CN109333563A - Indoor fixed point safety protection robot and its security system - Google Patents
Indoor fixed point safety protection robot and its security system Download PDFInfo
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- CN109333563A CN109333563A CN201811402158.6A CN201811402158A CN109333563A CN 109333563 A CN109333563 A CN 109333563A CN 201811402158 A CN201811402158 A CN 201811402158A CN 109333563 A CN109333563 A CN 109333563A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The present invention relates to indoor fixed point safety protection robot and its security system, the existing safety protection robot of effective solution is expensive, figure is excessive, has a single function, the problem that automatic ability is low；Its solve technical solution be include robot body and security system, the robot body two sides are equipped with wall surface running gear, camera is fixedly connected on the robot body, the machine drive module being electrically connected to each other, machine control module, machine communication modules, machine voltage amplification module are integrated in the robot body, the control module is connected with the wall surface running gear, camera, and the control module is wirelessly connected with indoor security system is preset in；The water-quantity regulating device is placed in by drill mouth；The present invention has certain automatic security and vigilance performance, and console positions indoor invader using thermal imaging system, has very strong stationkeeping ability, console combination user, which remotely controls, monitor and control user can remotely.
Description
Technical field
The present invention relates to safety protection robot technical field, specifically indoor fixed point safety protection robot and its security system.
Background technique
Starting is studied early in terms of safety protection robot by foreign countries, and there are mainly of two types: " the motor-driven spy that U.S. Department of Defense develops
Reaction system is estimated in assessment " robot and Explosive Ordnance Disposal Robot.Wherein MDARS robot is a kind of semi-autonomous wheel type machine
People can be divided into indoor type and two kinds of outdoor version, be mainly used for executing various security personnel's tasks, including patrol is stood sentry, fire alarm and air
Detection, threat assessment, situation determine, detect and prevent invader etc..Indoor type is mainly used in the fields such as warehouse and office block
It closes, and outdoor version is then used for the major areas such as airport, warehouse.
Explosive Ordnance Disposal Robot can be used for detecting and excluding offender and place again the fried of the public places such as airport, warehouse
Bullet and other dangerous material, it can also be used to the rescue work of hostage.And has the product releases of some maturations at present to market.Lotus
" the iCamPRO FHD " of the orchid research and development security function that still this robot is capable of providing is more single, can only be to mobile object
It is effectively monitored, the unsuitable present various security demands of people." irobi " robot of South Korea's exploitation, has
Certain service and safety protection function shoots illegal invasion person in family, detects door lock and the closing situation of coal gas etc..But price compares
It is expensive and do not have long-range control and video monitoring function, pre-specified task can only be executed, the ability for executing task has
Limit.The U.S. develops a patrol and security robot K5, and the security for being mainly used for HW premises, campus and shopping plaza is patrolled
It patrols, can effectively note abnormalities during patrol behavior and is reported to control centre in time.GPS and radium-shine sense are equipped with K5
Device is answered, road can be identified during patrol and gets around obstacle.But usually K5 working range than broader, family environment
Excessively narrow, GPS positioning is often not suitable for the robot localization worked under indoor narrow environment.The robot that Japan releases
It ensures public security " Reborg.X ", it can be customized according to use environment and usage by customer requirement, and being equipped with can read
" the image cognition system " for taking face feature and garment feature can help to find the child to wander away, and built-in lingware can
To carry out the explanation of large-scale activity.
In recent years, China is also quickly grown in intellect service robot field, and domestic many scientific research institutions and colleges and universities are also all
A large amount of manpower and material resources are put into study security services robot.First of China security robot AnBot is formally in Shenzhen
Airport is on duty.This robot is researched and developed by the Chinese National University of Defense technology, Hunan ten thousand is the production of intelligent robot company.Outer likeness in form Russia
Ross covers baby, and height is 1.49 meters, and 78 kilograms of weight, 0.8 meter of waistline diameter, 18 kilometers of maximum speed per hour per hour, goes on patrol speed per hour 1
Kilometer is per hour.Cruise duration is 8 hours, oneself can find charging pile when fast out of power.Not only intelligence can be carried out with passenger
Energy interactive voice, while the also equipment such as apolegamy electrification antiriot fork, stun-gun or the strong light of blinding, can effectively deter a bad actor.By
The special robot " KIWl7 " of domestic unusual charm fruit company exploitation, has illegal invasion alarm, evidence obtaining of taking pictures, tele-alarm, mobile phone
The more powerful security function such as remote control, night vision.But such special robot can not autonomous, family can only be placed in
In some position, greatly reduce the performance of security function.
