CN109676618A - Security protection crusing robot and its automatic detecting method - Google Patents
Security protection crusing robot and its automatic detecting method Download PDFInfo
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- CN109676618A CN109676618A CN201811504993.0A CN201811504993A CN109676618A CN 109676618 A CN109676618 A CN 109676618A CN 201811504993 A CN201811504993 A CN 201811504993A CN 109676618 A CN109676618 A CN 109676618A
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- crusing robot
- car body
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000007689 inspection Methods 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 13
- 239000007788 liquid Substances 0.000 claims abstract description 12
- 239000007787 solid Substances 0.000 claims abstract description 6
- 238000005286 illumination Methods 0.000 claims description 10
- 238000001931 thermography Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 231100001261 hazardous Toxicity 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000002411 adverse Effects 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 description 8
- 230000001594 aberrant effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 238000010835 comparative analysis Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of security protection crusing robot and its automatic detecting method, security robot is connect with client communication, including car body, drive front-end driven mechanism, the rear end driving mechanism of the car body, it is connected to the container case that the vehicle body upper portion contains liquid, it is installed on the car body the giant mechanism of portion front end, the cloud data collecting assembly on the car body is set, and is arranged in the intracorporal automatically controlled processing module of the vehicle and solid state battery.The robot and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, energy real-time monitoring, improve guarantee degree to the security protection of adverse circumstances, the security protection inspection suitable for factory, industrial area, the environmental monitoring of specific region and detection.
Description
Technical field
The invention belongs to a kind of security protection crusing robots, more particularly, to a kind of intelligent security guard robot and its automatic detecting
Method.
Background technique
It is well known that security protection work is the basis for maintaining social stability, guaranteeing personal safety, in traditional security protection system,
It is main preventive means that people's air defense, which adds object anti-, mostly in such a way that fixing camera adds manpower patrol on duty, although technically holding very much
Easily realize, but with the problem and specific region that aging of population exacerbation, labour cost rise suddenly and sharply, Security Personnel's turnover rate is high
The fields such as patrol, the inspection of instrument point, special equipment point-detecting, hazardous equipment inspection (cable temperature, electrically opens temperature at transformer temperature)
Scape, traditional security protection be already difficult to realize the demand of modern security protection.Under the promotion of " robot+security protection people " new concept, security protection is produced
Industry welcomes new development opportunity, also gives the new concept of intelligent security guard.Either on the basis of traditional security protection, it is aided with intelligence
Robot security protection tool can improve guarantee degree to the security protection of adverse circumstances.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of security protection crusing robot and its automatic detecting method, the machine
People and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, energy real-time monitoring, the security protection to adverse circumstances
Improve guarantee degree, the security protection inspection suitable for factory, industrial area, the environmental monitoring of specific region and detection.
What technological means of the invention was realized in.
A kind of security protection crusing robot, security robot are connect with client communication, including car body (3), drive the vehicle
Front-end driven mechanism (1), the rear end driving mechanism (2) of body, are arranged in the anticollision mould group (5) on the car body, thermal imaging system
Mould group (9), HD video monitoring and illumination module (6), are arranged in anterior optic navigation mould group (7) on the car body, after-vision
It navigates mould group (8), and is arranged in the intracorporal central processing module of the vehicle and solid state battery；The anticollision mould group (5), heat
Imager mould group (9), HD video monitoring and illumination module (6), anterior optic navigation mould group (7), after-vision navigation mould group (8) are equal
It is electrically connected with the central processing module.Robot is by the front-end driven mechanism (1), rear end driving mechanism (2) on land
Upper walking；Robot is navigated mould group (7) by the anterior optic, and after-vision navigates mould group (8), scans captured information, and default
Environmental information comparative analysis either press default work route, by GPS, leading line, road sign, anticollision mould group (5), automatically
Identify land road conditions, selection optimization route walking；Robot passes through thermal imaging system mould group (9), HD video monitoring and illumination mould
Group (6), monitoring and detection biological information.In this way, robot is driven under the commander of intelligence control system, through road guide with nobody
The guide of system is sailed, current place fact is monitored and is detected on the way, preparatory preset equipment and scene are monitored
And detection, in region biology identify, in region biology carry out night identification, to do not awarded in region
The biology of power is identified, the information detected is sent back in control centre or specific communication equipment.All systems use
Solid state battery low-voltage power not only safety but also does not pollute the environment as the energy.Robot will disappear when setting out or returning
Malicious (Special sterilizing station) is equipped with dedicated charging corollary equipment.
