CN113110502A - Security patrol robot system applied to smart park - Google Patents
Security patrol robot system applied to smart park Download PDFInfo
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- CN113110502A CN113110502A CN202110511641.3A CN202110511641A CN113110502A CN 113110502 A CN113110502 A CN 113110502A CN 202110511641 A CN202110511641 A CN 202110511641A CN 113110502 A CN113110502 A CN 113110502A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a security patrol robot system applied to an intelligent park, and relates to the technical field of security patrol robot systems. The invention comprises a base, a radar, a limiting rod, a connecting rod, pan/tilt cameras, a protection box and a rod body, wherein the radar is rotationally matched with the upper side of the base, the connecting rod is rotationally matched with the upper end of the limiting rod, the pan/tilt cameras are symmetrically arranged at two ends of the connecting rod, and the protection box and the rod body are arranged on the upper side of the. According to the invention, data fusion and slam algorithm combination are carried out through a 16-line laser radar, a GNSS system, an inertial sensor, inertial navigation, a single-line laser radar and a speedometer multi-sensor, so that the functions of autonomous environment mapping, autonomous path planning, autonomous dynamic obstacle avoidance and autonomous navigation positioning of the intelligent inspection robot are realized, and the usability of the robot in complex environments such as severe weather is improved.
Description
Technical Field
The invention belongs to the technical field of security patrol robot systems, and particularly relates to a security patrol robot system applied to an intelligent park.
Background
The traditional informatization construction mode of each business in the vertical industry can not meet the requirement of rapid development of urban communities, a basic resource platform below the application of the industry is opened, an inter-industry urban digital platform is established, capabilities such as cloud, video cloud, big data, Internet of things (IoT), Geographic Information System (GIS) and Integrated Communication Platform (ICP) are provided for smart city (such as communities and park scenes), and the intelligent city intelligent building can be combined with AI (information and intelligence) to be in butt joint with the application upwards and downwards through an industry enabling technology, so that a digital transformation tentacle of the intelligent park can be reached.
The existing park security protection mainly adopts a form of combining manual patrol with a fixed probe, the existing security protection patrol robot patrol line adopts a full-track laying mode, so that the problems of large one-time cost investment and inflexible patrol route exist, the problems of inconvenient site change and fixed road occupation are caused by adopting the fixed full-line laying mode, the stability and accuracy of navigation and positioning of the robot in a dynamic environment are low due to adopting a single laser slam navigation and positioning mode, and the existing security protection patrol robot cannot meet the usability under the environments with weak illumination conditions, severe weather and the like due to failing to realize fusion navigation, positioning and obstacle avoidance of various sensing technologies.
Disclosure of Invention
The invention aims to provide a security patrol robot system applied to an intelligent park, and solves the problem that the usability under the environments of weak illumination conditions, severe weather and the like cannot be met in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a security patrol robot system applied to an intelligent park comprises a base, a radar, a limiting rod, a connecting rod, pan-tilt cameras, a protection box and a rod body, wherein the radar is rotationally matched with the upper side of the base;
the camera lens department of cloud platform camera has installed the barrel, barrel mouth department and cloud platform camera fixed connection of barrel, and glass has been installed to one end of barrel, and the barrel is built-in to be equipped with the heater strip, and the fan has been installed to one side of barrel, and the heater strip is located the air outlet department of fan, and the radar normal running fit is in the guard box, and the gag lever post runs through the guard box, and the control box has been installed to the upside of base, and the control box is built-in to be.
Optionally, the upside normal running fit of the body of rod has the flabellum, and one side active fit of the body of rod has solar panel.