In conclusion above-mentioned safety protection robot both domestic and external is broadly divided into two classes: one kind be for extensive area security,
Patrol, the patrol robot of similar security personnel, is capable of providing various security function services during patrol, but in price
It is more expensive, and body is larger, is not suitable for working under the relatively narrow environment of home interior.Another kind of is at home for supervising
The robot of control, this kind of robots are often made very outstanding in terms of monitoring.But the security function being to provide is often excessively
It is single, and do not have remote control function and autonomous ability, it is not able to satisfy demand of the Modern Family to house security function.
Therefore carry out and have remote control function, have higher capacity of will, the small-size multifunction security of a variety of security services can be provided
Robot has very important realistic meaning.
Therefore, the present invention provides the new indoor fixed point safety protection robot of one kind and its security system to solve the problems, such as this.
Summary of the invention
For above situation, for the defect for overcoming the prior art, the present invention provide a kind of indoor fixed point safety protection robot and
Its security system, the existing safety protection robot of effective solution is expensive, figure is excessive, have a single function, automatic ability it is low
The problem of.
The present invention includes robot body and security system, and the robot body two sides are equipped with wall surface running gear, institute
It states and is fixedly connected with camera on robot body, the machine driving mould being electrically connected to each other is integrated in the robot body
Block, machine control module, machine communication modules, machine voltage amplification module, the control module and the wall surface Running System
System, camera are connected, and the control module is wirelessly connected with indoor security system is preset in；
The security system includes the cradle being fixedly connected in indoor ceiling, and the cradle can be with the machine
Device drive module is connected and is the charging of machine drive module, is fixedly connected with console, the console by the cradle
Inside it is integrated with the thermal imaging system being electrically connected from each other, middle control communication module, middle control control module, middle control power module, institute
The cradle stated and middle control control module electrical connection, the cradle front end extend be distributed in indoor ceiling and
The walking path of metope.
Preferably, the wall surface running gear includes the traveling wheel for being rotatably connected on the robot body two sides,
Traveling wheel described in two is connected with the machine drive module, is fixedly connected to metal on two and the traveling wheel
Conductive strips, the metal conductor tracks and machine voltage amplification module electrical connection.
Preferably, the wall surface system includes six bionical foots for being rotatably connected on the robot body two sides, institute
The bionical foot stated and the machine drive module, machine control module electrical connection, each bionical foot end are fixed
It is connected with conductive plate.
Preferably, the machine drive module includes battery, micro-driving motor, the micro-driving motor and
The wall surface running gear is connected；
Reception of wireless signals unit, wireless signal issue unit are integrated in the machine communication modules；
Voltage amplifier circuit is integrated in the machine voltage amplification module, the voltage amplifier circuit can be by battery
Voltage amplification simultaneously supplies the wall surface running gear.
Preferably, for detecting, indoor whether someone enters and the position for the person of being positioned into the thermal imaging system；
Wired signal receiving unit, wireless signal issue unit, memory are integrated in the middle control communication module；
The middle control power module is connected with extraneous power supply.
Preferably, the walking path is coated on indoor wall and ceiling by negative electrode material figure layer, walking path
The biggish hovering region of area is equipped with when by ceiling center.
Preferably, it is fixedly connected with alarm in the console, the alarm and the middle control control module,
Middle control power module electrical connection
Preferably, telescopic in the robot body that electric shock needle, the electric shock needle and the machine control are installed
Molding block, the electrical connection of machine voltage amplification module.
The present invention is expensive for existing safety protection robot, figure is excessive, has a single function, the problem that automatic ability is low
It is robot localization that improvement, which is made, using thermal imaging system, and control control module realizes the autonomous control to robot, benefit in utilization
With machine communication modules, middle control communication module, user tripartite's linkage, the real time monitoring of indoor situations is realized and to the remote of robot
Process control makes robot may be implemented in the walking of indoor wall surface, adds electric shock using negative electrode material figure layer and wall surface running gear
Needle makes robot have certain active security ability, and safety protection robot combination console has oneself certain in the present invention
Dynamic security and vigilance performance, console position indoor invader using thermal imaging system, have very strong stationkeeping ability, middle control
Platform combination user, which remotely controls, monitor and control user can remotely.