A kind of security protection crusing robot automatic detecting method, suitable for security protection crusing robot as claimed in claim,
It is characterized by: following steps are executed,
S1, security protection crusing robot cruise for the first time to job site, obtain initial environmental data, complete navigation ground
The configuration of figure, and according to artificial setting or automatically derived inspection route, formulate the work plan of corresponding inspection route；
S2, security protection crusing robot carry out automatic detecting according to inspection route, during automatic detecting, through vision guided navigation and
The guide of Unmanned Systems is grown directly from seeds into currently practical three dimensional spatial map when reality mirror image when vision guided navigation, is generated exclusive
Space coordinate, robot walk on the route after system optimization, the environmental data on automatic measurement track route；
S3, security protection crusing robot are according to work plan and current location, and the time and location set according to expectation are to need
The outdoor indoor equipment view table to be monitored carries out vision automatic recognition, and instrument point is examined, special equipment point-detecting, hazardous equipment inspection
Cable temperature, electrically opens temperature etc. at transformer temperature, and current place fact is monitored and is detected on the way, to default in advance
Equipment be monitored and detect, to bio-identification is carried out in region, obtain data in real time, in conjunction with current location information send out
It goes back to control centre or is uploaded to client, alarm if the biology for detecting unauthorized or if collecting abnormal data, information is sent out
It returns on control centre or specific communication equipment；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments
Afterwards, data are passed back control centre, is analyzed using special-purpose software.In this way, robot is under the commander of intelligence control system,
Guide through road guide and Unmanned Systems is monitored and detects to current place fact on the way, to preset in advance
Equipment and scene are monitored and detect, in region biology identify, in region biology carry out night knowledge
Not, to the biology of unauthorized identifies in region, the information detected is sent back into control centre or specific communication is set
It is standby upper.After being sequentially completed the inspection operation of each predeterminable area, robot will be planned under the instruction of intelligence control system as preparatory
Road return to control centre, and determine its charging according to the case where power management system or carry out next subjob.
In this way, the robot and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, can supervise in real time
It surveys, guarantee degree is improved to the security protection of adverse circumstances, suitable for factory, the security protection inspection of industrial area, specific region.
Detailed description of the invention
Fig. 1 security protection crusing robot structural schematic diagram
Wherein:
1, front-end driven mechanism, 2, rear end driving mechanism, 3, car body, 4, laser scanning mould group, 5, anticollision mould group, 6,
HD video monitoring and illumination module, 7, anterior optic navigation mould group, 8, after-vision navigation mould group, 9, thermal imaging system mould group, 10, ring
Border Monitoring Indexes mould group, 11, container case, 12, giant mechanism
Specific embodiment
By specific embodiment, the present invention will be described in detail with reference to the accompanying drawing, and the description of this part is only demonstration
Property and explanatory, should not there is any restriction effect to protection scope of the present invention.In addition, those skilled in the art are according to herein
The description of part can carry out the corresponding combination to the feature in embodiment in this document and in different embodiments.
