CN109353418A - Intelligent security guard robot - Google Patents
Intelligent security guard robot Download PDFInfo
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- CN109353418A CN109353418A CN201811213791.0A CN201811213791A CN109353418A CN 109353418 A CN109353418 A CN 109353418A CN 201811213791 A CN201811213791 A CN 201811213791A CN 109353418 A CN109353418 A CN 109353418A
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- robot
- gas
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- monitoring
- wheel
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- 238000012544 monitoring process Methods 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000000116 mitigating effect Effects 0.000 claims abstract description 8
- 230000035939 shock Effects 0.000 claims abstract description 8
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- 239000007789 gas Substances 0.000 claims description 21
- 231100001261 hazardous Toxicity 0.000 claims description 13
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 5
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 claims description 4
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 3
- 239000001569 carbon dioxide Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 241000790917 Dioxys <bee> Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 239000005864 Sulphur Substances 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- 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
- B25J11/002—Manipulators for defensive or military tasks
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The disclosure provides a kind of intelligent security guard robot, comprising: chassis, movement and steering for robot；Vehicle body configures above chassis；Shock mitigation system is hung, is configured between chassis and vehicle body；Navigation positional device, for obtaining position, distance and environmental information；Gas-detecting device is used for detection gas；And monitoring system, for monitoring gas-detecting device, and by monitoring data real-time Transmission to monitoring personnel.
Description
Technical field
This disclosure relates to field in intelligent robotics more particularly to a kind of intelligent security guard robot.
Background technique
Existing security protection service robot usually selects motor-driven wheel undercarriage, and chassis does not have suspension system generally
System using laser radar as independent navigation component, or selects magnetic navigation locating scheme, carries visible image capturing head or infrared photography
Head.This kind of robot problems faced is that obstacle climbing ability, climbing capacity are poor, is only applicable to the relatively flat ring of indoor or outdoors
Border, can not adapt to outdoor rugged bumpy road, and application scenarios are greatly constrained.In addition, navigation when need in advance to place into
To increase magnetic conductance rail, robot could complete follow-up work for row reconstruction, so result in cost raising, cycle stretch-out,
It is only applicable to indoor or small area outdoor environment, influences practical application of the robot under large scene outdoor environment.Visible light is taken the photograph
Picture head and infrared camera are suitable for fire prevention, meter reads scene, but are not suitable for hazardous gas detection scene.In addition, existing
There is the monitoring system of security protection service robot to usually require security personnel's detection to analyze the dangerous situation of discovery, cannot achieve
Substitute the purpose of Security Personnel.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the disclosure provides a kind of intelligent security guard robot.
According to one aspect of the disclosure, intelligent security guard robot includes:
Chassis, movement and steering for robot；
Vehicle body configures above chassis；
Shock mitigation system is hung, is configured between chassis and vehicle body；
Navigation positional device, for obtaining position, distance and environmental information；
Gas-detecting device is used for detection gas；And
Monitoring system, for monitoring gas-detecting device, and by monitoring data real-time Transmission to monitoring personnel.
According at least one embodiment of the disclosure, chassis includes front wheels and rear wheels, and wherein front-wheel is turned to for chassis,
Rear-wheel is for driving bobbin movement.
According at least one embodiment of the disclosure, steering mechanism's deflection is driven to control preceding rotation by steering motor
To so that chassis be driven to turn to；Rear wheel is driven by movable motor, to drive bobbin movement.
According at least one embodiment of the disclosure, shock mitigation system configuration is hung between front-wheel and vehicle body, Yi Jihou
Between wheel and vehicle body.
According at least one embodiment of the disclosure, navigation positional device includes: laser radar, differential GPS and camera shooting
Head；The configuration mode of navigation positional device includes: configuration on vehicle body.
According at least one embodiment of the disclosure, robot further includes master controller, master controller and navigator fix
Device, steering motor driver are connected with movable motor driver, for receiving and dispatching control instruction.
According at least one embodiment of the disclosure, gas-detecting device includes: hazardous gas detection module；Dangerous gas
Body detection module is able to detect the concentration including combustible gas, carbon dioxide, sulfur dioxide and CO gas.