Optionally, the patrol robot system further includes: the system comprises a 16-wire laser radar, a single-wire laser radar, a circumferential ultrasonic sensor, a speedometer, an inertial navigation IMU, a GNSS-RTK, a pan-tilt camera, a motion controller and a power supply BMS, wherein a navigation computer performs calculation processing on data collected by the inertial sensor, the speedometer module and the circumferential ultrasonic module, calculates and processes data collected by a sensing layer, and sends the data to the motion controller through a CAN (controller area network) so as to drive a vehicle to perform related actions;
in response to the data collected by the sensing layer, the navigation computer performs the following steps:
step S11, sending a control signal for starting the motion controller to the motion controller;
step S12, the control signal includes that after the motion controller receives the data for starting the motion controller, the servo driver is started to make the robot move along the data collected by the sensing layer;
in response to the sensing layer being the acquired data, the navigation computer performs the steps of:
step S21, sending a control signal for closing the motion controller to the motion controller;
and step S22, after the control signal comprises the data of the motion controller received and started, the servo driver is closed, and the robot stops moving.
Optionally, the navigation computer receives the surrounding environment collected by the 16-line laser radar and the ultrasonic sensor, and then performs calculation processing on the information, so as to realize the sensing capability of the device on the situation of the main editing environment;
and the navigation computer receives external visual data information acquisition information sent by the pan-tilt camera and then performs data processing on the information, so that the equipment has the capacity of extracting lane occupation, fire fighting access occupation and license plate information.
Optionally, after the navigation computer receives the real-time state information of the power supply battery module transmitted by the power supply BMS system, the navigation computer dynamically controls the entire vehicle electrical control system in real time according to the information.
Optionally, the inertial navigation relies on the Beidou, the GPS, the Glonass and the Galileo positioning satellites and communication base stations around the robot, comprehensive calculation is performed according to the current position of the robot and the positions of the satellites and the base stations, and absolute positioning information based on the satellites is provided for the robot.
Optionally, the navigation computer implements data communication between the robot device and the background through the 5G communication module, performs data sharing and interconnection with other robot devices in the same lan, and shares each connected robot image through the graphic processor.
Optionally, the smart display screen is used for data programming of the robot.
Optionally, the giga hub module is used as a switching device for navigation computation, a local link and 16-line laser radar, a single-line laser radar, a GNSS-RTK module, a pan-tilt camera, a smart display screen, and a 5G communication module, and is used for cascading the modules.
Optionally, the laser map, the GNSS and the RTK inertial navigation perform data fusion navigation positioning, the laser map depends on a laser radar as an environment scanning sensor, the laser map can record environment information that the robot travels through and form a 3-dimensional map under a unified coordinate axis, and the 3-dimensional map provides relative positioning position information for the robot system.
The embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, data fusion and slam algorithm combination are carried out through a 16-line laser radar, a GNSS system, an inertial sensor, inertial navigation, a single-line laser radar and a speedometer multi-sensor, so that the autonomous environment mapping, autonomous path planning, autonomous dynamic obstacle avoidance and autonomous navigation positioning functions of the intelligent inspection robot are realized, and the usability of the robot in complex environments such as severe weather is improved.
Through the fan that sets up, the water smoke that glass produced on the barrel was weathered to the fan, makes cloud platform camera more convenient when discerning the vehicle to effectual degree of accuracy of robot in discernment that has promoted
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a connection diagram of an intelligent security inspection tour robot system according to an embodiment of the present invention;
FIG. 2 is a system connection diagram of an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a base according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a connecting rod according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a rod body according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a base according to an embodiment of the present invention;
FIG. 7 is a schematic view of the structure at A in FIG. 3;
FIG. 8 is a schematic view of the structure at A in FIG. 3;
fig. 9 is a schematic perspective view of a solar panel according to an embodiment of the invention.
Wherein the figures include the following reference numerals:
the device comprises a base 1, a protection box 2, a connecting rod 3, a pan-tilt camera 4, a barrel 5, a connecting plate 6, a fan 7, a rod body 8, fan blades 9, a rotating ring 10, a positioning rod 11, a plate body 12, an electric push rod 13, a solar panel 14, a cover plate 15, a radar 16, a limiting rod 17 and glass 18;
the device comprises a groove 101, a slide rod 102, a circular arc chute 103, a first ball 104, a second ball 105 and a control box 106.
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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
To maintain the following description of the embodiments of the present invention clear and concise, a detailed description of known functions and known components of the invention have been omitted.