A kind of security protection crusing robot is shown in that Fig. 1, security robot are connect with client communication, including car body 3, drives institute
The anticollision mould group 5 on the car body, thermal imaging system mould is arranged in front-end driven mechanism 1, the rear end driving mechanism 2 for stating car body
Group 9, HD video monitoring and illumination module 6, anterior optic navigation mould group 7, after-vision navigation mould group 8, and be arranged in the vehicle
Intracorporal central processing module and solid state battery；The anticollision mould group 5, thermal imaging system mould group 9, HD video monitoring and illumination
Mould group 6, anterior optic navigation mould group 7, after-vision navigation mould group 8 are electrically connected with the central processing module.Robot passes through institute
State front-end driven mechanism 1, rear end driving mechanism 2 is walked in land；Robot by the front and back vision guided navigation mould group 7,8,
Captured information is scanned, either default work route is pressed with preset environmental information comparative analysis, by GPS, leading line, road
Mark, anticollision mould group 5, automatic identification land road conditions；Robot passes through thermal imaging system mould group 9, HD video monitoring and illumination mould
Group 6, monitoring and detection biological information.In this way, compareing current scene with vision in the process of walking, generates exclusive space and sit
Mark, robot walks on the route after system optimization.In this way, robot is led under the commander of intelligence control system through road
The guide of boat and Unmanned Systems, is monitored and detects to current place fact on the way, to preparatory preset equipment and field
Scape is monitored and detects, to biology identifies in region, the information detected is sent back into control centre or specific
On communication equipment.All systems use solid state battery low-voltage power as the energy, not only safety but also have not polluted the environment.Robot
Will carry out disinfection (Special sterilizing station) when setting out or returning, and be equipped with dedicated charging corollary equipment.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
Front-end driven mechanism 1, rear end driving mechanism 2 be adaptive drive system before and after 4 wheel driven.Front end rear end driving mechanism, which has, to be turned
To function, by a motor driven four-wheel drive system driving walking, front and back driving mechanism can be turned to, original place 360 degree rotation, such as
This does not have to u-turn, using this front and back drive automatically system in relatively narrow space, it will be able to direct back traveling.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
Front-end driven mechanism 1, rear end driving mechanism 2 constitute two group of two drive front and back adaptive drive system.Front and back end driving mechanism tool
There is turning function, respectively drives front and back driving mechanism by two motors and constitute two group of two drive system driving walking, i.e., by an electricity
Machine drives front driving mechanism, by another motor driven rear drive mechanism, coordinates driving respectively, adapts to different occasions, have
Occasion only need forerunner's turn to, some occasions only need rear-guard turn to, some occasions need front and back all drivings to turn to, two groups
The linkage of two drive systems is adaptive, and front and back driving turns to, in this way, do not have to rotation in relatively narrow space, it is adaptive using this front and back
Answer control loop, it will be able to directly driving to target.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People is connect using locally, remotely control mode with client communication, and the client is connect by network with robot server.
In this way, the local communication mode and external cloud service using independent research carry out data backup and process data extraction.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
Anticollision mould group 5 is the anticollision belt radar mould group being arranged on the car body periphery.There are many kinds of anticollision modes, such as machine
Tool formula anticollision, photo-electric anticollision, ultrasonic anti-collision, microwave anticollision etc., using radar mode anticollision, and as the cloth of band style
It sets on the car body periphery, unpiloted safety guarantee can be greatly improved.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People is equipped with built-in visual scene navigation redundant system, which is electrically connected with the central processing module.When GPS Beidou positions
There is mistake or when by external disturbance, robot will start built-in visual scene navigation feature, and backtracking is into control
The heart.During normal walking, visual scene navigation by terrestrial reference reference mode has recorded the route walked get off for robot, when
When something goes wrong, robot just starts visual scene navigation redundant system for external navigation, allows robot backtracking.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People is equipped with laser scanning mould group 4, which is electrically connected with the central processing module.During execution task, when system is examined
When reality mirror image navigation system breaks down when measuring the vision of vision guided navigation mould group, it will start automatically and be arranged before and after the car body
The 4G signal of the laser navigation of the laser scanning mould group 4 at both ends+built-in, allows robot security's to return to control centre.In this way, machine
Device people is equipped with spare laser scanning mould group 4, is equivalent to route guidance redundant system, when vision guided navigation mould group breaks down,
By the 4G signal of automatic starting laser navigation+built-in, safety guarantee is improved.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People is equipped with environmental index and monitors mould group 10, which is electrically connected with the central processing module.In this way, environmental index monitors mould group
The air quality data during institute's inspection is recorded when 10 in fact, the data such as wind direction, humidity, ultraviolet light, rainfall pass control back in real time
Center processed.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
Container case 11 and giant mechanism 12 are provided on car body, the giant mechanism 12 connects the container case 11, and
It is electrically connected with the central processing module.Giant is mounted on vehicle body upper portion front end, is connected to container case 11, is electrically connected centre
Module is managed, in this way, being able to achieve the instruction of control centre.Robot note abnormalities biology or scene alarm, pass signal back control
Center processed, under the premise of control centre's authorization, giant is directed to different types of scene or aberrant biological target, utilizes
Liquid in container case 11 initiates response or attack.