According at least one embodiment of the disclosure, monitoring data includes the monitoring number about fire source, smog and gas
According to.
According at least one embodiment of the disclosure, monitoring system is by monitoring data real-time Transmission to the side of monitoring personnel
Formula, including the communication terminal device by application transfer to monitoring personnel.
According at least one embodiment of the disclosure, robot further includes figure transmission module, figure transmission module and master controller
Connection, is used for transmission image and data.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is to be assembled to illustrate according to the overall structure of the intelligent security guard robot of at least one embodiment of the disclosure
Figure.
Fig. 2 is shown according to the roof hood modular construction of the intelligent security guard robot of at least one embodiment of the disclosure
It is intended to.
Fig. 3 be according to the truck head shell component (a) of the intelligent security guard robot of at least one embodiment of the disclosure and
The structural schematic diagram of tailstock casing assembly (b).
Fig. 4 is the left-hand door casing assembly (a) according to the intelligent security guard robot of at least one embodiment of the disclosure
With the structural schematic diagram of right car door casing assembly (b).
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
Disclosed technique scheme is set for multiple technologies problem existing for existing robot in chassis design, navigation scheme
Meter, the design of hazardous gas detection scheme, no worker monitor scheme Design etc. are improved, and enable security robot
Adapt to more complicated road conditions, detect a variety of alerts including hazardous gas, and can in real time by alert and associated picture or
Data are transferred to Security Personnel and handle, and watch close monitoring analysis unexpected situation at any time without Security Personnel, greatly
Ground alleviates the labor intensity of Security Personnel, and overall performance is more superior.
In an optional embodiment of the disclosure, as shown in Figure 1, intelligent security guard robot includes: chassis and vehicle body,
Chassis includes front-wheel 1 and rear-wheel 2, and vehicle body includes roof hood component 3, vehicle skeleton component 4, truck head shell component 5, tailstock shell
Component 6, left-hand door casing assembly 7 and right car door casing assembly 8.In addition to this, intelligent security guard robot further includes configuration the bottom of at
Suspension shock mitigation system (not shown) between disk and vehicle body, for obtaining position, distance and the navigator fix of environmental information
Device (not shown), for the gas-detecting device (not shown) of detection gas concentration, for monitoring the letter such as gas
It ceases and by monitoring data real-time Transmission to the monitoring system (not shown) of monitoring personnel, and for receiving and dispatching control instruction
Master controller (not shown).Intelligent security guard robot can also configure PTZ camera 10 above vehicle body, for obtaining
The video information of ambient enviroment, and be sent to Security Personnel and analyze.Wherein, monitoring system, master controller and holder camera shooting
Machine 10 can be connected with vehicle skeleton component 4.
The structure of all parts of intelligent security guard robot is described in detail with reference to the accompanying drawing.
The chassis scheme that the preferred driving of rear-wheel 2 of the disclosure, front-wheel 1 turn to, can not be adapted to solving existing security robot
The problem of outdoor rugged bumpy road, increase the mobility of robot.Drive steering mechanism's deflection real by a steering motor
The control now turned to front-wheel 1 is driven advance, the setback of the rotation realization car body of rear-wheel 2 by a movable motor.In front-wheel
Suspension shock mitigation system can be configured between 1 and vehicle body, rear-wheel 2 and vehicle body, to enhance cross-country power, the climbing of security robot
Ability, obstacle climbing ability adapt to outdoor complex road condition.
As shown in Fig. 2, roof hood component 3 includes: that configuration is used to receive GPS navigation, positioning system at component both ends
The GNSS antenna 11 of information, and configuration is in the laser radar bracket 9 for being used to install laser radar of component front end.Laser radar
There is laser radar bracket sealing ring 12 between bracket 9 and roof hood component 3.It can also be configured on roof hood component 3
Lighting apparatus, such as headlight band 13 and back light band 14 is respectively configured at both ends.
