of security guard patrol robot is insufficient, under the action of satellite positioning, local radio communication, infrared guiding, realize The Automatic Track Finding of charge point and positioning;
Gyro sensor:Gyro sensor in driving battery module is used to provide intelligent safety patrol plane The status data that posture of device people itself judges, when status data is abnormal, you can as a kind of alert data, intelligent security patrols Robot is patrolled after a variety of alert datas are combined, you can send alarm signal exactly;
Acceleration transducer:Acceleration transducer in driving battery module is used to provide intelligent safety patrol plane The status data of itself motion determination of device people, when status data is abnormal, you can as a kind of alert data, intelligent security patrols Robot is patrolled after a variety of alert datas are combined, you can send alarm signal exactly;
Ground short-range sensors:The short-range ultrasonic distance measuring module in ground in driving battery module, on The bottom that ultrasonic distance measuring module is arranged on rotary body 105 is stated, for the monitoring of the terrain clearance of intelligent security patrol robot, After intelligent security patrol robot is turned on one's side or is picked up by people, it is impossible to ensure the elevation of normal work, you can alarm as one kind Data, intelligent security patrol robot is after a variety of alert datas are combined, you can sends alarm signal exactly.
The front view of sensor array as shown in figure 5, each sensor array include nine ultrasonic distance measuring modules 301, One infrared camera 302 and a microwave motion sensor 303.Nine ultrasonic distance measuring module ranks arrangements, wherein infrared Camera and microwave motion sensor are located between two ultrasonic distance measuring modules of same column respectively.It is empty in the sensor determined At gap, the different sensor such as warm, wet, sound, light, electricity, gas, cigarette, fire can be installed, with the collection for different information and General Office Reason.
1st, ultrasonic distance measuring module:Ultrasonic distance measuring module is used for ranging, realizes intelligent safety patrol robot location The three-dimensional localization of point surrounding environment substantially;
2nd, infrared camera:Infrared camera is used for the collection of the view data of intelligent safety patrol robot, and backstage is more A view data can be used to synthesize panoramic picture;
3rd, microwave motion sensor:Whether there is mobile object in surrounding enviroment for detecting, as early warning.
The right view of sensor array is as shown in fig. 6, the installation of ultrasonic distance measuring module has different phases from horizontal plane To angle, nethermost ultrasonic distance measuring module has the angle of -5o, middle ultrasonic distance measuring module and level with horizontal plane Face has the angle of 10o, ultrasonic distance measuring module above and angle of the horizontal plane with 15o, to ensure that intelligent safety is gone on patrol There is the distance test of enough vertical planes in robot.The installation of camera has the relative angle of 30o with horizontal plane, to ensure intelligence There is the image data acquiring of enough vertical planes in energy security guard patrol robot.Microwave motion sensor does not have horizontal plane setting angle Requirement.
Sensor array:The installation of ultrasonic distance measuring module has relative angle with horizontal plane, to ensure that intelligent safety patrols Patrolling robot has the distance test of enough horizontal planes.Camera is installed with having certain relative angle with horizontal plane, with Ensure that intelligent safety patrol robot has the image data acquiring of enough horizontal planes.Microwave motion sensor does not have vertical plane peace Fill the requirement of angle.
Function module:
1st, speech control module:For the speech recognition on local and backstage, voice control, voice dialogue, speech exchange and Voice broadcast service, above-mentioned function can gather voice by 4G modules or Wi-Fi module by sound pick-up, by analog voice into line number Wordization processing, by the circuit and circuit of wireless communication, is transmitted to the communication terminal of distal end, so as to fulfill the communication of voice;
2nd, comprehensive detection module:Include the data acquisition of the sensor such as warm, wet, sound, light, electricity, gas, cigarette, fire, this is usually adopted The sensor is realized into data acquisition with A/D converter with microprocessor, to the data of collection compared with real data, such as The height of temperature, is both the analysis for integrated data, alarms the exception more than routine data;
3rd, integrated alarm module:Sound, light, the warning device of electricity of standard, i.e., collect exception by above-mentioned sensor Data when, by the output control interface of microprocessor, drive warning device, i.e., when alarming, intelligent safety is gone on patrol Robot can independently realize the alarm of sound, light, electricity, while the alert data that will can also collect, and pass through drive control module Communication component, as alert data is sent to the backstage of alarm by 4G or Wi-Fi communication modules, realizes the alarm of teledata;
4th, image processing module:The hardware circuit of currently marketed image processing module Plays, can support to realize The work such as the digitized processing of five tunnel vision signals, the caching of view data, the package of view data, collect when needing transmission Video image when, data image can be transmitted to up by the platform on backstage by the 4G in drive control module or Wi-Fi.
5th, more functions can self-defining, such as in order to reduce the image transmitting flow of remote radio communication, only will alarm The image of certain time (each 20 seconds such as front and rear, for 40 seconds) uploads to backstage before and after time point.
Above-described is only the embodiment of the present invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme Excessive description., without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art Several modifications and improvements are made, these should also be considered as protection scope of the present invention, these are implemented all without the influence present invention Effect and practical applicability.

