CN113319864A

CN113319864A - Intelligent patrol robot system

Info

Publication number: CN113319864A
Application number: CN202110578824.7A
Authority: CN
Inventors: 李克建
Original assignee: Sichuan Police College
Current assignee: Sichuan Police College
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2021-08-31

Abstract

The invention discloses an intelligent patrol robot system, which is applied to a security robot and comprises a dynamic monitoring component, a control component, a strong sound dispersion component, an alarm component, a navigation component and a thermal imaging component, wherein the dynamic monitoring component comprises a communication module, a storage module, an optical component and an acoustic component, the optical component comprises a look-around camera and a face recognition module, the acoustic component comprises a monitoring device, a voice recognition module, a sound amplification device and an audio module, the face is actively recognized and compared through the look-around camera and the face recognition module, surrounding sounds are monitored and compared through the monitoring device and the voice recognition module, and an alarm is given in time when a suspicious situation is found; the system can automatically identify suspicious personnel, automatically early warn security protection capabilities such as special events and the like, monitor in all directions, comprehensively acquire security protection data, has multiple functions, helps to process the special events, and improves the social intelligent security protection level.

Description

Intelligent patrol robot system

Technical Field

The invention relates to the technical field of security robots, in particular to an intelligent patrol robot system.

Background

The development of the safety precaution technology industry in China mainly comprises three stages, wherein the first stage is a starting stage from 1979 to 1983, a development stage from 1984 to 1996 and an improvement stage from 1997 to date. At the present stage, the safety precaution technology industry is continuously developed and advanced, is continuously innovated, and explores the development law and new technical direction of safety technology precaution.

At present, digital monitoring systems are widely applied in China, mainly based on video monitoring, the video monitoring can only be carried out within a certain fixed range, the digital monitoring systems cannot completely cover and have video dead angles, some areas are easy to miss, manual patrol is increased, a large amount of time and energy are consumed, and safety precaution work is inconvenient to carry out.

The video monitoring system in the prior art only solves the problem that key parts can be seen, cannot dynamically monitor in real time according to needs, cannot really see clearly and understand, cannot actively monitor and dynamically patrol, cannot feed back the occurrence of dangerous events in real time, and cannot timely process the dangerous events; for events damaging social public safety, such as theft, invasion, damage and other suspicious behaviors, the prior art can not find and actively early warn at the first time, can only trace after the fact and can not take precaution in advance; the existing monitoring system is difficult to carry out preliminary control after finding out suspicious personnel and cannot interfere with the behavior of the suspicious personnel at the first time; in addition, natural factors such as temperature, illumination and rain and fog caused by weather changes can affect the video monitoring effect, block shooting, and cannot be effectively identified and monitored under poor conditions such as insufficient light and rain and fog weather.

Disclosure of Invention

The invention aims to overcome the defects that active monitoring and dynamic monitoring cannot be realized and dangerous events are difficult to find and process in real time in the prior art, and provides an intelligent patrol robot system which can automatically identify suspicious personnel, automatically early warn security protection capabilities such as special events and the like, monitor in all directions, comprehensively acquire security protection data and improve the intelligent security protection level of the society.

In order to achieve the above purpose, the invention provides the following technical scheme:

an intelligent patrol robot system comprises a main body and a walking device connected to the main body, wherein the system comprises a dynamic monitoring assembly and a control assembly which are arranged on the main body, and the dynamic monitoring assembly comprises an optical component and a communication module; the optical member includes: the system comprises a look-around camera capable of rotating circumferentially and a face recognition module matched with a face feature database; the all-round looking camera is electrically connected with the face recognition module; the all-round-looking camera is used for actively shooting a human face, and the human face recognition module is used for recognizing a shot human face image; the control component is respectively and electrically connected with the communication module and the face recognition module, and the communication module is in communication connection with the terminal; furthermore, the system can be arranged on various intelligent patrol robots with different shapes as long as the intelligent patrol robot has a walking device with a moving function and a main body for installing the system; the panoramic camera actively takes a snapshot of the face through rotation, and when the face recognition module recognizes a face image matched with the face feature database, the control component sends an alarm signal to the terminal through the communication module.

This system rotates and covers the circumference position that intelligence patrolled and prevented the robot through looking around the camera, can shoot the surrounding environment comprehensively, discerns and compares face through face identification module initiative, in time discovers suspicious personnel, accomplishes the dynamic monitoring, can be around when suspicious personnel appear, carry out initiative early warning, real-time warning, in time feedback and help relevant personnel to handle the dangerous condition.

In a preferred embodiment of the present invention, the above-mentioned all-round camera is provided with a rotating device; or the main body is provided with a rotating device, and the panoramic camera is fixed to the rotating device; furthermore, the rotating device is a tripod head, the circumferential rotation angle of the tripod head is less than or equal to 360 degrees, and the panoramic camera is provided with the tripod head or the tripod head is arranged at the top of the main body; the all-round-looking camera can rotate in the whole circumferential direction, can intelligently regulate and control positions or areas needing monitoring and can monitor the positions or the areas as required, and related personnel can know the patrol site conditions conveniently.