As shown in Fig. 3 (a), (b), the respectively structural schematic diagram of truck head shell component 5 and tailstock casing assembly 6, headstock
Casing assembly 5 and tailstock casing assembly 6 may be configured to the ultrasound for obtaining range information, helping robot avoiding barrier
Radar 15, while can also be configured to obtain ambient enviroment video information in truck head shell component 5, barrier is identified
With the camera 16 hidden, such as depth camera.
As shown in Fig. 4 (a), (b), the respectively structural schematic diagram of left-hand door casing assembly 7 and right car door casing assembly 8,
Left-hand door casing assembly 7 and right car door casing assembly 8 may be configured to obtain range information, robot helped to hide obstacle
The ultrasonic radar 15 of object.In an optional embodiment of the disclosure, sound pick-up can be configured on left-hand door casing assembly 7
17, for obtaining the audio-frequency information of ambient enviroment, help judges alert.Loudspeaking can also be configured on right car door casing assembly 8
Device 18, for playing alarm sound.
In an optional embodiment of the disclosure, in the design aspect of navigation scheme, for existing security robot
Outdoor navigation scheme is at high cost, the period is long and the problem of not being suitable for large area scene, preferably laser radar+differential GPS+depth
The navigator fix scheme of camera without carrying out any reconstruction to application site, and builds the area of pictural surface and reaches 1,100,000 square metres, pole
The big applicability for increasing robot.Wherein laser radar is used for the creation of opposite map, and differential GPS is for absolute map
Creation, the two, which has been implemented in combination with, builds figure to the high-precision of outdoor map.It should be noted that laser radar, differential GPS and depth
Camera can configure any rational position in robot according to actual needs, such as in the present embodiment, laser radar
It can be configured by laser radar bracket 9 as shown in Figure 1 in one end of roof hood component 3.
In an optional embodiment of the disclosure, asking for hazardous gas can not be detected for existing security robot
Topic carries hazardous gas detection module in vehicle body.Hazardous gas detection module can detect combustible gas, carbon dioxide, dioxy simultaneously
Change the concentration of the gases such as sulphur, carbon monoxide, and shown by way of digital display, while related data is transmitted to monitoring system
System.In an optional embodiment of the disclosure, monitoring system can also configure other intelligent identification modules, such as fire source,
Then the related data monitored and hazardous gas data are passed through application program together and are uploaded in real time by smog identification module etc.
In monitoring personnel hand, such as by APP above-mentioned data are uploaded on the mobile phone or computer of monitoring personnel, it is real-time for monitoring personnel
Alert is analyzed, judges, can greatly liberate the labor intensity of Security Personnel, while increasing the accuracy of alert judgement.
In an optional embodiment of the disclosure, the robot further includes master controller and figure transmission module.Figure passes
Module is mainly used for transmitting image and data, such as is wirelessly transferred the image of depth camera shooting and the number of laser radar detection
According to.Figure transmission module can also include GPS, these information and image and other data are passed through prison together after obtaining GPS information
Control system is transferred to Security Personnel and analyzes.Master controller completes various actions for receiving and dispatching control instruction, robot command.
Master controller is connected with navigation positional device and figure transmission module, controls navigation positional device and figure transmission module acquisition position, figure
As information and other related datas.Master controller is also connect with steering motor driver and movable motor driver simultaneously, is passed through
Motor driver controls the movement of front component and wheel assembly, is further driven to robot and completes to turn to and advance, retreats fortune
It is dynamic.
