CN111660301A - Integrated form security protection patrols and examines robot - Google Patents
Integrated form security protection patrols and examines robot Download PDFInfo
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- CN111660301A CN111660301A CN202010638499.4A CN202010638499A CN111660301A CN 111660301 A CN111660301 A CN 111660301A CN 202010638499 A CN202010638499 A CN 202010638499A CN 111660301 A CN111660301 A CN 111660301A
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- 238000007689 inspection Methods 0.000 claims abstract description 38
- 210000003128 head Anatomy 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 14
- 239000002360 explosive Substances 0.000 claims description 11
- 210000005069 ears Anatomy 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 8
- 238000012795 verification Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000036760 body temperature Effects 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 239000000779 smoke Substances 0.000 claims description 3
- 230000005236 sound signal Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000013473 artificial intelligence Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000004927 fusion Effects 0.000 abstract description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
Abstract
The invention provides an integrated security inspection robot, which integrates various security technologies into a robot platform, enables the security inspection robot to have human intelligence by means of multi-source information fusion and artificial intelligence technologies, and simultaneously transmits audio, video and alarm information to a far end through wireless transmission, so that the security efficiency is improved. It includes humanoid robot, humanoid robot includes head, body, arm and chassis, the body support in the upper portion on chassis, the head support in the upper portion of body, the both sides of body are provided with the arm respectively, the head is including head body, eyes, nose, mouth, ear, eyes comprise binocular degree of depth camera and thermal infrared imager, the nose comprises sensor group, the mouth is provided with speaker module, the ear is including a set of sound detector, the inside data forwarding module that is provided with of rear side of head body.
Description
Technical Field
The invention relates to the technical field of security systems, in particular to an integrated security inspection robot.
Background
With the development of economy and the progress of technology, people have higher and higher requirements on security, and most of the traditional security systems are installed at fixed points to monitor fixed areas. The security robot is a novel security technology which is started in recent years, traditional security equipment is integrated on a robot platform, and the security equipment can be distributed and controlled at fixed points no longer and has the capabilities of mobile deployment and prevention and control.
The current security robot mainly takes video monitoring as a main part, has single function and solves a limited problem.
Disclosure of Invention
In order to solve the problems, the invention provides an integrated security inspection robot which integrates multiple security technologies into a robot platform, enables the security inspection robot to have human intelligence by means of multi-source information fusion and artificial intelligence technologies, and transmits audio, video and alarm information to a far end through wireless transmission, so that the security efficiency is improved.
The utility model provides an integrated form security protection inspection robot which characterized in that: the human-shaped robot comprises a head, a body, arms and a chassis, wherein the body is supported on the upper portion of the chassis, the head is supported on the upper portion of the body, the arms are arranged on two sides of the body respectively, the head comprises a head body, eyes, a nose, a mouth and ears, the eyes comprise a binocular depth camera and an infrared thermal imager, the nose comprises a sensor group, the mouth is provided with a loudspeaker module, the ears comprise a group of sound detectors, and a data forwarding module is arranged inside the rear side of the head body;
the body is specifically integrated with a millimeter wave/terahertz human body security inspection system, and automatic detection of hidden objects carried by a person is completed under a non-contact condition;
the number of the arms is two, specifically a first arm and a second arm, the first arm is a mechanical movable arm, the front end of the first arm is provided with a handheld metal detector for up-and-down movement detection and a device for clamping test paper, the rear end of the first arm is provided with an identity card reader, the authenticity of the identity card is checked under the static state of the first arm, and the identity card is compared with the image shot by the binocular depth camera to check whether the identity card is true, and the second arm is a fixed arm and is provided with a liquid detector, an explosive detector and a one-key alarm device;
the chassis comprises a robot driving part, a controller, a battery and a charging device, wherein the driving part and the controller are combined to control the action track of the robot, and the battery and the charging device provide power sources for the robot.
