CN112379457A

CN112379457A - Intelligent security inspection robot based on machine vision

Info

Publication number: CN112379457A
Application number: CN202011204781.8A
Authority: CN
Inventors: 方靓
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2021-02-19

Abstract

The invention discloses an intelligent security inspection robot based on machine vision, which comprises a base, a detector, a single chip microcomputer, an alarm and a laser ranging assembly, wherein a first motor is embedded in the edge end of the base, a positioning rod is connected to the middle bevel gear of a sleeve rod in a transmission mode, a limiting ring is fixed to the edge of the bottom of a rotating disc, a guide disc is sleeved at the end portion of the guide rod, a rotating rod is fixed to the outer side of the movable disc, a movable plate is located in a movable groove, a second motor is embedded in the top of a support, a damping shaft is connected to an opening in the bottom of an installation seat in a shaft mode, the single chip microcomputer is fixed to the front side of the support, and the laser ranging assembly is installed on the inner side of the. This intelligent security inspection robot based on machine vision when automatically driving the person under examination and rotate, can protect the person under examination, can be suitable for different height crowds' facial discernment simultaneously.

Description

Intelligent security inspection robot based on machine vision

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent security inspection robot based on machine vision.

Background

In station and airport, for being responsible for passenger's safety, avoid carrying contraband and get into the station, can set up the security check machine in station ticket checking department usually, the wide security check robot of detection range that the publication number is (CN108594326A), including the under casing, the equal fixedly connected with backup pad in both sides at under casing top, the top fixedly connected with top cap of backup pad, the right side fixed connection of spring and box is passed through in the left side of connecting block, through the rotation of examining personnel, realizes automatic multiple range detection, but this wide security check robot of detection range has following problem when using:

the automatic multi-range detection is realized through the rotation of the detected person, the detection efficiency is greatly improved, but when the detected person rotates, the influence of the body quality and the initial speed of the rotation easily cause dizzy or toppling, and the security inspection robot is inconvenient to protect the detected person and easily causes potential safety hazards;

when the checked person gets into the station, certificate such as ID card and ticket need be contrasted and examined usually, then whether by staff's visual observation checked person with step on the bus information match, work appears tiredly easily for a long time, visual observation has the unsafe condition simultaneously, this security inspection robot, inconvenient cooperation facial discernment examines checked person, is not suitable for different height personnel's security inspection operation.

Aiming at the problems, innovative design is urgently needed on the basis of the original security inspection robot.

Disclosure of Invention

The invention aims to provide an intelligent security inspection robot based on machine vision, and aims to solve the problems that the existing security inspection robot provided by the background technology is inconvenient to protect the inspected person, is easy to have potential safety hazards, and is not suitable for the face identification security inspection operation of people with different heights.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent security inspection robot based on machine vision comprises a base, a detector, a single chip microcomputer, an alarm and a laser ranging assembly, wherein a first motor is embedded in the edge end of the base, the output end of the first motor is connected with a guide rod, a sleeve rod is sleeved on the guide rod, a positioning rod is connected with the middle part of the sleeve rod in a bevel gear transmission mode, one end of the positioning rod penetrates through the top of the base and is located in a positioning groove, the positioning groove is formed in the bottom of a turntable, a spring is fixed between the top of the positioning rod and the positioning groove, a limiting ring is fixed at the edge of the bottom of the turntable and is located in the limiting groove, a pressure sensor is arranged in the limiting groove, a guide disc is sleeved at the end of the guide rod and penetrates through a support through a belt to be connected with a movable disc, and the movable disc is axially connected to the inside of the bottom of the, and the support is fixed at the upper end of the base by bolts, a rotating rod is fixed at the outer side of the movable disc, a pull rod is sleeved on the rotating rod, a movable plate is connected with one end of the pull rod by a shaft, the movable plate is positioned in the movable groove, the movable groove is arranged in the middle of the support, a rack is fixed at the outer side of the movable plate, a protective rod is connected with an embedded shaft in the middle of the support, the outer end of the protective rod is positioned above the rotating disc, a supporting rod is connected with the top of the protective rod by a shaft, one end of the supporting rod is positioned in a supporting groove, the supporting groove is arranged on the inner wall of the support, a detector is fixed on the inner wall of the support by bolts, a second motor is installed at the top of the support in an embedded manner, the output end of the second motor is connected with a screw rod, a mounting seat is sleeved on the screw, the utility model discloses a laser ranging device, including mount pad, camera, stand, alarm, laser ranging subassembly, the inboard of support top is installed and is verified the platform, the bottom opening part hub connection of mount pad has the damping axle, and is fixed with the camera on the damping axle, the front side of support is fixed with the singlechip, and the avris of support installs the alarm, and the laser ranging subassembly is installed to the inboard at support top, and the inboard of support installs.