In a preferred embodiment of the present invention, the panoramic camera is a wide-angle camera, and the arrangement of the wide-angle cameras is at least 2, and the arrangement of the at least 2 wide-angle cameras enables shooting to cover a circumferential 360 ° visual area, or the at least 2 wide-angle cameras cover a circumferential 360 ° visual area by rotating; the surrounding area of the main body can be covered in an all-round mode, and 360-degree dead-angle-free monitoring is achieved.

In a preferred embodiment of the invention, the system further comprises an acoustic assembly, the acoustic assembly comprising: the monitoring equipment is electrically connected with the voice recognition module, and the voice recognition module is electrically connected with the control component; when the voice recognition module recognizes the vocabulary of the alarm voice library or the sound exceeds the preset alarm threshold value of the voice recognition module, the control component sends an alarm signal to the terminal through the communication module; further, the monitoring equipment is a sound pickup or a microphone; the monitoring equipment is used for monitoring surrounding sound, and the voice recognition module is used for recognizing the monitored sound; the monitoring device transmits the sound to the voice recognition module, the voice recognition module recognizes and compares the sound collected by monitoring, the suspicious sound or the sound is effectively distinguished, the suspicious sound is timely recognized, and a special event is found.

In a preferred embodiment of the present invention, the acoustic component further includes a sound amplifying device and an audio module, the audio module is electrically connected to the sound amplifying device, the monitoring device and the communication module, respectively, the audio module is in communication connection with the terminal, and the terminal has a voice receiving and transmitting function to realize voice interaction; the real-time talkback and remote shouting of related personnel and personnel around the patrol site are realized to achieve various purposes of knowing the site condition, warning, deterrence and the like, and the information linkage of the patrol site and a command center is realized.

In a preferred embodiment of the invention, the system further comprises a loud sound dissipating assembly, the loud sound dissipating assembly comprising a loud sound dissipater at a sound pressure level, the sound wave transmission of the loud sound dissipater covering a range within 300 meters; the high-frequency strong noise which can not be adapted to human ears is emitted through the strong sound dispelling component, strong interference is caused to the physiology and the psychology of potential threat personnel, the potential threat personnel are enabled to generate the reactions of frightening, uneasiness, dysphoria, fatigue, incapability of focusing attention and the like, the effect of active dispelling is played, and meanwhile, permanent damage is not caused.

In a preferred embodiment of the invention, the system further comprises an alarm assembly, wherein the alarm assembly comprises a flashing alarm lamp, an SOS alarm key and a dialer, the flashing alarm lamp is arranged outside the main body, and the SOS alarm key is connected with the dialer; and an SOS alarm key is carried, and in an emergency situation, after surrounding personnel press the button, the robot automatically dials an alarm telephone to realize one-key alarm so that related personnel can find special events in time.

In a preferred embodiment of the present invention, the system further comprises an autonomous navigation module, the navigation module includes a positioning chip installed in the main body, and installed outside the main body: positioning and orienting receiver, laser radar and ultrasonic sensor; the position of the intelligent patrol robot is determined through the positioning chip, the positioning position is accurately corrected through the positioning receiver, and the obstacle is accurately detected through the laser radar and the ultrasonic sensor, so that an obstacle avoidance and obstacle avoidance path is actively planned.

In a preferred embodiment of the present invention, the system further includes a thermal imaging assembly, the thermal imaging assembly includes a thermal imaging camera, the thermal imaging camera is mounted on the main body, and a visible light module and a thermal imaging module are disposed in the thermal imaging camera; the human body temperature can be detected and imaging is carried out, suspicious personnel can be identified, and accurate object identification can be realized under the adverse conditions of insufficient light, rain and fog weather and the like.

In a preferred embodiment of the present invention, the dynamic monitoring component further includes a storage module storing a face feature database and an alarm voice database, the storage module electrically connects the face recognition module to match the face feature database to the face recognition module, and the storage module electrically connects the voice recognition module to match the alarm voice database to the voice recognition module; the system can pre-store suspicious personnel information and an early warning alarm voice library so as to provide the suspicious personnel information and the early warning alarm voice library for the face recognition module and the voice recognition module.

In a preferred embodiment of the present invention, the control component is electrically connected to the around-looking camera, the face recognition module, the communication module, the voice recognition module, the storage module, the audio module, the loud sound radiator, the flashing warning light, the positioning chip, the positioning and orientation receiver, the laser radar, and the ultrasonic sensor, respectively; furthermore, the above components are respectively connected with a rechargeable battery, and power is supplied through the rechargeable battery; further, the control component is a controller for logic operation and process control; further, the controller includes but is not limited to MCU, DSP or ARM, and may also be AVR, PLC, PIC, Lingyang, DSP or FPGA; a plurality of component parts of the intelligent patrol robot are controlled through the control assembly, so that cooperation and regulation among the components are realized.