It is further characterized in that:
the binocular depth camera and the thermal infrared imager jointly form eyes of the robot, the binocular depth camera provides scene visual depth information, intelligent analysis is carried out through a processor, face detection, face recognition and dangerous behavior recognition are achieved, the binocular depth camera has a light supplementing function and is automatically started at night or under the condition of dim light, the thermal infrared imager provides infrared images of scenes and has a temperature measuring function, and the thermal infrared imager is used for screening abnormal body temperature;
the group of sound detectors are respectively positioned at two sides of the head body to form ears, the sound detectors receive surrounding sound signals at any time, perform intelligent analysis, and perform related operations including but not limited to alarming, advancing, retreating, stopping and comprehensive inspection according to preset instructions;
the sensor group comprises a temperature sensor, a humidity sensor, a smoke sensor and a gas sensor and is used for comprehensively monitoring the surrounding environment;
the loudspeaker module is used for broadcasting notice, comprehensive information and alarm information;
the data forwarding module collects data of various sensors on the head, the body and the arms, forwards the data to the far end, and interacts with the far end to realize autonomous or semi-autonomous patrol;
the robot has four working modes: fixed route patrol, random route patrol, semi-autonomous patrol and suspicious personnel inspection;
in a fixed route patrol mode, a robot patrols according to a set route, a binocular camera, a thermal infrared imager, a human body security detector, a sensor group, a sound detector and a loudspeaker group normally work, and a data forwarding module forwards video images and related parameters acquired by the components to a remote monitoring center, a patrol person handheld terminal or patrol person VR glasses;
the working mode of the random route patrol mode is similar to the fixed route patrol mode, and in the random route patrol mode, a route is not preset, but is automatically traced by a robot;
the semi-autonomous patrol mode is a working mode of patrolling according to the instructions of patrolrs under the control of the patrolrs, and the only difference between the semi-autonomous patrol mode and the patrolrs in the fixed route patrol and the random route patrol is the intervention of the patrolrs;
in a fixed patrol mode, a random route patrol mode or a semi-autonomous patrol mode, when the robot finds suspicious people or the patrol people send a comprehensive inspection instruction, the robot enters a suspicious people inspection mode; in the mode, the robot prompts the checked person to perform the human identity verification, after the human identity verification is passed, the robot starts the mechanical arm of the robot to check the metal foreign bodies, and whether the checked person carries dangerous goods or not is judged by combining the checking result of the human body security check equipment. For liquid carrying, the liquid is required to be placed on a liquid detector for detection; the explosive inspection is realized by clamping test paper by a mechanical arm, wiping the test paper on the body and the package of the detected person and then putting an explosive detector for detection;
and the robot realizes interaction through the lower far end of the data forwarding module.
By adopting the structure, various security technologies are integrated on the robot platform, the security robot has human intelligence by means of multi-source information fusion and artificial intelligence technologies, and meanwhile, audio, video and alarm information are transmitted to a far end through wireless transmission, so that the security efficiency is improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the human body security inspection system comprises a humanoid robot 100, a head 1, a body 2, an arm 3, a first arm 301, a second arm 302, a chassis 4, a handheld metal detector 5, an identity card reader 6, a liquid detector 7, an explosive detector 8, a one-key alarm device 9, a head body 10, a data forwarding module 11, eyes 20, a binocular depth camera 21, a thermal infrared imager 22, a nose 30, a sensor group 31, a mouth 40, a speaker module 41, ears 50, a sound detector 51 and a human body security inspection system 60.
Detailed Description
An integrated security inspection robot, which is shown in figure 1: the human-shaped robot comprises a human-shaped robot 100, wherein the human-shaped robot 100 comprises a head 1, a body 2, arms 3 and a chassis 4, the body 2 is supported on the upper portion of the chassis 4, the head 1 is supported on the upper portion of the body 2, the arms 3 are respectively arranged on two sides of the body 2, the head 1 comprises a head body 10, eyes 20, a nose 30, a mouth 40 and ears 50, the eyes 20 comprise a binocular depth camera 21 and a thermal infrared imager 22, the nose 30 comprises a sensor group 31, the mouth 40 is provided with a loudspeaker module 41, the ears 50 comprise a group of sound detectors 51, and a data forwarding module 11 is arranged inside the rear side of the head body 10;
the body 2 is specifically integrated with a millimeter wave/terahertz human body security inspection system 60, and automatic detection of hidden objects carried by a person is completed under a non-contact condition;
the number of the arms 3 is two, specifically a first arm 301 and a second arm 302, the first arm 301 is a mechanical movable arm, the front end of the first arm 301 is provided with a handheld metal detector 5 for up-and-down movement detection and a device for clamping test paper, the rear end of the first arm 301 is provided with an identity card reader 6, the authenticity of the identity card is checked under the static state of the first arm 301, and the identity card is verified by comparing the authenticity of the identity card with the image shot by the binocular depth camera 21, and the second arm 302 is a fixed arm and is provided with a liquid detector 7, an explosive detector 8 and a one-key alarm device 9;
the chassis 4 comprises a robot driving part, a controller, a battery and a charging device, wherein the driving part and the controller are combined to control the action track of the robot, and the battery and the charging device provide power sources for the robot.