Preferably, the locating lever passes through to constitute elasticity laminating sliding construction between spring and the constant head tank, and the top of locating lever is the design of rectangle structure.

Preferably, the limiting ring is rotatably connected with the limiting groove, the thickness of the limiting ring is equal to the width of the limiting groove, and the limiting groove and the turntable share a central axis.

Preferably, the guide disc, the sleeve rod and the guide rod are connected through ratchet assemblies, and the directions of the ratchet assemblies in the guide disc and the sleeve rod are opposite.

Preferably, the movable plate is in fit sliding connection with the movable groove through the pull rod and the rotating rod, and the rotating rod and the movable disc are eccentrically arranged.

Preferably, the one end of fender rod is half annular structural design, and the other end of fender rod is half tooth structural design to intermeshing between the other end of fender rod and the rack, the rack is equidistant to be distributed on the fly leaf moreover, and the central axis symmetry of fender rod about the support is provided with 2 simultaneously.

Preferably, the end of the support rod is designed to be a spherical structure, the diameter of the end of the support rod is equal to the inner diameter of the support groove, and the diameter of the end of the support rod is equal to or greater than the width of the opening of the support groove.

Preferably, the mounting seat is attached to and slides with the adjusting groove through a screw rod, and the mounting seat and the turntable are perpendicular to each other.

Preferably, the fixed cover in the outside that the one end of damping axle runs through the mount pad is equipped with the gear, and the below of gear is provided with the pinion rack to the inboard equidistant distribution of pinion rack has the tooth piece, and intermeshing between tooth piece and the gear moreover.

Compared with the prior art, the invention has the beneficial effects that: the intelligent security inspection robot based on machine vision;

1. the movable plate is connected with the movable groove in a laminating and sliding mode through the pull rod and the rotating rod, so that when the first motor drives the movable plate to rotate through the guide rod, the guide plate and the belt, the movable plate can be driven to reciprocate up and down in the movable groove, the rack on the inner side of the movable plate is in meshing contact with the protection rod with the end part of a semi-tooth structure, the protection rod can be driven to rotate, a protection space is formed through the semi-circular structures at the end parts of the two protection rods, a person to be detected is protected, and the risk of toppling over caused by discomfort during rotation is avoided;

2. the guide disc, the sleeve rod and the guide rod are connected through ratchet assemblies in opposite directions respectively, so that when the guide rod is driven to rotate by the first motor, the guide disc and the sleeve rod can rotate respectively, the rotary disc can be driven to rotate through the positioning rod and the positioning groove which are of rectangular structures, a person to be inspected standing on the rotary disc can rotate, and automatic security inspection is carried out;

3. intermeshing between equidistant distribution's that distributes through setting up and gear, when corresponding when verifying to examined personnel's ID card and ticket through verifying the platform, can pass through the operation of single chip microcomputer control second motor, under the rotation of screw rod, the upper and lower activity of drive mount pad, the activity of drive camera, the height and the facial recognition angle of adjustment camera, the epaxial gear of camera one side damping is at the in-process and the tine meshing of following the activity simultaneously, drive the rotation of damping axle and camera, make things convenient for opening and receive and release the protection of camera.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic side sectional view of a guide plate according to the present invention;

FIG. 3 is a schematic side sectional view of the movable plate according to the present invention;

FIG. 4 is a schematic top view of the guard bar of the present invention;

FIG. 5 is a schematic top view of a cross-sectional structure of the support bar of the present invention;

FIG. 6 is a schematic side sectional view of the stem of the present invention;

FIG. 7 is a schematic top sectional view of the turntable according to the present invention;

FIG. 8 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 9 is a schematic side sectional view of the mount of the present invention;

FIG. 10 is a schematic flow chart of the present invention.