Detailed description of the invention
Fig. 1 is the indoor deployments perspective view of walking path of the present invention and console, cradle.
Fig. 2 is robot of the present invention and wheeled wall surface running gear schematic perspective view.
Fig. 3 is robot of the present invention and bionic leg wall surface running gear schematic perspective view.
Fig. 4 is robot interior modular structure stereoscopic schematic diagram of the present invention.
Fig. 5 is cradle of the present invention and console stereoscopic schematic diagram.
Fig. 6 is robot module's structural schematic diagram of the present invention.
Fig. 7 is console modular structure schematic diagram of the present invention.
Fig. 8 is voltage amplifier circuit schematic diagram of the present invention.
Fig. 9 is invention conductive plate layers of material parameter.
Specific embodiment
For the present invention aforementioned and other technology contents, feature and effect, in following cooperation with reference to figures 1 through Fig. 9 pairs
In the detailed description of embodiment, can clearly it present.The structure content being previously mentioned in following embodiment is attached with specification
Figure is reference.
Each exemplary embodiment of the invention is described below with reference to accompanying drawings.
Embodiment one, the present invention are indoor fixed point safety protection robot and its security system, which is characterized in that including robot
Main body 1 and security system, 1 two sides of robot body are equipped with wall surface running gear 2, and the wall surface running gear 2 can make machine
For the walking of device human agent 1 indoors on wall and ceiling, the wall surface running gear 2 can be common sucker and hydraulic branch
Leg forms the wall surface walking manner of negative-pressure adsorption or vacuum suction, is also possible to the walking of magnetizer track route cooperation magnetic suck
Mode, bionical absorption walking manner are fixedly connected with camera 3, collection in the robot body 1 on the robot body 1
At having the machine drive module 4 being electrically connected to each other, machine control module 5, machine communication modules 6, machine voltage amplification module 7,
The control module is connected with the wall surface running gear 2, camera 3, the machine control module 5 and it is default indoors
Security system be wirelessly connected, wherein machine control module 5 is used to receive information of the processing from other modules and controls it
The working condition of his module, machine drive module 4 provide power for driving wall surface running gear 2 for wall surface running gear, together
When machine drive module 4 also provide power for other modules, the voltage amplification module 7 and machine drive module 4 are electrically connected,
It is electrically connected simultaneously with wall surface running gear 2, voltage amplification module 7 is same as the electric power boosting from machine drive module 4 in the future and puts
Greatly, output makes robot body 1 metope and ceiling can walk indoors, is to 2 high voltage of wall surface running gear, low current
It provides sufficient suction；
The security system includes the cradle 9 being fixedly connected in indoor ceiling, the cradle 9 can with it is described
Power module is connected and is power module charging, is fixedly connected with console 10 by the cradle 9, in the console 10
It is integrated with the thermal imaging system being electrically connected from each other, middle control communication module, middle control control module, middle control power module, it is described
Cradle 9 and the electrical connection of the described middle control control module, the middle control control module is for receiving and handling from middle control
The signal of other modules in platform 10, the middle control control module are also same as other modules and machine control in control console 10
Molding block 5, whether the thermal imaging system is indoor for identification enters invader, at the same thermal imaging system be also used to position into
The specific location of the information that someone invades and invader indoors is sent to by the specific location for the person of invading, the thermal imaging system
Middle control control module, the middle control communication module and the machine communication modules 6 are wirelessly connected, specific to be wirelessly connected
Mode can be wifi connection, be also possible to bluetooth connection or other common connection types, and middle control communication module can pass through machine
Device communication module 6, which receives the information from machine control module 5 and will receive information, passes to middle control control module, can also incite somebody to action
Information from middle control control module passes to machine control module 5 by machine communication modules 6, because of 3 He of camera
The machine control module 5 is connected, therefore the middle control communication module is also used to clap camera 3 in machine control module 5
The picture taken the photograph is by network transmission to the handheld mobile device of user, it should be noted that, user need to be in advance by hand-held movement