Claims (4)

1. intelligent safety patrol robot, including rack for walking and the host that is detachably arranged in rack, in rack Equipped with hoofing part module, it is characterised in that the host uses gyroscope, and gyroscope includes top sieve revolution frame, is arranged on The first universal balance ring in top sieve revolution frame, plane where the first universal balance ring and top sieve revolution frame place are flat Face is vertical, straight line where the axis of the connector between the first universal balance ring and top sieve revolution frame and top sieve revolution frame Diameter on the same line, is equipped with the vertical with plane where the first universal balance ring the 20000th in the first universal balance ring To balance ring, straight line and the described 10000th where the axis of the connector between the second universal balance ring and the first universal balance ring To balance ring diameter on the same line, plane where the second universal balance ring and top sieve revolution frame is vertical, second In universal balance ring spin axis, the spin axis and the first universal balance ring institute are equipped with along the diametric(al) of the second universal balance ring It is vertical in plane, rotary body is equipped with the spin axis;
Mainframe box and the battery pack as counterweight are equipped with the rotary body, drive control module, driving are equipped with mainframe box Battery module and function module, the drive control module and the hoofing part module wireless telecommunications, the Functional Module Warning device is included, three-dimensional sensor array is equipped with mainframe box, mainframe box bottom is equipped with ground short-range sensors, described Drive control module is electrically connected with driving battery module, function module, sensor array and the ground short-range sensors respectively Connect;The drive control module includes main control computer and the drive control communication interface being arranged on main control computer, long-range broadband are led to Believe interface, local wireless broadband interface, satellite positioning communication interface, high speed USB hub and driving battery module interface.
2. intelligent safety patrol robot according to claim 1, it is characterised in that spin axis, the second universal balance ring, First universal balance ring and Tuo Luo revolution frames form power supply circuit, for being electrically connected battery pack and hoofing part module.
3. intelligent safety patrol robot according to claim 1, it is characterised in that the hoofing part module passes through electricity Machine drives, and spin axis, the second universal balance ring, the first universal balance ring and Tuo Luo revolution frames form power supply circuit, for by electricity The electric energy that machine produces supplies drive control module, driving battery module, function module, sensor array and ground short distance at the same time Sensor.
4. intelligent safety patrol robot according to claim 1, it is characterised in that the mainframe box is six face casees Body, sensor array show five groups, wherein on four groups of four vertical planes for being separately positioned on mainframe box, another group is arranged on mainframe box On top surface, every group of sensor array includes ultrasonic distance measuring module, camera, microwave motion sensor, temperature sensor, wet Spend sensor, photoelectric sensor and smoke sensor device.
CN201711350428.9A 2017-12-15 2017-12-15 Intelligent safety patrol robot Pending CN107984480A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711350428.9A CN107984480A (en) 2017-12-15 2017-12-15 Intelligent safety patrol robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711350428.9A CN107984480A (en) 2017-12-15 2017-12-15 Intelligent safety patrol robot

Publications (1)

Publication Number Publication Date
CN107984480A true CN107984480A (en) 2018-05-04

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Application Number Title Priority Date Filing Date
CN201711350428.9A Pending CN107984480A (en) 2017-12-15 2017-12-15 Intelligent safety patrol robot

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202145279U (en) * 2011-07-08 2012-02-15 上海合时智能科技有限公司 Household mobile safety protection robot based on object identification technology
CN204871279U (en) * 2015-06-04 2015-12-16 重庆英曼斯物联网有限公司 Intelligence security personnel go on patrol machine people

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202145279U (en) * 2011-07-08 2012-02-15 上海合时智能科技有限公司 Household mobile safety protection robot based on object identification technology
CN204871279U (en) * 2015-06-04 2015-12-16 重庆英曼斯物联网有限公司 Intelligence security personnel go on patrol machine people

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