In the figure: 1. a base; 2. a first motor; 3. a guide bar; 4. a loop bar; 5. positioning a rod; 6. positioning a groove; 7. a turntable; 8. a spring; 9. a limiting ring; 10. a limiting groove; 11. a pressure sensor; 12. a guide disc; 13. a belt; 14. a movable tray; 15. a support; 16. a rotating rod; 17. a pull rod; 18. a movable plate; 19. a movable groove; 20. a rack; 21. a guard bar; 22. a support bar; 23. a support groove; 24. a detector; 25. a second motor; 26. a screw; 27. an adjustment groove; 28. a mounting seat; 29. a damping shaft; 30. A camera; 31. a gear; 32. a toothed plate; 33. a tooth sheet; 34. a single chip microcomputer; 35. an alarm; 36. A ratchet assembly; 37. a laser ranging assembly; 38. and (4) a verification station.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-10, the present invention provides a technical solution: an intelligent security inspection robot based on machine vision comprises a base 1, a first motor 2, a guide rod 3, a loop bar 4, a positioning rod 5, a positioning groove 6, a rotary disc 7, a spring 8, a limiting ring 9, a limiting groove 10, a pressure sensor 11, a guide disc 12, a belt 13, a movable disc 14, a support 15, a rotary rod 16, a pull rod 17, a movable plate 18, a movable groove 19, a rack 20, a protective rod 21, a support rod 22, a support groove 23, a detector 24, a second motor 25, a screw rod 26, an adjusting groove 27, a mounting seat 28, a damping shaft 29, a camera 30, a gear 31, a toothed plate 32, a toothed plate 33, a single chip microcomputer 34, an alarm 35, a ratchet wheel assembly 36, a laser ranging assembly 37 and a verification platform 38, wherein the first motor 2 is embedded in the side end of the base 1, the output end of the first motor 2 is connected with the guide rod 3, the loop bar 4 is sleeved on the guide rod 3, the middle bevel gear of the loop bar 4 is connected, one end of a positioning rod 5 penetrates through the top of the base 1 to be positioned in a positioning groove 6, the positioning groove 6 is arranged at the bottom of a rotary table 7, a spring 8 is fixed between the top of the positioning rod 5 and the positioning groove 6, a limiting ring 9 is fixed at the bottom edge of the rotary table 7, the limiting ring 9 is positioned in a limiting groove 10, the limiting groove 10 is arranged at the top of the base 1, a pressure sensor 11 is installed in the limiting groove 10, a guide disc 12 is sleeved at the end part of the guide rod 3, the guide disc 12 penetrates through a support 15 through a belt 13 to be connected with a movable disc 14, the movable disc 14 is connected with the inside of the bottom of the support 15 in a shaft mode, the support 15 is fixed at the upper end of the base 1 through bolts, a rotating rod 16 is fixed at the outer side of the movable disc 14, a pull rod 17 is sleeved on the rotating rod 16, one end shaft of the pull rod 17 is connected with a movable, and the outside of the movable plate 18 is fixed with a rack 20, the inner embedded shaft in the middle of the bracket 15 is connected with a guard bar 21, the outer end of the guard bar 21 is positioned above the turntable 7, the top shaft of the guard bar 21 is connected with a support bar 22, one end of the support bar 22 is positioned in a support groove 23, the support groove 23 is arranged on the inner wall of the bracket 15, a detector 24 is fixed on the inner wall of the bracket 15 through a bolt, the top of the bracket 15 is embedded with a second motor 25, the output end of the second motor 25 is connected with a screw 26, a mounting seat 28 is sleeved on the screw thread of the screw 26, the screw 26 is connected in an adjusting groove 27 through a shaft, the adjusting groove 27 is arranged on the inner side of the top of the bracket 15, the opening at the bottom of the mounting seat 28 is connected with a damping shaft 29, a camera 30 is fixed on the damping shaft 29, a single chip microcomputer 34 is fixed, the laser ranging assembly 37 is mounted on the inner side of the top of the support 15, and the verification platform 38 is mounted on the inner side of the support 15;

the positioning rod 5 forms an elastic fit sliding structure through the spring 8 and the positioning groove 6, the top of the positioning rod 5 is designed to be in a rectangular structure, when a detected person stands on the turntable 7, the turntable 7 is pressed by the positioning groove 6 at the bottom of the turntable 7 to slide on the positioning rod 5, meanwhile, the limiting ring 9 at the bottom of the turntable 7 slides towards the limiting groove 10, the limiting ring 9 is in contact with the pressure sensor 11 and is matched with the single chip microcomputer 34 for use, the detected person is sensed, meanwhile, when the first motor 2 drives the sleeve rod 4 to rotate through the guide rod 3, the sleeve rod 4 drives the positioning rod 5 to rotate, the positioning rod 5 with the rectangular structure at the top drives the turntable 7 to rotate through the positioning groove 6, the rotation of the detected person is realized, and automatic safety;