Middle control communication module in equipment and console 10 is wirelessly connected, and the moment keep in control communication module and handheld mobile device
Network is unimpeded, convenient for for remotely identifying invader and remote control robot main body 1, the middle control power module is for being
Other modules and the cradle 10 in console 10 provide electric energy, and 9 front end of cradle, which is extended, is distributed in room
The walking path 11 of interior ceiling and metope, the wall surface running gear 2 on the robot body 1 can be along walking path 11
Ceiling and metope walking indoors, the present embodiment is when specifically used, and under normal circumstances, the machine of robot body 1 drives
Dynamic model block 4 is connected with cradle 10, and receives 10 electric energy supplement of cradle, and robot body 1 is in standby at this time, together
When, the thermal imaging system moment is in running order；
After interior enters invader, thermal imaging system recognizes indoor someone and enters and this signal is passed to middle control control mould
Block, middle control control module pass information to machine control module 5 by middle control communication module, machine communication modules 6, and therefore
Control robot body 1 leaves cradle 10 along walking path 11 and walks, meanwhile, camera 3 is opened, and starts to record indoor
Situation, camera 3 transmit the indoor video recording of recording by machine control module 5, machine communication modules 6, middle control communication module
Middle control control module storage processing is given, control module stores after receiving indoor video recording and by middle control communication module by room in middle control
Handheld mobile device of the interior video recording remote transmission to user；
Meanwhile after leaving the cradle 9 in robot body 1, the thermal imaging system works on and in real time by room
The position of interior invader passes to middle control control module, and middle control control module will by middle control communication module, machine communication modules 6
Real-time position information passes to machine control module 5, and machine control module 5 is driven after receiving real-time position information by machine
Module 4 controls the walking of robot body 1, while machine control module 5 controls the shooting angle and shooting direction of camera 3,
So that camera 3 can position shooting invader in real time.
Embodiment two, on the basis of example 1, the wall surface running gear 2 include being rotatably connected on the machine
The traveling wheel of 1 two sides of device human agent, the traveling wheel can roll to each side in robot body 1 and realize robot body 1 with this
Steering, traveling wheel described in two is connected with the machine drive module 4, fixed on two and the traveling wheel to connect
It is connected to metal conductor tracks 12, the metal conductor tracks 12 and the machine voltage amplification module 7 electrical connection, the metal
Using BOPP aluminizer as metal conductor tracks 12, the machine voltage amplification module 7 will drive conductive strips 12 from machine
The voltage amplification of module 4 is simultaneously exported to the metal conductor tracks 12, and metal conductor tracks 12 will be described by electrostatic absorption principle
Robot body 1 be adsorbed on indoor wall, in the present embodiment, the mode of Electrostatic Absorption is using " towards the mobile machine of wall surface
The Electrostatic Absorption mechanism research of people " in paper in Electrostatic Absorption technology, when voltage reaches 110,000 volts, i.e., adsorbable ten
Six or so kilograms of weight, and in the present embodiment, to guarantee that robot body 1 can firmly be adsorbed on indoor wall, machine
1 figure of human agent should smaller (20-40 centimeters of length, 15-30 centimeters of width, 5-10 centimeters of height, 0.3-0.5 centimeters of wall thickness),
Its material is made of metal of the light-weight metal density less than 5 grams/cc and coats insulation figure layer in its surfaces externally and internally, therefore
The Mass Calculation of robot is specific as follows:
Therefore the normal voltage from machine drive module 4 need to be enlarged into tens of thousands of volts to ten by the machine voltage amplification module 7
The high pressure of tens of thousands of volts, while being the danger for preventing high pressure from generating, it is integrated with high resistance unit in machine voltage amplification module 7, is made
7 output HIGH voltage of machine voltage amplification module, low current, to prevent high voltage bring dangerous, the present embodiment is specifically used
When, machine control module 5 controls advance, retrogressing and the steering of traveling wheel by machine drive module 4, meanwhile, metal conductor tracks
12 are securely adsorbed on traveling wheel on indoor wall, to improve adsorption capacity, traveling wheel can be set as crawler wheel, by metallic conduction
12 width of band increases, and increases the contact area with metope with this, improves adsorption effect.