Compared with the prior art, the invention has the beneficial effects that:

1. the system can actively identify, accurately judge suspicious personnel, dynamically monitor, timely find the suspicious personnel, actively early warn in real time, and timely feed back and assist related personnel to handle dangerous situations.

2. The system can effectively judge suspicious sounds or sounds, timely identifies and warns when the suspicious sounds or sounds occur, finds special events in real time and assists related personnel in handling dangerous situations.

3. The system can realize real-time talkback and remote shouting of related personnel and personnel around the patrol site so as to achieve various purposes of knowing site conditions, warning, deterrence and the like, and realize information linkage of the patrol site and a command center.

4. The system can cause strong interference to the physiology and the psychology of potential threat personnel, so that the potential threat personnel can generate reactions such as deterrence, difficulty, dysphoria, fatigue, incapability of concentrating attention and the like, play a role in 'active expelling', and simultaneously do not cause permanent damage.

5. The system can help surrounding personnel to alarm in emergency, and after the surrounding personnel press the button, the robot automatically dials the alarm telephone to realize one-key alarm, so that the related personnel can find out special events in time.

6. The system can automatically navigate, autonomously plan the optimal path, ensure that the optimal path reaches the specified target point in the shortest time and shortest path, correct the position in time, and comprehensively detect, avoid and block the obstacle.

7. The system can detect the temperature of a human body and perform imaging, is helpful for identifying suspicious personnel, and can also realize accurate object identification under poor conditions such as insufficient light, rain and fog weather and the like.

Drawings

Fig. 1 is a schematic view of an intelligent patrol robot system 1 according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the intelligent patrol robot of the present invention;

fig. 3 is a schematic view of an intelligent patrol robot system 2 according to an embodiment of the present invention;

fig. 4 is a structural diagram of an intelligent patrol robot in embodiment 2 of the present invention;

fig. 5 is a schematic view of an intelligent patrol robot system in accordance with an embodiment 3 of the present invention;

fig. 6 is a structural diagram of an intelligent patrol robot in accordance with an embodiment 3 of the present invention.

Graphic notation: 1-a body; 2-a walking device; 3-a rotating device; 4-looking around the camera; 5-a thermal imaging camera; 6-SOS alarm key; 7-flashing warning light; 8-a sound amplification device; 9-a monitoring device; 10-a loud sound dissipater; 11-a positioning orientation receiver; 12-a laser radar; 13-ultrasonic sensor.

Detailed Description

The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.

Example 1

Please refer to fig. 1, this embodiment provides an intelligent patrol robot system, which includes a dynamic monitoring component, a control component, a loud sound dissipation component, an alarm component, a navigation component, a thermal imaging component and a power supply component, the dynamic monitoring component includes a communication module, a storage module, an optical component and an acoustic component, a terminal is placed in a related personnel place, wherein, the optical component includes a panoramic camera 4 and a face recognition module, the acoustic component includes a monitoring device 9, a voice recognition module, a public address device 8 and an audio module, the control component is a controller, the loud sound dissipation component is a loud sound dissipation device 10, the alarm component includes an SOS alarm key 6 and a flashing warning light 7, the thermal imaging component is a thermal imaging camera 5, the power supply component adopts a rechargeable battery, and the terminal is a mobile phone. The system carries out dynamic monitoring through a dynamic monitoring assembly pair, actively identifies and compares the face through an optical component, monitors surrounding sounds through an acoustic component and compares the sounds, carries out deterrence and interference on suspicious personnel through a strong sound dispersing assembly, carries out warning and one-key warning through a warning assembly, avoids and bypasses barriers through a navigation assembly, and effectively monitors under bad weather conditions through a thermal imaging assembly.

Referring to fig. 2, the intelligent patrol robot system can be installed in a plurality of intelligent patrol robots with different shapes, basically, the robot has a mobile function, the intelligent patrol robot of the embodiment includes a main body 1 and a walking device 2 connected to the main body 1, and the main body 1 is externally installed with: the system comprises a rotating device 3, a look-around camera 4, a thermal imaging camera 5, an SOS alarm key 6, an explosion flash warning lamp 7, a public address device 8, a monitoring device 9, a strong sound radiator 10, a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13, wherein other components of the system are arranged inside a main body 1. The walking device 2 of the intelligent patrol robot is a chassis, a main body 1 is connected and fixed with the chassis through screws, the top of the main body 1 is provided with a rotating device 3, the rotating device 3 is a rotating table, the bottom of the rotating table is provided with a shaft hole, a motor is arranged in the main body 1, an output shaft of the motor is inserted into the shaft hole and fixed, the top of the rotating table is fixedly provided with a ring camera 4 and a thermal imaging camera 5 through screws, the surface of the main body 1 is provided with a touch screen, an SOS alarm key 6 is a touch key, the main body 1 is provided with a plurality of different mounting grooves, a strong sound diffuser 10, a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13 are respectively fixed in each mounting groove, a flashing warning light-emitting diode (LED) lamp plate is embedded in the outer wall of the main body 1, a sound amplifying device 8 and a monitoring device 9 are respectively clamped in a clamping seat arranged on the inner wall of the main body 1, and the wall of the main body 1 is provided with sound holes which are communicated with the inside and the outside so as to facilitate sound transmission.