The binocular depth camera 21 and the thermal infrared imager 22 jointly form the eyes 20 of the robot, the binocular depth camera 21 provides scene visual depth information, intelligent analysis is carried out through a processor, face detection, face recognition and dangerous behavior recognition are achieved, the binocular depth camera 21 has a light supplementing function and is automatically started at night or under the condition of dim light, and the thermal infrared imager 22 provides infrared images of a scene and has a temperature measuring function and is used for screening abnormal body temperature;
the group of sound detectors 51 are respectively positioned at two sides of the head body 10 to form ears 50, the sound detectors 51 receive surrounding sound signals at any time, perform intelligent analysis, and perform related operations including but not limited to alarming, advancing, retreating, stopping and comprehensive inspection according to preset instructions;
the sensor group 31 comprises a temperature sensor, a humidity sensor, a smoke sensor and a gas sensor, and is used for comprehensively monitoring the surrounding environment;
the speaker module 41 is used for broadcasting notice, comprehensive information and alarm information;
the data forwarding module 11 collects data of each sensor on the head 1, the body 2 and the arm 3, forwards the data to the far end, and interacts with the far end to realize autonomous or semi-autonomous patrol.
The robot has four modes of operation: fixed route patrols, random route patrols, semi-autonomous patrols, and suspect inspections.
In a fixed route patrol mode, the robot patrols according to a set route, the binocular depth camera 21, the thermal infrared imager 22, the human body security inspection system 60, the sensor group 31, the sound detector 51 and the loudspeaker module 41 normally work, and the data forwarding module 11 forwards video images and related parameters acquired by the components to a remote monitoring center, a patrol personnel handheld terminal or patrol personnel VR glasses;
the working mode of the random route patrol mode is similar to the fixed route patrol mode, and in the random route patrol mode, the route is automatically traced by the robot;
the semi-autonomous patrol mode is a working mode of patrolling according to the instructions of patrolrs under the control of the patrolrs, and the only difference between the semi-autonomous patrol mode and the patrolrs in the fixed route patrol and the random route patrol is the intervention of the patrolrs;
in a fixed patrol mode, a random route patrol mode or a semi-autonomous patrol mode, when the robot finds suspicious people or the patrol people send a comprehensive inspection instruction, the robot enters a suspicious people inspection mode; in the mode, the robot prompts the checked person to perform the human identity verification, after the human identity verification is passed, the robot starts the mechanical arm of the robot to check the metal foreign bodies, and whether the checked person carries dangerous goods or not is judged by combining the checking result of the human body security check equipment. For liquid carrying, the liquid is required to be placed on a liquid detector for detection; the explosive inspection is realized by clamping test paper by a mechanical arm, wiping the test paper on the body and the package of the detected person and then putting an explosive detector for detection;
and the robot realizes interaction through the lower far end of the data forwarding module. When the robot is specifically implemented, a patrol person uses VR glasses, and the robot forwards data to the VR glasses, so that the patrol person can see scene images shot by the robot, including visible light videos visible to human eyes, infrared and terahertz images invisible to human eyes, identity card information, liquid explosive metal and other security inspection information.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides an integrated form security protection inspection robot which characterized in that: the human-shaped robot comprises a head, a body, arms and a chassis, wherein the body is supported on the upper portion of the chassis, the head is supported on the upper portion of the body, the arms are arranged on two sides of the body respectively, the head comprises a head body, eyes, a nose, a mouth and ears, the eyes comprise a binocular depth camera and an infrared thermal imager, the nose comprises a sensor group, the mouth is provided with a loudspeaker module, the ears comprise a group of sound detectors, and a data forwarding module is arranged inside the rear side of the head body;
the body is specifically integrated with a millimeter wave/terahertz human body security inspection system, and automatic detection of hidden objects carried by a person is completed under a non-contact condition;
the number of the arms is two, specifically a first arm and a second arm, the first arm is a mechanical movable arm, the front end of the first arm is provided with a handheld metal detector for up-and-down movement detection and a device for clamping test paper, the rear end of the first arm is provided with an identity card reader, the authenticity of the identity card is checked under the static state of the first arm, and the identity card is compared with the image shot by the binocular depth camera to check whether the identity card is true, and the second arm is a fixed arm and is provided with a liquid detector, an explosive detector and a one-key alarm device;
the chassis comprises a robot driving part, a controller, a battery and a charging device, wherein the driving part and the controller are combined to control the action track of the robot, and the battery and the charging device provide power sources for the robot.