Embodiment three, on the basis of example 1, the wall surface system include being rotatably connected on the robot master
Six bionical foots of 1 two sides of body, the bionical foot and the machine drive module 4, machine control module 5 are electrically connected, often
A bionical foot end is fixedly connected to conductive plate 13, and the conductive plate 13 and machine voltage amplification module 7 are electrically connected
It connects, the machine voltage amplification module 7 is by the voltage amplification from machine drive module 4 and exports to the conductive plate
13, the robot body 1 is adsorbed on indoor wall by conductive plate 13 by electrostatic absorption principle, quiet in the present embodiment
The mode of Electro Sorb works as voltage using the Electrostatic Absorption in " the Electrostatic Absorption mechanism research towards wall-surface mobile robot " paper
When reaching 110,000 volts, i.e., adsorbable more than ten kilograms of weight, and in the present embodiment, to guarantee that robot body 1 can be firm
Be adsorbed on indoor wall, 1 figure of robot body should it is smaller (15-20 centimeters of length, 10-15 centimeters of width, height 5 centimeters,
0.2-0.3 centimeters of wall thickness), material is made of metal of the light-weight metal density less than 5 grams/cc and appearance in it
Face coating insulation figure layer, therefore the Mass Calculation of robot is specific as follows:
Therefore the normal voltage from machine drive module 4 need to be enlarged into tens of thousands of volts to ten by the machine voltage amplification module 7
The high pressure of tens of thousands of volts, while being the danger for preventing high pressure from generating, it is integrated with high resistance unit in machine voltage amplification module 7, is made
7 output HIGH voltage of machine voltage amplification module, low current, to prevent high voltage bring dangerous, the conductive plate 13 by
The bonding of layer flexible sill is made, and from the bottom to top successively includes base, electrode layer, coating, strengthening course, wherein layers of material
Parameter can refer to Fig. 9, and base is used for as the insulating layer between electrode layer and wall surface, electrode layer and machine voltage amplification module 7
Electrical connection, electrode layer are the copper mesh of lattice-shaped, and coating is used to be used as interelectrode insulation filler, prevent from puncturing between electrode or
Ionized air, strengthening course make conductive plate 13 have certain intensity, play holding to 13 structure of conductive plate, the present embodiment is having
Body in use, machine control module 5 can control it is each it is bionical be enough this and lift and walk, machine voltage amplification module 7 is conduction
Plate 13 provides high-voltage electricity, is that do not lift bionical can be firmly adsorbed on indoor wall completely.
Example IV, on the basis of embodiment two or three, the machine drive module 4 includes battery, miniature drive
Dynamic motor, the battery is 36V battery, when robot body 1 is connected and charges with cradle 9, as battery
Charging process, the micro-driving motor are connected with the wall surface running gear 2, the specific micro-driving motor
With in wall surface running gear 2 traveling wheel or bionical foot be connected；
Reception of wireless signals unit, wireless signal issue unit are integrated in the machine communication modules 6, line signal receives single
Member can receive the signal from machine control module 5 and middle control control module, and wireless signal issue unit can be by received signal
It is emitted to machine control module 5 and middle control control module；
Voltage amplifier circuit is integrated in the machine voltage amplification module 7, the voltage amplifier circuit figure can refer to figure
8, principle are as follows: BG1, BG2, B1 constitute AC and DC converter, charge through QL bridge rectifier to C2 after B1 boosting.BG3, BG4 group
At the big multivibrator of middle duty factor, it exports the silicon-controlled 3CT5 conducting of pulse-triggered.Capacitor C2 is through 3CT5 and B2, B3, B4
Primary electric discharge.Then each secondary of B2, B3, B4, which is connected in series, exports ten thousand volts of high pressures；
The voltage amplifier circuit can be by wall surface running gear 2 described in the voltage amplification of battery and supply, specific institute
The machine voltage amplification module 7 stated can by voltage amplification to it is tens of thousands of to ten it is tens of thousands of volt and supply the metal in wall surface running gear 2
Conductive strips 12 or conductive plate 13.