The communication module, the storage module, the face recognition module, the voice recognition module, the audio module, the GPS positioning chip and the controller of the embodiment are integrated on a PCB circuit board, all the modules are the prior art and are realized without depending on software improvement, the PCB circuit board is arranged in the main body 1 and fixed by screws, the PCB board is connected with the corresponding power supply interface of the rechargeable battery, the modules are powered by rechargeable batteries, the communication module adopts a 4G communication module or a 5G communication module, the storage module adopts a universal memory, the face recognition module adopts a face recognition chip, the voice recognition module adopts a voice recognition chip, the audio module adopts a 4G audio module, namely, the audio module is a wireless audio module, a 4G communication module is built in the audio module, a communication module of the system is not used, and a controller adopts a DSP (digital signal processor); the all-round looking camera 4, the thermal imaging camera 5 (including a visible light module and a thermal imaging module), a sound pick-up, a micro sound player, a strong sound diffuser 10, a red and blue flashing light, a dialer, a GPS positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13 are respectively connected with a power supply interface corresponding to the rechargeable battery.

The dynamic monitoring assembly of the embodiment compares and judges through identifying images and sounds, and then comprehensively controls the condition of a patrol site, wherein the optical component is responsible for image identification, and the acoustic component is responsible for sound identification. The all-round looking camera 4 is a wide-angle camera capable of rotating in the circumferential direction, the wide angle covers the range of 120 degrees, namely the all-round looking camera adopts a camera with a wide angle of 120 degrees, 3 all-round looking cameras 4 are arranged and distributed in a balanced mode, so that the 3 all-round looking cameras 4 shoot visual regions covering 360 degrees in the circumferential direction, the surrounding regions of the intelligent patrol robot can be covered in an all-round mode, and 360-degree dead-angle-free monitoring is achieved; the all-round camera 4 is from having the cloud platform that can the circumferential direction pivoted, the direction of shooting of all-round camera 4 is adjusted through the rotation of cloud platform, the recess that the revolving stage top set up of intelligent patrol robot was gone into to the cloud platform card and is passed through the fix with screw, all-round camera 4 is used for initiatively shooing the people's face, adjust the turned angle of cloud platform through DSP and realize all-round camera 4 and take a candid photograph the people's face of equidirectional not, can be like this to the position or the region intelligent control that need monitor, monitor as required, be convenient for relevant personnel to know the scene condition of patrolling.

Look around camera 4 and face identification module electricity and be connected, face identification module is used for discerning the face image of shooing, the image direct transfer that look around camera 4 was shot is to face identification module, in order to carry out real-time supervision, face identification module has face characteristic database through the storage module matching, the blacklist data has been stored to face characteristic database, feedback data to DSP when face identification module discerned the face image with blacklist matching, DSP sends alarm signal to the terminal through 4G communication module.

The monitoring device 9 of the embodiment adopts a 360-degree omnidirectional long-distance high-sensitivity sound pickup for monitoring surrounding sounds and realizing monitoring and conversation on a patrol site, wherein the sound pickup distance of the sound pickup can reach 15 meters farthest and can be continuously adjusted between 0 and 15 meters; the sound pick-up is electrically connected with the voice recognition module, sound is transmitted to the voice recognition module through the sound pick-up, and the sound collected by monitoring is recognized and compared through the voice recognition module, so that suspicious sound or sound is effectively distinguished, the suspicious sound is recognized in time, and special events are found; the voice recognition module is electrically connected with the DSP, the voice recognition module is matched with an alarm voice library through the storage module, an alarm threshold value of a sound decibel value is preset in the voice recognition module, when the voice recognition module recognizes that sound exceeds the alarm threshold value or recognizes the vocabulary of the alarm voice library, the voice recognition module outputs a signal to the DSP, and then the voice data are transmitted to the terminal through the 4G communication module.

The acoustic component also comprises a sound amplifying device 8 and a 4G audio module, the sound amplifying device 8 adopts a miniature sound player, the 4G audio module is respectively and electrically connected with the miniature sound player, a sound pick-up and a 4G communication module, the 4G audio module is in communication connection with a mobile phone of a terminal, the 4G communication module carried by the 4G audio module is directly in voice transmission with the mobile phone, the 4G audio module is connected with a DSP, and the DSP is used for regulating and controlling the volume, the tone quality, the switching of receiving and sending modes and the like; related personnel can send voice audio to the 4G audio module of the intelligent patrol robot through the terminal, and then broadcast the sound through the miniature sound player, and on the contrary, the sound identified by the sound pick-up can also be transmitted to the terminal, so that the related personnel can know the patrol site condition more clearly; therefore, voice interaction between the patrol site and related personnel is realized, real-time talkback and remote shouting between the related personnel and personnel around the patrol site are realized, multiple purposes of knowing site conditions, warning and deterrence and the like are achieved, and information linkage between the patrol site and a command center is realized.