In the disclosure, the chassis scheme that intelligent security guard robot selects the driving of rear-wheel 2, front-wheel 1 to turn to, increases machine
The mobility of people, while suspension shock mitigation system is respectively configured between front-wheel 1 and vehicle body, rear-wheel 2 and vehicle body, greatly enhance
Cross-country power, climbing capacity and obstacle climbing ability of the robot under outdoor complex road condition.Intelligent security guard robot selects laser thunder
It can be achieved with up to+differential GPS+depth camera navigator fix scheme without carrying out any reconstruction to application site to outdoor
The high-precision in space builds figure, significantly increases the applicability of robot.Intelligent security guard robot carries hazardous gas and detects mould
Block overcomes existing security robot and is typically only capable to complete the reading task of meter, can not detect hazardous gas shape in environment
The technical issues of state, has widened the application range of robot.The monitoring system of intelligent security guard robot can with intelligent recognition fire source,
Smog, hazardous gas, and can be uploaded in monitoring personnel hand in real time by APP, in the same of liberation Security Personnel's labor intensity
When increase alert judgement accuracy.In short, disclosed technique scheme is on the basis of overcoming prior art problem, to entirety
Structure and aspect of performance are improved, so that intelligent security guard robot is more adaptable on outdoor complex road surface, using model
It encloses more extensively, while can also greatly mitigate the workload of Security Personnel, there is important practical application value.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of intelligent security guard robot characterized by comprising
Chassis, movement and steering for the robot；
Vehicle body configures above the chassis；
Shock mitigation system is hung, is configured between the chassis and the vehicle body；
Navigation positional device, for obtaining position, distance and environmental information；
Gas-detecting device is used for detection gas；And
Monitoring system, for monitoring the gas-detecting device, and by monitoring data real-time Transmission to monitoring personnel.
2. robot according to claim 1, which is characterized in that
The chassis includes front wheels and rear wheels, wherein the front-wheel is turned to for the chassis, the rear-wheel is described for driving
Bobbin movement.
3. robot according to claim 2, which is characterized in that
Steering mechanism's deflection is driven to control the front-wheel steer by steering motor, so that the chassis be driven to turn to；
Rear wheel is driven by movable motor, to drive the bobbin movement.
4. robot according to claim 2, which is characterized in that
The suspension shock mitigation system configuration is between the front-wheel and the vehicle body and between the rear-wheel and the vehicle body.
5. robot according to claim 1, which is characterized in that
The navigation positional device includes: laser radar, differential GPS and camera；
The configuration mode of the navigation positional device includes: configuration on the vehicle body.
6. robot according to claim 1 or 5, which is characterized in that
The robot further includes master controller, the master controller and the navigation positional device, steering motor driver and
Movable motor driver connection, for receiving and dispatching control instruction.
7. robot according to claim 1, which is characterized in that
The gas-detecting device includes: hazardous gas detection module；
The hazardous gas detection module is able to detect including combustible gas, carbon dioxide, sulfur dioxide and CO gas
Concentration.
8. robot according to claim 1, which is characterized in that
The monitoring data includes the monitoring data about fire source, smog and gas.
9. robot according to claim 1 or 8, which is characterized in that
The monitoring system by the monitoring data real-time Transmission to the mode of monitoring personnel, including by application transfer extremely
The communication terminal device of monitoring personnel.
10. robot according to any one of claim 1 to 9, which is characterized in that
The robot further includes figure transmission module, and the figure transmission module is connect with the master controller, is used for transmission image sum number
According to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213791.0A CN109353418A (en) | 2018-10-18 | 2018-10-18 | Intelligent security guard robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213791.0A CN109353418A (en) | 2018-10-18 | 2018-10-18 | Intelligent security guard robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109353418A true CN109353418A (en) | 2019-02-19 |
Family
ID=65345730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811213791.0A Pending CN109353418A (en) | 2018-10-18 | 2018-10-18 | Intelligent security guard robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109353418A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045269A (en) * | 2015-09-02 | 2015-11-11 | 济源维恩科技开发有限公司 | Automobile navigation control system based on cloud service |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN207327003U (en) * | 2017-08-08 | 2018-05-08 | 王天辰 | Power equipment intelligent inspection robot system |
| CN108238125A (en) * | 2018-01-08 | 2018-07-03 | 孙忠 | Crawler belt suspension mechanism |
-
2018
- 2018-10-18 CN CN201811213791.0A patent/CN109353418A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045269A (en) * | 2015-09-02 | 2015-11-11 | 济源维恩科技开发有限公司 | Automobile navigation control system based on cloud service |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN207327003U (en) * | 2017-08-08 | 2018-05-08 | 王天辰 | Power equipment intelligent inspection robot system |
| CN108238125A (en) * | 2018-01-08 | 2018-07-03 | 孙忠 | Crawler belt suspension mechanism |
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Application publication date: 20190219 |
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