Embodiment five, on the basis of example IV, for detecting interior, whether someone enters the thermal imaging system
And the position for the person of being positioned into, thermal imaging system are connected with middle control control module, the invader's location information that can be will test passes
Middle control control module is given,；
Reception of wireless signals unit, wireless signal issue unit, memory, wireless communication are integrated in the middle control communication module
Number receiving unit can receive the signal from machine control module 5 and middle control control module, and wireless signal issue unit can will connect
The signal of receipts is emitted to machine control module 5 and middle control control module, memory can by camera 3 by machine control module 5,
Communication module is controlled in machine communication modules 6 and is transferred to middle control control module, SD card is equipped in the memory, in order to which user turns
Deposit video recording therein；
The middle control power module is connected with extraneous power supply.
Embodiment six, on the basis of embodiment five, the walking path 11 is coated indoors by negative electrode material figure layer
On metope and ceiling, with the Electrostatic Absorption ability of metal conductor tracks 12 or conductive plate 13 in assisted and strengthened wall surface running gear 2；
Walking path 11 is equipped with the biggish hovering region of area when by ceiling center, when robot body 1 is along walking road
Diameter 11 is run at hovering region, and the control robot body 1 of machine control module 5 hovers in hovering region and here will be indoor
Video recording is recorded by camera 3, the video recording of recording will by machine control module 5, machine communication modules 6, middle control communication module,
Middle control control module is sent on the handheld mobile device of user.
Embodiment seven is fixedly connected with alarm, the alarm on the basis of embodiment six in the console 10
Device and the middle control control module, the electrical connection of middle control power module, when the thermal imaging system in console 10 detected into
After the person of invading enters the room, thermal imaging system recognizes indoor someone and enters and this signal is passed to middle control control module, middle control
Control module passes information to machine control module 5, and therefore controls machine by middle control communication module, machine communication modules 6
Device human agent 1 leaves cradle 10 along walking path 11 and walks, meanwhile, middle control control module control alarm buzzing is warned,
To warn invader, alarm also can play other sound that user sets in advance.
Embodiment eight, it is telescopic in the robot body 1 that electric shock needle 8 is installed on the basis of embodiment seven,
The electric shock needle 8 and the machine control module 5, machine voltage amplification module 7 are electrically connected, when the heat in console 10 at
As system detection is to after there is invader to enter the room, thermal imaging system is recognized during indoor someone enters and pass to this signal
Control module is controlled, middle control control module passes information to machine control module by middle control communication module, machine communication modules 6
5, and therefore control robot body 1 and leave the walking of cradle 10, middle control control module through-hole alarm along walking path 11
Buzzing is warned, to warn invader, meanwhile, camera 3 open, start studio in situation, this therebetween, robot body 1
Stop walking at the hovering region for running to walking path 11, the indoor video recording of recording is passed through apparatus control by camera 3
Module 5, machine communication modules 6, middle control communication module pass to middle control control module storage processing, and control module receives in middle control
Storage and the handheld mobile device by middle control communication module by indoor video recording remote transmission to user, Yong Hu after indoor video recording
It receiving after video recording and before making decision, robot body 1 hovers and continues to shoot indoor video recording at region of hovering always, and
Handheld mobile device of the synchronous transfer that will record a video to user；
When user determines to take measures to invader, instruction can be transmitted to middle control communication module by handheld mobile device,
Instruction is transmitted to middle control control module by middle control communication module, and middle control control module is controlled in machine by machine communication modules 6
Control module 5 takes measures, and the control robot body 1 of module 5 is controlled in machine and leaves the hovering region of walking path 11 and along row
It walks path 11 and runs to ground, pass through middle control control module, middle control communication module, machine communication modules 6 by thermal imaging system
The real-time position information for passing to machine control module 5 runs to invader by the side of, at this point, the control electric shock of machine control module 5
Needle 8 stretches out from robot body 1 and by invader's corona, and the further action of invader is prevented with this.
When specifically used, under normal circumstances, the machine drive module 4 of robot body 1 is connected with cradle 10, and connects
By 10 electric energy supplement of cradle, robot body 1 is in standby at this time, meanwhile, the thermal imaging system moment is in work shape
State；
After interior enters invader, robot and security system work according to the following steps:
Enter step 1: thermal imaging system recognizes indoor someone and this signal is passed into middle control control module, middle control control
Module passes information to machine control module 5, and therefore controls robot by middle control communication module, machine communication modules 6
Main body 1 leaves cradle 10 along walking path 11 and walks.