The storage module stores a face feature database of suspicious personnel information and an alarm voice database for early warning in advance, the face feature database has face image data of blacklist personnel, the alarm voice database has sensitive words for identification and comparison so as to provide the sensitive words for the face identification module and the voice identification module, the storage module is electrically connected with the face identification module to match the blacklist data to the face identification module, and the storage module is electrically connected with the voice identification module to match the alarm voice database to the voice identification module.

The terminal of this embodiment adopts the cell-phone, and it has information receiving and sending function, and the terminal is installed and is carried out the software that communicates with the 4G communication module of intelligent patrol and guard robot, and the software has audible and visual alarm function, realizes the audible and visual alarm effect at terminal, is connected through cell-phone and 4G communication module communication, realizes the information interaction between terminal and the intelligent patrol and guard robot, including the voice interaction.

The loud sound dispersing component of the embodiment adopts a loud sound disperser 10 at a sound pressure level, the loud sound disperser 10 is fixedly arranged on the surface of the shell of the main body 1, the loud sound disperser 10 is provided with a small hole convenient for sound transmission, the loud sound disperser 10 works to output 1.5-5kHz high-frequency random variation square waves, the sound intensity at a position 1 meter away is 124 +/-3 dB, and the sound wave transmission of the loud sound disperser 10 covers the range within 300 meters; the high-frequency strong noise which can not be adapted to human ears is emitted through the strong sound dispelling component, strong interference is caused to the physiology and the psychology of potential threat personnel, the potential threat personnel are enabled to generate the reactions of frightening, uneasiness, dysphoria, fatigue, incapability of focusing attention and the like, the effect of active dispelling is played, and meanwhile, permanent damage is not caused.

The alarm assembly of the embodiment comprises a flashing warning lamp 7, an SOS alarm key 6 and a dialer, wherein the flashing warning lamp 7 adopts red and blue flashing lamps, the red and blue flashing lamps are LED lamps and are arranged on an LED lamp panel in a plurality of rows and columns, and the LED lamp panel is clamped into a groove in the outer wall of the main body 1; the shell of the main body 1 is also provided with a touch pad close to the upper position, the SOS alarm key 6 is a touch key and is arranged on the touch pad, the touch pad is electrically connected to a dialer, the dialer is triggered to dial by pressing the alarm key, a single chip microcomputer and a wireless communication module are arranged in the dialer, a dialing program and an alarm telephone of a command center are arranged in advance, the alarm telephone of the embodiment is a mobile phone number of a terminal, the dialer stores data of an SIM card, and the mobile phone is dialed through by the dialer; the SOS alarm key 6 is carried, and in an emergency situation, after surrounding personnel press the button, the intelligent patrol robot automatically dials a preset mobile phone number to realize one-key alarm so that related personnel can find special events in time.

The navigation subassembly of this embodiment is including installing the location chip in the PCB board, and install in main part 1: a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13; wherein, the positioning chip adopts the GPS chip, it is integrated at the PCB circuit board, positioning orientation receiver 11 adopts GPS positioning orientation receiver 11, it fixes in the shell department of main part 1, confirm the position of intelligent patrol robot through the positioning chip, correct the position location through positioning receiver is accurate, laser radar 12 adopts two high performance laser radar 12, can launch and receive laser, the stadia is 40 meters, the horizontal direction is surveyed, use laser radar 12 as the main, GPS positioning orientation receiver 11 and ultrasonic sensor 13 fuse and carry out the autonomous navigation, realize centimetre level's accurate location, ultrasonic sensor 13 has the probe of sending ultrasonic wave and receives ultrasonic wave's probe, survey through the ultrasonic wave, accurately detect the barrier through laser radar 12 and ultrasonic sensor 13, so that initiatively plan out and keep away the barrier around the barrier route.

The thermal imaging component of the embodiment is a thermal imaging camera 5, the thermal imaging camera 5 is installed on the top of a rotating table through a screw, a binocular head is arranged on a shell at the position, the binocular head supports 360-degree horizontal rotation and 90-degree vertical rotation, a visible light module and a thermal imaging module are arranged in the thermal imaging camera 5, the two modules are existing electronic components, 1080P high-definition visible light video images and 640 x 512 thermal imaging videos are transmitted back in real time, the visible light module and the thermal imaging module are respectively electrically connected to a DSP, and then the thermal imaging is transmitted to a mobile phone in real time through a 4G communication module; temperature measurement range of the thermal imaging camera 5, high-temperature mode: 40 ℃ to 550 ℃, low temperature mode: 40 to 150 can detect cars within 2000 meters, and people within 640 meters, which can identify cars within 500 meters, people within 160 meters, which can identify cars within 250 meters, people within 80 meters; the thermal imaging camera 5 can detect the temperature of a human body and perform imaging, is beneficial to identifying suspicious people, and can realize accurate object identification under poor conditions such as insufficient light, rain and fog weather and the like; the human body temperature can be detected and imaging is carried out, suspicious personnel can be identified, and accurate object identification can be realized under the adverse conditions of insufficient light, rain and fog weather and the like.