the limiting ring 9 is rotatably connected with the limiting groove 10, the thickness of the limiting ring 9 is equal to the width of the limiting groove 10, the limiting groove 10 and the turntable 7 share the same central axis, when the turntable 7 rotates, the limiting ring 9 at the bottom of the turntable rotates along with the limiting groove 10, the stable rotation of the turntable 7 is kept, and the deviation is avoided;

the guide disc 12, the loop bar 4 and the guide rod 3 are connected through the ratchet wheel assembly 36, the directions of the ratchet wheel assemblies 36 in the guide disc 12 and the loop bar 4 are opposite, when the guide rod 3 is driven by the first motor 2 to rotate, the first motor 2 drives the guide rod 3 to rotate positively and negatively under the action of the ratchet wheel assembly 36, and the guide disc 12 and the loop bar 4 can be driven to rotate respectively;

the movable plate 18 is in fit sliding connection with the movable groove 19 through the pull rod 17 and the rotating rod 16, the rotating rod 16 and the movable disc 14 are eccentrically arranged, and when the guide disc 12 drives the movable disc 14 to rotate through the belt 13, under the action of the eccentrically arranged rotating rod 16 and the pull rod 17, the movable groove 19 is matched with the limiting effect of the movable groove 19 on the movable plate 18, so that the movable plate 18 can slide in the movable groove 19 in a reciprocating manner;

one end of the guard bar 21 is designed to be a semicircular structure, the other end of the guard bar 21 is designed to be a semi-tooth structure, the other end of the guard bar 21 is meshed with the rack 20, the racks 20 are distributed on the movable plate 18 at equal intervals, and the number of the guard bar 21 is 2, which is symmetrical about the central axis of the support 15, when the movable plate 18 slides in the movable groove 19 in a reciprocating manner, the guard bar 21 can be driven to rotate up and down through the meshing between the rack 20 and the guard bar 21, and further when a person is subjected to security inspection, a protection area can be formed by the semicircular edge ends of 2 guard bars 21, so that a protection space is provided for the person, and the problem that the person to be inspected is unstable in standing due to the rotation of the turntable 7 is avoided;

the end part of the supporting rod 22 is designed to be a spherical structure, the diameter of the end part of the supporting rod 22 is equal to the inner diameter of the supporting groove 23, the diameter of the end part of the supporting rod 22 is equal to the width of the opening of the supporting groove 23, when the protective rod 21 rotates up and down, the supporting rod 22 rotates on the protective rod 21 and slides in the supporting groove 23, supporting force can be applied to the protective rod 21 through the supporting rod 22, a person to be inspected can conveniently hold the protective rod 21 by hands to keep self stability when the person to be inspected is untimely;

the mounting seat 28 is attached to and slides in the adjusting groove 27 through the screw rod 26, the mounting seat 28 is perpendicular to the rotary table 7, when the second motor 25 drives the screw rod 26 to rotate in the adjusting groove 27, the mounting seat 28 can be driven to slide up and down in the adjusting groove 27, the height of the human body can be conveniently detected by matching with the laser ranging assembly 37, and the heights of the mounting seat 28 and the camera 30 at the bottom of the mounting seat can be adjusted by matching with the rotating angles of the second motor 25 and the screw rod 26, so that the facial recognition detection can be performed on people with different heights;

the fixed cover in the outside that mount pad 28 was run through to the one end of damping axle 29 is equipped with gear 31, and the below of gear 31 is provided with pinion rack 32, and the inboard equidistant distribution of pinion rack 32 has tooth piece 33, and intermeshing between tooth piece 33 and the gear 31, when mount pad 28 downward movement is derived camera 30, tooth piece 33 meshing contact on gear 31 and the pinion rack 32, drive the rotation of damping axle 29 and camera 30 through gear 31, make things convenient for the expansion of camera 30 to use, otherwise, make things convenient for its protection of receiving and releasing.