Referring to fig. 1 to 9, in the present embodiment, a security patrol robot system applied to an intelligent park is provided, including: a base 1, a radar 16 rotatably fitted on the upper side of the base 1;
specifically, wheels for moving the base 1 are arranged below the base 1;
the device comprises a limiting rod 17, a connecting rod 3 which is in running fit with the upper end of the limiting rod 17, pan-tilt cameras 4 symmetrically arranged at two ends of the connecting rod 3, a protection box 2 arranged on the upper side of a base 1 and a rod body 8;
the camera lens of the pan-tilt camera 4 is provided with a cylinder 5, the cylinder opening of the cylinder 5 is fixedly connected with the pan-tilt camera 4, one end of the cylinder 5 is provided with glass 18, a heating wire is arranged in the cylinder 5, one side of the cylinder 5 is provided with a fan 7, the heating wire is positioned at the air outlet of the fan 7, the air outlet of the fan 7 is communicated with the cylinder 5, a radar 16 is rotatably matched in a protective box 2, a limiting rod 17 penetrates through the protective box 2, the upper side of the base 1 is provided with a control box 106, and a navigation computer is arranged in the control box 106.
The application of one aspect of the embodiment is as follows: when the cloud deck camera 4 needs to be demisted, the fan 7 is started firstly, air is blown out from an air outlet of the fan 7, then the air blown out from the fan 7 is blown into the cylinder 5 through heating of the heating wire, then the heated air demists the glass 18, the situation that the robot cannot identify vehicles and people due to the fact that a lens of the mist robot is blocked is prevented, and therefore safety of the robot when the robot drives is effectively improved;
when the radar 16 of the robot needs to be adjusted, the first motor is started firstly, so that the first motor positioned in the base 1 rotates, then the first motor drives the radar 16 to rotate, and the radar 16 is positioned on the side wall of the protection box 2, so that the damage of the radar 16 caused by collision is prevented;
when the pan-tilt camera 4 on the two sides of the connecting rod 3 needs to be used, the second motor is started first, so that the second motor located in the limiting rod 17 rotates, then the second motor drives the connecting rod 3 to rotate, and then the connecting rod 3 drives the two pan-tilt cameras 4 to rotate. It should be noted that all the electric devices involved in the present application may be powered by a storage battery or an external power source;
specifically, the upper side of the rod body 8 is rotatably matched with a fan blade 9;
specifically, the structure of flabellum 9 normal running fit in the body of rod 8 specifically includes: the groove 101 is formed, a bearing is fixedly connected to the notch of the groove 101, the sliding rod 102 is fixedly connected to the lower side of the fan blade 9, the fan blade 9 can perform wind power generation on the robot, and therefore resource consumption of the robot is effectively reduced, and the sliding rod 102 is fixedly connected to the middle of the bearing;
one side of the rod body 8 is movably matched with a solar panel 14;
specifically, an arc chute 103 is formed in the periphery of the rod body 8, an annular electric guide rail is fixedly connected to the inner side wall of the arc chute 103, an output end of the annular electric guide rail is fixedly connected with a rotating disc 10, a positioning rod 11 is fixedly connected to the periphery of the rotating disc 10, a first ball 104 is fixedly connected to one end of the positioning rod 11, a plate body 12 is fixedly connected to the periphery of the positioning rod 11, an electric push rod 13 is fixedly connected to one side of the plate body 12 away from the positioning rod 11, a second ball 105 is fixedly connected to one end of the electric push rod 13, an arc-shaped groove matched with the first ball 104 and the second ball 105 is formed in one side of the solar panel 14, and the first ball 104 and the second ball 105 are;
when the position of the solar panel 14 needs to be adjusted, the annular electric guide rail is firstly opened, so that the rotating disc 10 fixedly connected with the output end of the annular electric guide rail rotates along the arc chute 103, and meanwhile, the positioning rod 11 drives the solar panel 14 to move circumferentially along the rod body 8, thereby completing the adjustment of the position of the solar panel 14;
when the angle of solar panel 14 needs to be adjusted, electric putter 13 is opened first, makes the second ball 105 with electric putter 13 fixed connection extrude solar panel 14 downside and has seted up the arc wall, and solar panel 14 moves to one side of keeping away from the body of rod 9 bottom along first ball simultaneously, makes the sunlight that receives that solar panel 14 can be better to the completion is to the adjustment of solar panel 14 angle.