On the basis of the above embodiment, in another embodiment of the present invention, the liquid that the container case 11 contains is
Water or colored water, the liquid of fire extinguishing or the liquid of other purposes.In this way, can be for different types of
Selection contains corresponding liquid when scene or aberrant biological target initiate response or attack, such as, to fire scenario, contain
The liquid of fire extinguishing contains colored water etc. to aberrant biological.Can also be to 11 lattice frame of container case, different gridiron dresses is not
Same liquid.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People carries out data with live third party's corollary equipment and docks.In this way, being installed additional and the robot on live third party's corollary equipment
Matched control module, energy Interworking Data, such as carry out data communication and control, abnormal conditions early warning.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People uses single cpu mode and/or base scheme control.In case of a fault, using single cpu mode, using the vision system in robot
System, manually controls；Base mode then carries out field data docking and data exchange using central centralized control.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
Grow directly from seeds into currently practical three dimensional spatial map when reality mirror image navigation system energy when the vision guided navigation mould group vision of front and back.In this way,
Current scene is compareed with vision in walking process, generates exclusive space coordinate, route uplink of the robot after system optimization
It walks.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is described
HD video monitoring and illumination module are configured with high definition camera lens point inspection equipments.In this way, data are passed after recording photograph and information
Control centre is gone back to, is analyzed using special-purpose software.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot, machine
People is provided with built-in visual scene navigation redundant system and/or laser scanning mould group 4 and/or environmental index monitoring mould group 10,
These systems and/or mould group are electrically connected with the central processing module.In this way, is there is mistake when the positioning of GPS Beidou in robot
Or when by external disturbance, when reality mirror image navigation system breaks down when vision, robot is led spare visual scene is started
It navigates redundant system, or laser navigation+built-in 4G signal of automatic starting laser scanning mould group 4, allows the returning to of robot security
Safety guarantee improves in control centre.In this way, robot is driven under the commander of intelligence control system, through road guide with nobody
The guide of system is sailed, current place fact is monitored and is detected on the way, preparatory preset equipment and scene are monitored
And detection, in region the biology of unauthorized identify, to the air quality data during inspection, wind direction, humidity,
The data such as ultraviolet light, rainfall are recorded, and information is sent back in control centre or specific communication equipment.