The working principle is as follows: when the intelligent security inspection robot based on machine vision is used, firstly, as shown in fig. 1-5 and fig. 10, when a detected person stands on a turntable 7 on a base 1, the turntable 7 is pressed by a positioning groove 6 at the bottom of the turntable 7 to slide on the positioning rod 5, meanwhile, a limiting ring 9 at the bottom of the turntable 7 slides towards a limiting groove 10, the limiting ring 9 is contacted with a pressure sensor 11, the detected person is sensed by matching with the use of a single chip microcomputer 34, the turntable 7 can return to the original position by matching with the use of a spring 8, the pressure sensor 11 transmits a signal to the single chip microcomputer 34, the single chip microcomputer 34 controls the clockwise rotation of a guide rod 3, the guide disk 12 is driven to rotate by the guide rod 3 under the action of a ratchet wheel component 36, the guide disk 12 drives a movable disk 14 to rotate by a belt 13, under the action of an eccentrically arranged rotating rod 16 and a pull rod 17, the movable plate 18 is restricted by the movable slot 19 to slide in the movable slot 19, the rack 20 on the movable plate 18 is meshed with the guard bar 21 to drive the guard bar 21 to rotate up and down, and a protection area is formed at the semicircular edge of the 2 guard bars 21 when a person is subjected to security inspection, so that a protection space is provided for the person to prevent the person from standing unstably due to the rotation of the turntable 7, meanwhile, when the guard bar 21 rotates up and down, the support bar 22 rotates on the guard bar 21 and slides in the support slot 23, and the support bar 22 can apply a support force to the guard bar 21, so that the person can hold the guard bar 21 to keep stable by hand when the person is untimely, the guard bar 21 is positioned outside the person to be inspected by controlling the rotation speed of the first motor 2, and then, as shown in fig. 1, fig. 6-7 and fig. 10, then the first motor 2 is started anticlockwise, under the action of the ratchet wheel assembly 36, the guide rod 3 drives the sleeve rod 4 to rotate, meanwhile, the guide disc 12 cannot rotate, the sleeve rod 4 drives the positioning rod 5 to rotate, the positioning rod 5 with the top in a rectangular structure drives the rotary disc 7 to rotate through the positioning groove 6, the rotation of the detected person is achieved, automatic safety inspection is conducted, meanwhile, when the rotary disc 7 rotates, the limiting ring 9 at the bottom of the rotary disc 7 rotates in the limiting groove 10, stable rotation of the rotary disc 7 is kept, deviation is avoided, the detector 24 is matched to conduct safety detection on the detected person, and if a problem occurs, the alarm 35 can be controlled to give an alarm through the single chip microcomputer 34;