Specifically, the department that charges of base 1 articulates there is apron 15, and apron 15 shelters from the mouth that charges, makes the robot when some highway sections of jolting, and the damage can not appear in the intraoral copper core that charges.
The patrol robot system of the present embodiment further includes: the system comprises a 16-wire laser radar, a single-wire laser radar, a circumferential ultrasonic sensor, a speedometer, an inertial navigation IMU, a GNSS-RTK, a pan-tilt camera 4, a motion controller and a power supply BMS system, wherein a navigation computer performs calculation processing on data collected by the inertial sensor, the speedometer module and the circumferential ultrasonic module, calculates and processes data collected by a sensing layer, and sends the data to the motion controller through a CAN (controller area network) so as to drive a vehicle to perform related actions;
specifically, the navigation computer is connected with the sensor inertial sensor and the odometer through RS232, and the navigation computer is connected with the circumferential ultrasonic wave through the CAN.
The navigation computer carries out calculation processing on the data collected by the sensing layer and sends the data to the motion controller through the CAN so as to drive the vehicle to carry out related actions;
specifically, the navigation computer is connected with the motion controller through the CAN
In response to the data collected by the sensing layer, the navigation computer performs the following steps:
step S11, sending a control signal for starting the motion controller to the motion controller;
step S12, the control signal includes that after the motion controller receives the data for starting the motion controller, the servo driver is started to make the robot move along the data collected by the sensing layer;
in response to the sensing layer being the acquired data, the navigation computer performs the steps of:
step S21, sending a control signal for closing the motion controller to the motion controller;
and step S22, after the control signal comprises the data of the motion controller received and started, the servo driver is closed, and the robot stops moving.
The navigation computer of the implementation calculates and processes the information after receiving the surrounding environment collected by the 16-line laser radar and the ultrasonic sensor, so as to realize the perception capability of the equipment on the situation of the main editing environment;
specifically, the navigation computer is connected with a 16-line laser radar through an RJ45, and is connected with an ultrasonic sensor through a can;
the navigation computer receives external visual data information acquisition information sent by the pan-tilt camera 4 and then performs data processing on the information, so that the equipment can extract lane occupation, fire fighting access occupation and license plate information;
specifically, the navigation computer is connected to the pan/tilt head camera 4 via RJ 45.
After the navigation computer of the embodiment receives the real-time state information of the power supply battery module transmitted by the power supply BMS, the navigation computer dynamically controls the whole vehicle electric control system in real time according to the information;
specifically, the navigation computer is connected with the battery and the BMS module through the CAN.
The inertial navigation of the embodiment relies on Beidou, GPS, Glonass and Galileo positioning satellites and communication base stations around the robot, comprehensive calculation is carried out according to the current position of the robot and the positions of the satellites and the base stations, and absolute positioning information based on the satellites is provided for the robot.
The navigation computer of the embodiment realizes data communication between the robot device and the background through the 5G communication module, performs data sharing and interconnection with other robot devices in the same local area network, and shares each connected robot picture through the graphic processor.
The intelligent display screen of the embodiment is used for data programming of the robot.
The gigabit hub module of the embodiment is used as a switching device for navigation computation, a local link and 16-line laser radar, a single-line laser radar, a GNSS-RTK module, a pan-tilt camera 4, a smart display screen and a 5G communication module, and is used for cascading the modules.