A kind of security protection crusing robot automatic detecting method, suitable for security protection crusing robot as claimed in claim,
Execute following steps,
S1, security protection crusing robot cruise for the first time to job site, obtain initial environmental data, complete navigation ground
The configuration of figure, and according to artificial setting or automatically derived inspection route, formulate the work plan of corresponding inspection route；
S2, security protection crusing robot carry out automatic detecting according to inspection route, during automatic detecting, through vision guided navigation and
The guide of Unmanned Systems is grown directly from seeds into currently practical three dimensional spatial map when reality mirror image when vision guided navigation, is generated exclusive
Space coordinate, robot walk on the route after system optimization, the environmental data on automatic measurement track route；
S3, security protection crusing robot are according to work plan and current location, and the time and location set according to expectation are to need
The outdoor indoor equipment view table to be monitored carries out vision automatic recognition, and instrument point is examined, special equipment point-detecting, hazardous equipment inspection
Cable temperature, electrically opens temperature etc. at transformer temperature, and current place fact is monitored and is detected on the way, to default in advance
Equipment be monitored and detect, to bio-identification is carried out in region, obtain data in real time, in conjunction with current location information send out
It goes back to control centre or is uploaded to client, alarm if the biology for detecting unauthorized or if collecting abnormal data, information is sent out
It returns on control centre or specific communication equipment；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments
Afterwards, data are passed back control centre, is analyzed using special-purpose software.In this way, robot is under the commander of intelligence control system,
Guide through road guide and Unmanned Systems is monitored and detects to current place fact on the way, to preset in advance
Equipment and scene are monitored and detect, to the biology of unauthorized identifies in region, the information detected is sent back to
In control centre or specific communication equipment.After being sequentially completed the inspection operation of each predeterminable area, robot will be in intelligent control
Press the road planned in advance under the instruction of system and return to control centre, and according to the case where power management system determine its charging or
Carry out next subjob.In this way, the robot and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, energy
Real-time monitoring improves guarantee degree to the security protection of adverse circumstances, is suitable for factory, industrial area, specific region patrol, and instrument point is examined,
Special equipment point-detecting, hazardous equipment inspection such as cable temperature, transformer temperature, the security protection inspection for electrically opening temperature etc..Exist simultaneously
During executing step S2 and S3, robot is if necessary to carry out data with seashore wire mounting third party monitoring corollary equipment
Docking then installs control module energy Interworking Data matched with the robot additional on third party's corollary equipment, carries out data
Communication and control, abnormal conditions early warning etc., realization are docked with seashore wire mounting third party monitoring corollary equipment data seamless.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is automatic
Method for inspecting, during executing step S2 and S3, when the positioning appearance of GPS Beidou is wrong or by external disturbance, machine
People will start built-in visual scene navigation feature, and backtracking to control centre, robot is during normal walking, vision
Scene navigational by terrestrial reference reference mode has recorded the route walked get off, when external navigation when something goes wrong, robot energy
Start visual scene to navigate redundant system, allows robot backtracking.
Meanwhile during executing step S2 and S3, the robot uses single cpu mode and/or base mode control
System, in case of a fault, is manually controlled using single cpu mode using the vision system in robot；During base mode then uses
Centralized control is entreated to carry out field data docking and data exchange；
During executing step S2 and S3, robot by regional environment monitor mould group, when record institute's inspection in fact
Air quality data in the process, the data such as wind direction, humidity, ultraviolet light, rainfall, passes control centre back in real time；
During executing step S2 and S3, the reality mirror image navigation system when vision of the system detection to vision guided navigation mould group
When system breaks down, the laser navigation of the laser scanning mould group 4 of the car body rear and front end+built-in is arranged in automatic starting
4G signal allows robot security's to return to control centre.In this way, robot is equipped with spare laser scanning mould group (4), quite
In route guidance redundant system, when vision guided navigation mould group breaks down, by the 4G signal of automatic starting laser navigation+built-in,
Improve safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is automatic
Method for inspecting, during executing step S2 and S3, robot note abnormalities biology or scene alarm, pass signal back control
Center processed, under the premise of control centre's authorization, giant realizes the instruction of control centre, for different types of scene or
Person's aberrant biological target initiates response or attack using the liquid in container case 11.
On the basis of the above embodiment, in another embodiment of the present invention, the security protection crusing robot is automatic
Method for inspecting can be carried out job site, scene and equipment by standard atlas or data pre- during executing step S1
It sets, obtains initial environmental data with this, complete navigation map or environment and target is configured, and according to artificial setting or automatic
Inspection route out formulates the work plan of corresponding inspection route.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of security protection crusing robot, security robot are connect with client communication, it is characterised in that: including car body (3), drive
Front-end driven mechanism (1), the rear end driving mechanism (2) for moving the car body, are arranged in the anticollision mould group (5) on the car body,
Thermal imaging system mould group (9), HD video monitoring and illumination module (6), anterior optic are navigated mould group (7), after-vision navigation mould group
(8), and it is arranged in the intracorporal central processing module of the vehicle and solid state battery；The anticollision mould group (5), thermal imaging system mould
Group (9), HD video monitoring and illumination module (6), anterior optic navigation mould group (7), after-vision navigation mould group (8) with it is described in
Entreat processing module electrical connection.