The control component of the embodiment adopts a DSP, and the DSP is respectively and electrically connected with the panoramic camera 4, the face recognition module, the 4G communication module, the voice recognition module, the storage module, the 4G audio module, the loud sound dispeller 10, the red and blue flashing light, the GPS positioning chip, the GPS positioning and orientation receiver 11, the laser radar 12 and the ultrasonic sensor 13; a plurality of components of the intelligent patrol robot are controlled by the DSP, so that cooperation and regulation among the components are realized.

Example 2

Referring to fig. 3, the intelligent patrol robot system of the present embodiment is basically the same as the system of embodiment 1, except that the communication module of the present embodiment adopts a Wi-Fi communication module, the audio module is a common audio module, the public address device 8 adopts a speaker and cannot perform wireless communication, the controller adopts an MCU, the terminal adopts a computer, the flashing warning light 7 adopts a full red flashing light, and the positioning adopts the beidou; the all-round-looking camera 4, the thermal imaging camera 5 (including a visible light module and a thermal imaging module), the microphone, the loudspeaker, the loud sound radiator 10, the full-red flashing light, the dialer, the Beidou positioning and orienting receiver 11, the laser radar 12 and the ultrasonic sensor 13 are respectively connected with a power supply interface corresponding to the rechargeable battery.

Referring to fig. 4, the system of the present embodiment is also installed in an intelligent patrol robot, the intelligent patrol robot of the present embodiment includes a main body 1 and a traveling device 2 connected to the main body 1, and the main body 1 is externally installed with: the system comprises a rotating device 3, a look-around camera 4, a thermal imaging camera 5, an SOS alarm key 6, an explosion flash warning lamp 7, a public address device 8, a monitoring device 9, a strong sound radiator 10, a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13, wherein other components of the system are arranged inside a main body 1. Running gear 2 of intelligence inspection robot is crawler chassis, main part 1 is connected fixedly at the middle part through screw and chassis in inside, the top of main part 1 is provided with rotary device 3, this rotary device 3 is the cloud platform, the cloud platform passes through the fix with screw at the top of main part 1, look around camera 4 and thermal imaging camera 5 are installed at the cloud platform top, main part 1 is provided with the mounting groove of a plurality of differences, SOS warning key 6, the strong sound dispels the ware 10, location directional receiver 11, laser radar 12 and ultrasonic sensor 13 are fixed respectively in each mounting groove, and explosion and flash warning light 7 is cylindrical LED lamp, 1 top of this fixed main part of lamp, public address equipment 8 and monitoring equipment 9 block respectively in the cassette that main part 1 inner wall set up, and the main part 1 wall of this department is provided with the sound hole of inside and outside intercommunication, so that sound is propagated.

The communication module of this embodiment, a storage module, face identification module, voice recognition module, audio frequency module, big dipper location chip and controller are integrated in the PCB circuit board, each module is prior art, need not rely on software to improve the realization, place in main part 1 in the PCB circuit board and use the fix with screw, the PCB board is connected with rechargeable battery's the power supply interface that corresponds, supply power for above-mentioned each module through rechargeable battery, communication module adopts Wi-Fi communication module, storage module adopts general memory, face identification module adopts face identification chip, voice recognition module adopts voice recognition chip, audio frequency module adopts audio frequency module, namely, audio frequency module is wireless audio frequency module, Wi-Fi communication module has been built-in to itself, communication module of system does not use, the controller adopts MCU.

The dynamic monitoring assembly of the embodiment compares and judges through identifying images and sounds, and then comprehensively controls the condition of a patrol site, wherein the optical component is responsible for image identification, and the acoustic component is responsible for sound identification. The all-round-looking cameras 4 are wide-angle cameras capable of rotating in the circumferential direction, the wide angles cover the range of 90 degrees, and 4 all-round-looking cameras 4 are arranged and distributed in a balanced mode, so that the 4 all-round-looking cameras 4 can shoot visual regions covering 360 degrees in the circumferential direction, the surrounding regions of the intelligent patrol robot can be covered in an all-round mode, and 360-degree dead-angle-free monitoring is achieved; the circular mounting groove that main part 1 top set up, and reuse the fix with screw behind the cloud platform is gone into to the card in this mounting groove, the top of cloud platform has the cassette of installation thermal imaging camera 5, the middle part of thermal imaging camera 5 is equipped with the boss of installation look around camera 4, the cloud platform can be rotated all around, adjust the shooting direction of thermal imaging camera 5 and look around camera 4 through the rotation of cloud platform, look around camera 4 is used for initiatively shooing the people's face, the turned angle through MCU regulation cloud platform realizes looking around camera 4 and snatching the people's face of equidirectional not, can be so can intelligent control to the position or the region that need the control, monitor as required, be convenient for relevant personnel know the scene of patrolling.