meanwhile, as shown in fig. 1 and fig. 8-10, the person to be examined can place the identification card and the ticket on the verification platform 38 for verification operation, the operation of the laser ranging assembly 37 is controlled by the single chip microcomputer 34, the laser emitted by the laser ranging assembly 37 is contacted with the head of the person to be examined, the height of the person to be examined can be calculated according to the overall height of the device by matching with the use of the single chip microcomputer 34, then the operation of the second motor 25 is controlled by the single chip microcomputer 34, the screw 26 is driven by the second motor 25 to rotate in the adjusting groove 27, the mounting seat 28 can be driven to slide up and down in the adjusting groove 27, the height of the person to be examined can be conveniently detected by matching with the laser ranging assembly 37, the heights of the person to be examined can be adjusted by matching with the rotating angles of the second motor 25 and the screw 26, the heights of the mounting seat 28 and the camera 30 at the bottom of the mounting seat 28 can be identified and detected, and when the, gear 31 and the pinion 33 meshing contact on the pinion rack 32, drive the rotation of damping axle 29 and camera 30 through gear 31, make things convenient for the expansion of camera 30 to use, otherwise, make things convenient for it to receive and release the protection, through the use of camera 30, carry out facial discernment to the person examined, it needs to explain that, verify platform 38 and camera 30 are to the person examined's ID card, ticket and facial discernment verification, adopt prior art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an intelligent security check robot based on machine vision, includes base (1), detector (24), singlechip (34), alarm (35) and laser rangefinder subassembly (37), its characterized in that: the inner part of the edge end of the base (1) is embedded with a first motor (2), the output end of the first motor (2) is connected with a guide rod (3), the guide rod (3) is sleeved with a loop bar (4), the middle part of the loop bar (4) is in bevel gear transmission connection with a positioning rod (5), one end of the positioning rod (5) penetrates through the top of the base (1) and is positioned in a positioning groove (6), the positioning groove (6) is arranged at the bottom of the turntable (7), a spring (8) is fixed between the top of the positioning rod (5) and the positioning groove (6), a limiting ring (9) is fixed at the edge of the bottom of the turntable (7), the limiting ring (9) is positioned in a limiting groove (10), the limiting groove (10) is arranged at the top of the base (1), a pressure sensor (11) is installed in the limiting groove (10), the end part of the guide rod (3) is sleeved with a guide disc (12, and the guide disc (12) runs through the support (15) through the belt (13) and is connected with the movable disc (14), the movable disc (14) is connected with the inside of the bottom of the support (15) in a shaft manner, the support (15) is fixed at the upper end of the base (1) through bolts, the outer side of the movable disc (14) is fixed with a rotating rod (16), the rotating rod (16) is sleeved with a pull rod (17), a movable plate (18) is connected with one end of the pull rod (17) in a shaft manner, the movable plate (18) is positioned in a movable groove (19), the movable groove (19) is arranged inside the middle of the support (15), a rack (20) is fixed at the outer side of the movable plate (18), an embedded shaft at the middle part of the support (15) is connected with a guard bar (21) in a shaft manner, the outer end of the guard bar (21) is positioned above the rotary disc (7), the top shaft of the, one end of the supporting rod (22) is located on the supporting groove (23), the supporting groove (23) is arranged on the inner wall of the support (15), the detector (24) is fixed on the inner wall of the support (15) through a bolt, the second motor (25) is installed at the top of the support (15) in an embedded mode, the output end of the second motor (25) is connected with the screw rod (26), the mounting seat (28) is sleeved on the screw rod (26) in a threaded mode, the screw rod (26) is connected into the adjusting groove (27) in a shaft mode, the adjusting groove (27) is arranged on the inner side of the top of the support (15), the damping shaft (29) is connected to the opening at the bottom of the mounting seat (28) in a shaft mode, the camera (30) is fixed on the damping shaft (29), the single chip microcomputer (34) is fixed on the front side of the support (15), the alarm (35) is installed on the side of the support (15), and the laser ranging, and the inner side of the bracket (15) is provided with a verification platform (38).

2. The intelligent security robot based on machine vision of claim 1, wherein: the positioning rod (5) is in an elastic fit sliding structure through the spring (8) and the positioning groove (6), and the top of the positioning rod (5) is designed to be in a rectangular structure.

3. The intelligent security robot based on machine vision of claim 1, wherein: the limiting ring (9) is rotatably connected with the limiting groove (10), the thickness of the limiting ring (9) is equal to the width of the limiting groove (10), and the limiting groove (10) and the turntable (7) share the same central axis.

4. The intelligent security robot based on machine vision of claim 1, wherein: the guide disc (12) is connected with the loop bar (4) and the guide bar (3) through ratchet assemblies (36), and the directions of the ratchet assemblies (36) in the guide disc (12) and the loop bar (4) are opposite.

5. The intelligent security robot based on machine vision of claim 1, wherein: the movable plate (18) is in fit sliding connection with the movable groove (19) through the pull rod (17) and the rotating rod (16), and the rotating rod (16) and the movable disc (14) are eccentrically arranged.

6. The intelligent security robot based on machine vision of claim 1, wherein: one end of the protection rod (21) is designed to be a semicircular structure, the other end of the protection rod (21) is designed to be a half-tooth structure, the other end of the protection rod (21) is meshed with the rack (20), the racks (20) are distributed on the movable plate (18) at equal intervals, and the protection rod (21) is symmetrically provided with 2 protection rods relative to the central axis of the support (15).

7. The intelligent security robot based on machine vision of claim 1, wherein: the end part of the supporting rod (22) is designed to be of a spherical structure, the diameter of the end part of the supporting rod (22) is equal to the inner diameter of the supporting groove (23), and the diameter of the end part of the supporting rod (22) is equal to or larger than the width of the opening of the supporting groove (23).

8. The intelligent security robot based on machine vision of claim 1, wherein: the mounting seat (28) is attached to and slides in the adjusting groove (27) through the screw rod (26), and the mounting seat (28) is perpendicular to the rotary table (7).

9. The intelligent security robot based on machine vision of claim 1, wherein: the outer side that one end of damping axle (29) runs through mount pad (28) is fixed to be equipped with gear (31), and the below of gear (31) is provided with pinion rack (32) to the inboard equidistant distribution of pinion rack (32) has tooth piece (33), and intermeshing between pinion rack (33) and gear (31) moreover.