Step 2: camera 3 is opened, start the situation in studio, the indoor video recording of recording is passed through machine by camera 3
Control module 5, machine communication modules 6, middle control communication module pass to middle control control module storage processing, and control module connects in middle control
By storage after indoor video recording and by middle control communication module by indoor video recording remote transmission to the handheld mobile device of user, it
Afterwards, middle control control module waits the instruction of user；
Meanwhile middle control control module control alarm buzzing is warned, to warn invader, alarm also can play user and set in advance
Other sound set；
Meanwhile robot body 1 runs at hovering region along walking path 11, and hovers at hovering region and continue to monitor
The behavior and recording of invader, machine control module 5 wait in control control module next step instruction；
Meanwhile the middle video recording storage for controlling the camera 3 that control module will receive is in memory.
Step 3: user receives the video recording that the middle control control module in console 10 is issued by middle control communication module
Afterwards, invader's identity is determined by video recording and issues instruction:
1, when user determines that invader is acquaintance, it and can determine that acquaintance means no harm, then can issue " recalling " instruction, middle control communication mould
Instruction is sent to middle control control module after block reception instruction, middle control control module controls alarm stop alarm, passes through simultaneously
Middle control communication module recalls instruction to machine control module publication, and machine communication modules, which receive, to be instructed and instruction is transferred to machine
Control module 5, machine control module 5 controls camera 3 and stops shooting, while controlling wall surface walking by machine drive module 4
System 2 drive robot body 1 walk back cradle 9 charge；
2, when user determines that invader is stranger, because in the process, alarm is alarmed uninterrupted to warn invader, therefore
It can determine that invader has malice or improper intention, user's capable of emitting " prevention " instruction, after middle control communication module receives instruction
Instruction is sent to middle control control module, middle control control module control alarm continues to alarm, to prevent invader watchful, simultaneously
It is issued by middle control communication module to machine control module and prevents instruction, machine communication modules, which receive, to be instructed and be transferred to instruction
Machine control module 5, machine control module 5, which controls camera 3, to be continued to shoot, while controlling wall surface by machine drive module 4
Running gear 2 drives robot body 1 to leave hovering region and walks on；
Machine control module 5 is passed by thermal imaging system by middle control control module, middle control communication module, machine communication modules 6
The real-time position information for passing machine control module 5 runs to invader by the side of, later, the control electric shock needle 8 of machine control module 5
From robot body 1 stretch out and by invader's corona, the further action of invader is prevented with this.
Step 4: the control electric shock needle 8 of machine control module 5 is withdrawn after the determining time after needle 8 that shocks by electricity stretches out, it
Afterwards, machine control module 5 control wall surface running gear 2 drive robot body 1 walk back cradle 9 charge, as robot master
After body 1 returns to cradle main body, middle control control module controls alarm stop alarm；
Camera 3 is controlled by middle control communication module, machine communication modules 6, machine control module 5 simultaneously and stops shooting；
Meanwhile control communication system stops sending information to user in middle control control system control.
The present invention is expensive for existing safety protection robot, figure is excessive, has a single function, the problem that automatic ability is low
It is robot localization that improvement, which is made, using thermal imaging system, and control control module realizes the autonomous control to robot, benefit in utilization
With machine communication modules, middle control communication module, user tripartite's linkage, the real time monitoring of indoor situations is realized and to the remote of robot
Process control makes robot may be implemented in the walking of indoor wall surface, adds electric shock using negative electrode material figure layer and wall surface running gear
Needle makes robot have certain active security ability, and safety protection robot combination console has oneself certain in the present invention
Dynamic security and vigilance performance, console position indoor invader using thermal imaging system, have very strong stationkeeping ability, middle control
Platform combination user, which remotely controls, monitor and control user can remotely.
Claims (8)
1. pinpointing safety protection robot and its security system in Room, which is characterized in that including robot body (1), the robot
Main body (1) two sides are equipped with wall surface running gear (2), are fixedly connected with camera (3), the machine on the robot body (1)
The machine drive module (4) being electrically connected to each other, machine control module (5), machine communication modules are integrated in device human agent (1)
(6), machine voltage amplification module (7), the control module are connected with the wall surface running gear (2), camera (3), institute
The control module stated wirelessly is connected with indoor security system is preset in；
The security system includes the cradle (9) being fixedly connected in indoor ceiling, the cradle (9) can and institute
The machine drive module (4) stated is connected and charges for machine drive module (4), is fixedly connected with by the cradle (9)
It controls platform (10), the thermal imaging system being electrically connected from each other, middle control communication module, middle control control is integrated in the console (10)
Molding block, middle control power module, the cradle (9) and middle control control module electrical connection, the cradle (9)
Extend the walking path (11) for being distributed in indoor ceiling and metope in front end.