Look around camera 4 and face identification module electricity and be connected, face identification module is used for discerning the face image of shooing, the image direct transfer who looks around camera 4 shoots is to face identification module, in order to carry out real-time supervision, face identification module has the face characteristics database through storage module matching, the blacklist data has been stored in the face characteristics database, feedback data to MCU when face identification module discerned the face image with blacklist matching, MCU sends alarm signal to the terminal through Wi-Fi communication module.

The monitoring device 9 of the embodiment adopts a high-sensitivity microphone for monitoring surrounding sound to realize monitoring and conversation on a patrol site, and the acquisition distance of the microphone can reach 5 meters at most and can be continuously adjusted between 0 and 5 meters; the microphone is electrically connected with the voice recognition module, sound is transmitted to the voice recognition module through the microphone, and the voice recognition module is used for recognizing and comparing the monitored and collected sound, so that suspicious sound or sound is effectively distinguished, the suspicious sound is recognized in time, and special events are found; the voice recognition module is electrically connected with the MCU, the voice recognition module is matched with an alarm voice library through the storage module, an alarm threshold value of a sound decibel value is preset in the voice recognition module, when the voice recognition module recognizes that sound exceeds the alarm threshold value or the voice recognition module recognizes the vocabulary of the alarm voice library, the voice recognition module outputs a signal to the MCU, and sound data are transmitted to the terminal through the Wi-Fi communication module.

The acoustic component further comprises a sound amplifying device 8 and an audio module, the sound amplifying device 8 adopts a loudspeaker, the audio module is respectively and electrically connected with the loudspeaker, a microphone and a Wi-Fi communication module, the audio module is in communication connection with a computer of a terminal and directly performs voice transmission with the computer through the Wi-Fi communication module of the audio module, the audio module is connected with an MCU, and the volume, the tone quality, the switching of receiving and sending modes and the like are regulated and controlled through the MCU; related personnel can send voice audio to the Wi-Fi communication module of the intelligent patrol robot through the terminal, data are converted through the audio module, and then sound is broadcasted through the loudspeaker, on the contrary, sound collected by the microphone can be transmitted to the terminal, so that related personnel can know patrol site conditions more clearly; therefore, voice interaction between the patrol site and related personnel is realized, real-time talkback and remote shouting between the related personnel and personnel around the patrol site are realized, multiple purposes of knowing site conditions, warning and deterrence and the like are achieved, and information linkage between the patrol site and a command center is realized.

The storage module stores a face feature database of suspicious personnel information and an alarm voice database for early warning in advance, the face feature database has face image data of a blacklist, the alarm voice database has sensitive words for identification and comparison so as to provide the sensitive words for the face identification module and the voice identification module, the storage module is electrically connected with the face identification module to match the blacklist data to the face identification module, and the storage module is electrically connected with the voice identification module to match the alarm voice database to the voice identification module.

The terminal of this embodiment adopts the computer, and it has information receiving and sending function, and this computer is installed and is carried out the software of communication with the Wi-Fi communication module of intelligence patrolling and defending the robot, and the software has audible and visual alarm function, realizes the audible and visual alarm effect at terminal, is connected with Wi-Fi communication module communication through the computer, realizes the information interaction between terminal and the intelligence patrolling and defending the robot, including voice interaction.

The loud sound dispersing component of the embodiment adopts a loud sound disperser 10 at a sound pressure level, the loud sound disperser 10 is fixedly arranged on the outer surface of the main body 1, a small hole convenient for sound transmission is formed in a shell at the mounting position, the loud sound disperser 10 works to output 1.5-5kHz high-frequency random variation square waves, the sound intensity at a position 1 meter away is 124 +/-3 dB, and the sound wave transmission of the loud sound disperser 10 covers a range within 300 meters; the high-frequency strong noise which can not be adapted to human ears is emitted through the strong sound dispelling component, strong interference is caused to the physiology and the psychology of potential threat personnel, the potential threat personnel are enabled to generate the reactions of frightening, uneasiness, dysphoria, fatigue, incapability of focusing attention and the like, the effect of active dispelling is played, and meanwhile, permanent damage is not caused.