The laser slam graph, the GNSS and the RTK inertial navigation of the embodiment perform data fusion navigation positioning, the laser slam depends on a laser radar as an environment scanning sensor, the laser slam can record environment information that a robot runs through and form a 3-dimensional map under a unified coordinate axis, and the 3-dimensional map provides relative positioning position information for a robot system;
specifically, data fusion and slam algorithm combination are carried out through a 16-line laser radar, a GNSS system, an inertial sensor, inertial navigation, a single-line laser radar and a speedometer multi-sensor, so that the functions of autonomous environment mapping, autonomous path planning, autonomous dynamic obstacle avoidance and autonomous navigation positioning of the intelligent inspection robot are realized, and the usability of the robot in complex environments such as severe weather is improved;
by using the mesh networking communication and 5G redundant communication technology, an independent network is automatically formed without depending on any network facility, and various network topologies such as linear, star-shaped, mesh-shaped and the like are supported, the Atlas500 central computer uploads the running state information, control information, environmental information and electric quantity information of equipment to a background terminal through a mesh network or a 5G communication module, and the communication stability and the data real-time performance of the robot are greatly improved;
the positioning precision of laser slam, GNSS and RTK inertial navigation subjected to coordinate axis data fusion by using an Atlas500 computer reaches 5cm, and the stable positioning of the robot in various complex environments such as indoor and outdoor environment of a garden area can be met. The navigation positioning stability and accuracy of the robot in a dynamic environment are reliably guaranteed;
by using a multi-sensing fusion technology, in the aspects of obstacle avoidance and obstacle stopping, data fusion is carried out on 16-line laser radar data, ultrasonic sensor data and single-line laser radar sensor data, and the functions of autonomous obstacle avoidance, step detection and avoidance and pit detection and avoidance of dynamic obstacles of the intelligent inspection robot equipment are realized. Through this kind of mode, solved when current robot deploys and need carry out the big cost input problem that full track laid and bring, also promoted adaptability and the flexibility of robot to different scenes simultaneously.
The specific system using method is that the 16-wire laser radar, the single-wire laser radar, the circumferential ultrasonic sensor, the odometer, the inertial sensor, the GNSS, the RTK, the pan-tilt camera 4 collects external environment information and sends the external environment information to the Atlas500 computer, the Atlas500 computer calculates and processes the environment information collected by the 16-wire laser radar, the single-wire laser radar, the circumferential ultrasonic sensor, the odometer, the inertial sensor, the GNSS, the RTK and the pan-tilt camera 4 and forms a set of own 3-dimensional environment map, and the Atlas500 computer dynamically processes the real-time data information collected by the 16-wire laser radar, the single-wire laser radar, the circumferential ultrasonic sensor, the odometer, the inertial sensor, the GNSS, the RTK and the pan-tilt camera 4 and sends the result to the motion controller, the power supply BMS, and the motion controller and the power supply BMS respond. The security protection inspection robot combines the current advanced technologies and products such as the Internet of things, big data and unmanned aerial vehicle to realize the intellectualization and high efficiency of scene construction such as city subdivision scene intelligent communities and intelligent parks.
The above embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Claims (10)
1. The utility model provides a security protection patrol robot system for wisdom garden, its characterized in that includes: the device comprises a base (1), a radar (16) and a limiting rod (17) which are in rotating fit with the upper side of the base (1), a connecting rod (3) which is in rotating fit with the upper end of the limiting rod (17), pan-tilt cameras (4) symmetrically arranged at two ends of the connecting rod (3), a protection box (2) arranged on the upper side of the base (1) and a rod body (8);
the camera lens department of cloud platform camera (4) is installed barrel (5), the nozzle department and the cloud platform camera (4) fixed connection of barrel (5), glass (18) have been installed to one end of barrel (5), the heater strip is equipped with in barrel (5), fan (7) have been installed to one side of barrel (5), control box (106) have been installed to the upside of base (1), the navigation computer has been installed in control box (106).
2. The security patrol robot system applied to the intelligent park as claimed in claim 1, wherein the upper side of the rod body (8) is rotatably fitted with fan blades (9), one side of the rod body (8) is movably fitted with a solar panel (14), the upper side of the base (1) is provided with a control box (106), and a navigation computer is arranged in the control box (106).