2. security protection crusing robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), rear end are driven
Motivation structure (2) constitutes adaptive drive system before and after 4 wheel driven.
3. security protection crusing robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), rear end are driven
Motivation structure (2) constitutes adaptive drive system before and after two group of two drive.
4. security protection crusing robot according to claim 1, it is characterised in that: robot connect use with client communication
Locally, remotely control mode, the client are connect by network with robot server.
5. security protection crusing robot according to claim 1, it is characterised in that: the anticollision mould group (5) is that setting exists
Anticollision belt radar mould group on car body periphery.
6. security protection crusing robot according to claim 1, it is characterised in that: robot is equipped with environmental index and monitors mould group
(10), which is electrically connected with the central processing module.
7. security protection crusing robot according to claim 1, it is characterised in that: be provided with container case on the car body
(11) and giant mechanism (12), the giant mechanism (12) connects the container case (11), and with the centre
Manage module electrical connection.
8. security protection crusing robot according to claim 7, it is characterised in that: the liquid that the container case (11) contains is
Water or colored water, the liquid of fire extinguishing or the liquid of other purposes.
9. security protection crusing robot automatic detecting method a method as claimed in any one of claims 1-8, it is characterised in that: execute following step
Suddenly,
S1, security protection crusing robot cruise for the first time to job site, obtain initial environmental data, complete navigation map
Configuration, and according to artificial setting or automatically derived inspection route, formulate the work plan of corresponding inspection route；
S2, security protection crusing robot carry out automatic detecting according to inspection route, during automatic detecting, through vision guided navigation and nobody
The guide of control loop grows directly from seeds into currently practical three dimensional spatial map when reality mirror image when vision guided navigation, generates exclusive space
Coordinate, robot walk on the route after system optimization, the environmental data on automatic measurement track route；
S3, security protection crusing robot are according to work plan and current location, and the time and location that set according to expectation are to needing to supervise
The outdoor indoor equipment view table of survey carries out vision automatic recognition, the inspection of instrument point, special equipment point-detecting, the cable of hazardous equipment inspection
Temperature, electrically opens temperature etc. at transformer temperature, and current place fact is monitored and is detected on the way, sets to preset in advance
It is standby to be monitored and detect, to bio-identification is carried out in region, obtain data in real time, send back to control in conjunction with current location information
Center processed is uploaded to client, alarms if the biology for detecting unauthorized or if collecting abnormal data, and information is sent back to control
On center processed or specific communication equipment；
During executing step S2 and S3, robot is by high definition camera lens point inspection equipments, will after recording photograph and information
Data pass control centre back, are analyzed using special-purpose software.
10. security protection crusing robot automatic detecting method according to claim 8, it is characterised in that: executing step S1
During, it can be preset by standard atlas or data progress to job site, scene and equipment, initial environment is obtained with this
Data are completed navigation map or environment and are configured to target, and according to artificial setting or automatically derived inspection route, formulate correspondence and patrol
Examine the work plan of route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504993.0A CN109676618A (en) | 2018-12-10 | 2018-12-10 | Security protection crusing robot and its automatic detecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504993.0A CN109676618A (en) | 2018-12-10 | 2018-12-10 | Security protection crusing robot and its automatic detecting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109676618A true CN109676618A (en) | 2019-04-26 |
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| CN111331571A (en) * | 2020-03-16 | 2020-06-26 | 中自机器人技术(安庆)有限公司 | Multifunctional inspection robot for epidemic prevention and control |
| CN113500579A (en) * | 2021-07-13 | 2021-10-15 | 广东电网有限责任公司 | Inspection method and inspection device |
| CN114161410A (en) * | 2021-11-16 | 2022-03-11 | 中国电信集团系统集成有限责任公司 | Operation and maintenance method and device, electronic equipment and storage medium |
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Application publication date: 20190426 |