2. interior fixed point safety protection robot according to claim 1 and its security system, which is characterized in that the wall surface
Running gear (2) includes the traveling wheel for being rotatably connected on the robot body (1) two sides, traveling wheel described in two and institute
The machine drive module (4) stated is connected, and is fixedly connected to metal conductor tracks (12) on two and the traveling wheel, described
Metal conductor tracks (12) and the machine voltage amplification module (7) electrical connection.
3. interior fixed point safety protection robot according to claim 1 and its security system, which is characterized in that the wall surface
System includes six bionical foots for being rotatably connected on the robot body (1) two sides, the bionical foot and the machine
Drive module (4), machine control module (5) electrical connection, each bionical foot end are fixedly connected to conductive plate (13).
4. interior fixed point safety protection robot according to claim 2 or 3 and its security system, which is characterized in that described
Machine drive module (4) includes battery, micro-driving motor, the micro-driving motor and the wall surface running gear
(2) it is connected；
Reception of wireless signals unit, wireless signal issue unit are integrated in the machine communication modules (6)；
It is integrated with voltage amplifier circuit in the machine voltage amplification module (7), the voltage amplifier circuit can be by electric power storage
The voltage amplification in pond simultaneously supplies the wall surface running gear (2).
5. interior fixed point safety protection robot and its security system according to claim 4, which is characterized in that the heat at
As for detecting, indoor whether someone enters and the position for the person of being positioned into system；
Wired signal receiving unit, wireless signal issue unit, memory are integrated in the middle control communication module；
The middle control power module is connected with extraneous power supply.
6. interior fixed point safety protection robot according to claim 5 and its security system, which is characterized in that the walking
Path (11) is coated on indoor wall and ceiling by negative electrode material figure layer, and walking path (11) is when by ceiling center
Equipped with the biggish hovering region of area.
7. interior fixed point safety protection robot according to claim 6 and its security system, which is characterized in that the console
(10) alarm, the alarm and the middle control control module, the electrical connection of middle control power module are fixedly connected in.
8. interior fixed point safety protection robot according to claim 7 and its security system, which is characterized in that the machine
It is telescopic in human agent (1) that electric shock needle (8), the electric shock needle (8) and the machine control module (5), machine are installed
Device voltage amplification module (7) electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811402158.6A CN109333563A (en) | 2018-11-23 | 2018-11-23 | Indoor fixed point safety protection robot and its security system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811402158.6A CN109333563A (en) | 2018-11-23 | 2018-11-23 | Indoor fixed point safety protection robot and its security system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333563A true CN109333563A (en) | 2019-02-15 |
Family
ID=65317273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811402158.6A Pending CN109333563A (en) | 2018-11-23 | 2018-11-23 | Indoor fixed point safety protection robot and its security system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333563A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580432A (en) * | 2020-05-13 | 2020-08-25 | 仲恺农业工程学院 | Security robot system based on STM32 |
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| CN101516580A (en) * | 2006-09-29 | 2009-08-26 | 三星重工业株式会社 | Multi-function robot for moving on wall using indoor global positioning system |
| CN206287145U (en) * | 2016-12-15 | 2017-06-30 | 清研华宇智能机器人（天津）有限责任公司 | A kind of cell security robot control system |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
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2018
- 2018-11-23 CN CN201811402158.6A patent/CN109333563A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101516580A (en) * | 2006-09-29 | 2009-08-26 | 三星重工业株式会社 | Multi-function robot for moving on wall using indoor global positioning system |
| CN206287145U (en) * | 2016-12-15 | 2017-06-30 | 清研华宇智能机器人（天津）有限责任公司 | A kind of cell security robot control system |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111580432A (en) * | 2020-05-13 | 2020-08-25 | 仲恺农业工程学院 | Security robot system based on STM32 |
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Application publication date: 20190215 |