2. The integrated security inspection robot according to claim 1, wherein: the binocular depth camera and the thermal infrared imager jointly form the eyes of the robot, the binocular depth camera provides scene visual depth information, intelligent analysis is carried out through the processor, face detection, face recognition and dangerous behavior recognition are achieved, the binocular depth camera has a light supplementing function simultaneously, the camera is automatically opened at night or under the condition of dim light, the thermal infrared imager provides infrared images of scenes and has a temperature measuring function simultaneously, and the infrared image is used for screening body temperature abnormity.
3. The integrated security inspection robot according to claim 1, wherein: the group of sound detectors are respectively positioned at two sides of the head body to form ears, the sound detectors receive surrounding sound signals at any time, perform intelligent analysis, and perform related operations including but not limited to alarming, advancing, retreating, stopping and comprehensive inspection according to preset instructions.
4. The integrated security inspection robot according to claim 1, wherein: the sensor group comprises a temperature sensor, a humidity sensor, a smoke sensor and a gas sensor and is used for comprehensively monitoring the surrounding environment.
5. The integrated security inspection robot according to claim 1, wherein: the loudspeaker module is used for broadcasting notice, comprehensive information and alarm information.
6. The integrated security inspection robot according to claim 1, wherein: the data forwarding module collects data of all sensors on the head, the body and the arms, forwards the data to the far end, and interacts with the far end to realize autonomous or semi-autonomous patrol.
7. The integrated security inspection robot according to claim 1, wherein: the robot has four working modes: fixed route patrols, random route patrols, semi-autonomous patrols, and suspect inspections.
8. The integrated security inspection robot according to claim 7, wherein: in the fixed route patrol mode, the robot patrols according to a set route, the binocular camera, the thermal infrared imager, the human body security detector, the sensor group, the sound detector and the loudspeaker group normally work, and the data forwarding module forwards video images and related parameters acquired by the components to a remote monitoring center, a patrol person handheld terminal or patrol person VR glasses.
9. The integrated security inspection robot according to claim 7, wherein: the working mode of the random route patrol mode is similar to the fixed route patrol mode, and in the random route patrol mode, a route is not preset, but is automatically traced by a robot;
the semi-autonomous patrol mode is a working mode of patrol according to the instructions of patrol personnel under the control of the patrol personnel, and the only difference between the semi-autonomous patrol mode and the patrol personnel and between the semi-autonomous patrol mode and the patrol personnel is the intervention of the patrol personnel.
10. The integrated security inspection robot according to claim 7, wherein: in a fixed patrol mode, a random route patrol mode or a semi-autonomous patrol mode, when the robot finds suspicious people or the patrol people send a comprehensive inspection instruction, the robot enters a suspicious people inspection mode; in the mode, the robot prompts the checked person to perform the human identity verification, after the human identity verification is passed, the robot starts the mechanical arm of the robot to check the metal foreign bodies, and whether the checked person carries dangerous goods or not is judged by combining the checking result of the human body security check equipment. For liquid carrying, the liquid is required to be placed on a liquid detector for detection; the test paper is clamped by a mechanical arm in explosive detection, and an explosive detector is placed for detection after the detected personnel wipe the test paper on the body and the package.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010638499.4A CN111660301A (en) | 2020-07-06 | 2020-07-06 | Integrated form security protection patrols and examines robot |
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| CN202010638499.4A CN111660301A (en) | 2020-07-06 | 2020-07-06 | Integrated form security protection patrols and examines robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20220078172A (en) * | 2020-12-03 | 2022-06-10 | 재단법인 경북자동차임베디드연구원 | Body temperature measuring apparatus and method for non face-to-face |
| CN114683295A (en) * | 2020-12-29 | 2022-07-01 | 大连理工江苏研究院有限公司 | Intelligent voice meal delivery robot and system for ensuring food safety |
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