3. The security patrol robot system applied to the intelligent park as claimed in claim 1, further comprising: the system comprises a 16-wire laser radar, a single-wire laser radar, a circumferential ultrasonic sensor, a speedometer, an inertial navigation IMU, a GNSS-RTK, a pan-tilt camera (4), a motion controller and a power supply BMS, wherein a navigation computer calculates and processes data collected by the inertial sensor, the speedometer module and the circumferential ultrasonic module;
the navigation computer carries out calculation processing on the data acquired by the sensing layer and sends the data to the motion controller through the bus so as to drive the vehicle to carry out related actions;
in response to the data collected by the sensing layer, the navigation computer performs the following steps:
step S11, sending a control signal for starting the motion controller to the motion controller;
step S12, the control signal includes that after the motion controller receives the data for starting the motion controller, the servo driver is started to make the robot move along the data collected by the sensing layer;
in response to the sensing layer being the acquired data, the navigation computer performs the steps of:
step S21, sending a control signal for closing the motion controller to the motion controller;
and step S22, after the control signal comprises the data of the motion controller received and started, the servo driver is closed, and the robot stops moving.
4. The security patrol robot system applied to the intelligent park as claimed in claim 3, wherein the navigation computer receives the peripheral environment collected by the 16-line laser radar and the ultrasonic sensor and then calculates and processes the information to realize the sensing capability of the equipment on the master environment situation;
and the navigation computer performs data processing on the external visual data information after receiving the external visual data information acquisition information sent by the pan-tilt camera (4), so that the capabilities of equipment for lane occupation, fire fighting access occupation and license plate information extraction are realized.
5. The security patrol robot system applied to the intelligent park as claimed in claim 3, wherein after the navigation computer receives the real-time status information of the power supply battery module transmitted by the power supply BMS system, the navigation computer dynamically manages and controls the whole electric control system in real time according to the information.
6. The security patrol robot system applied to the intelligent park as claimed in claim 3, wherein inertial navigation relies on Beidou, GPS, Glonass and Galileo positioning satellites and communication base stations around the robot, and comprehensive calculation is carried out according to the current position of the robot and the positions of the satellites and the base stations, so that absolute positioning information based on the satellites is provided for the robot.
7. The security patrol robot system applied to the intelligent park as claimed in claim 3, wherein the navigation computer realizes data communication between the robot device and the background through the 5G communication module, and data sharing, interconnection and intercommunication between the robot device and other robot devices in the same local area network, and the images of each connected robot are shared through the graphic processor.
8. The security patrol robot system applied to the intelligent park as claimed in claim 3, wherein the navigation computer programs the data of the robot through the intelligent display screen.
9. The security patrol robot system applied to the smart park as claimed in claim 3, wherein the gigahub module is used as a switching device for navigation computation, local link and 16-line laser radar, single-line laser radar, GNSS-RTK module, pan-tilt camera (4), smart display screen, and 5G communication module, and is used for cascading the modules.
10. The security patrol robot system applied to the intelligent park as claimed in claim 3 or 9, wherein the data fusion navigation positioning is performed by a laser map and a GNSS-RTK inertial navigation, the laser map depends on a laser radar as an environment scanning sensor, the laser map can record environment information traveled by the robot and form a 3-dimensional map under a unified coordinate axis, and the 3-dimensional map provides relative positioning position information for the robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110511641.3A CN113110502A (en) | 2021-05-11 | 2021-05-11 | Security patrol robot system applied to smart park |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110511641.3A CN113110502A (en) | 2021-05-11 | 2021-05-11 | Security patrol robot system applied to smart park |
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| CN114299649A (en) * | 2021-11-30 | 2022-04-08 | 合肥优恩物联网科技有限公司 | Adjusting device of community robot of intelligent access control |
| CN114434492A (en) * | 2021-12-17 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Safety patrol robot |
| CN114485658A (en) * | 2021-12-08 | 2022-05-13 | 上海智能网联汽车技术中心有限公司 | Device and method for precision evaluation of roadside sensing system |
| CN114571480A (en) * | 2022-03-28 | 2022-06-03 | 国网新疆电力有限公司经济技术研究院 | Transformer substation inspection robot |
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