The alarm assembly of the embodiment comprises a flashing warning lamp 7, an SOS alarm key 6 and a dialer, wherein the flashing warning lamp 7 adopts a full red flashing lamp which is a cylindrical LED lamp and is fixed in a lamp groove arranged at the top of the main body 1; the intelligent patrol robot comprises a main body 1 and an intelligent patrol robot, wherein the main body 1 of the intelligent patrol robot is also provided with a mounting groove of an SOS alarm key 6, the SOS alarm key 6 is clamped in the mounting groove, the SOS alarm key 6 is electrically connected to a dialer through an electrode plate inside the SOS alarm key 6, the alarm key is in the existing arrangement, the dialer is electrically connected with an MCU (microprogrammed control unit), the MCU is triggered to execute dialing by pressing the alarm key, a storage module is preset with data of an alarm telephone and an SIM (subscriber identity module) card of a command center, and then the alarm telephone is dialed through a Wi-Fi (wireless fidelity) communication module; the SOS alarm key 6 is carried, and in an emergency, after surrounding personnel press the button, the intelligent patrol robot automatically dials a preset alarm telephone to realize one-key alarm so that related personnel can find special events in time.

The navigation subassembly of this embodiment is including installing the location chip in the PCB board, and install in main part 1 shell: a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13; wherein, the positioning chip adopts a Beidou chip which is integrated on the PCB circuit board, the positioning and orientation receiver 11 adopts a Beidou positioning and orientation receiver 11, which is fixed at the shell of the main body 1, the position of the intelligent patrol robot is determined by a positioning chip, the positioning position is accurately corrected by the positioning receiver, the laser radar 12 adopts two high-performance laser radars 12, can transmit and receive laser, has a sight distance of 50 meters, detects in the horizontal direction, mainly uses a laser radar 12, and realizes centimeter-level accurate positioning by fusing a Beidou positioning and orienting receiver 11 and an ultrasonic sensor 13, wherein the ultrasonic sensor 13 is provided with a probe for transmitting ultrasonic waves and a probe for receiving the ultrasonic waves, the obstacle is detected through ultrasonic waves, and the laser radar 12 and the ultrasonic sensor 13 accurately detect the obstacle, so that an obstacle avoidance and obstacle avoidance path is actively planned.

The thermal imaging component of the embodiment is a thermal imaging camera 5, the thermal imaging camera 5 is installed in an installation groove at the top of a tripod head and is fixed through screws, the thermal imaging camera 5 is provided with a binocular tripod head, the binocular tripod head supports 360-degree horizontal rotation and 90-degree vertical rotation, a visible light module and a thermal imaging module are arranged in the thermal imaging camera 5, the two modules are existing electronic elements, a 1080P high-definition visible light video image and a 640 x 512 thermal imaging video are supported to be transmitted back in real time, the visible light module and the thermal imaging module are respectively electrically connected to an MCU, and then the thermal imaging is transmitted to a computer of a terminal in real time through a Wi-Fi communication module; temperature measurement range of the thermal imaging camera 5, high-temperature mode: 50 ℃ to 500 ℃, low temperature mode: 50 to 150 can detect cars within 2000 meters, and people within 640 meters, which can identify cars within 500 meters, people within 160 meters, which can identify cars within 250 meters, people within 80 meters; the thermal imaging camera 5 can detect the temperature of a human body and perform imaging, is beneficial to identifying suspicious people, and can realize accurate object identification under poor conditions such as insufficient light, rain and fog weather and the like; the human body temperature can be detected and imaging is carried out, suspicious personnel can be identified, and accurate object identification can be realized under the adverse conditions of insufficient light, rain and fog weather and the like.

The control assembly of the embodiment adopts an MCU (microprogrammed control Unit), and the MCU is respectively and electrically connected with the look-around camera 4, the face recognition module, the Wi-Fi communication module, the voice recognition module, the storage module, the audio module, the loud sound dispeller 10, the full red flashing light, the Beidou positioning chip, the Beidou positioning directional receiver 11, the laser radar 12 and the ultrasonic sensor 13; a plurality of component parts of the intelligent patrol robot are controlled through the MCU, so that cooperation and regulation among the components are realized.

Example 3

Referring to fig. 5, the intelligent patrol robot system of the present embodiment is basically the same as the system of embodiment 1, except that the communication module of the present embodiment adopts a bluetooth communication module, the audio module is a bluetooth audio module, the loudspeaker 8 adopts a tweeter, the controller adopts an ARM, the terminal adopts a mobile PDA, and the flashing warning light 7 adopts a yellow-blue flashing light; the all-round-looking camera 4, the thermal imaging camera 5 (including a visible light module and a thermal imaging module), a sound pick-up, a tweeter, a strong sound radiator 10, a yellow-blue flashing light, a dialer, a GPS positioning and orienting receiver 11, a laser radar 12 and an ultrasonic sensor 13 are respectively connected with a power supply interface corresponding to the rechargeable battery.

Referring to fig. 6, the system of the present embodiment is also installed in an intelligent patrol robot, the intelligent patrol robot of the present embodiment includes a main body 1 and a traveling device 2 connected to the main body 1, the main body 1 of the present embodiment is a human-like structure having a structure similar to the body and two robot arms connected to both sides of the main body 1, the end of each robot arm has five fingers having the same shape as the human hand, each finger has a joint for bending, and the main body 1 is further installed outside: the system comprises a rotating device 3, a look-around camera 4, a thermal imaging camera 5, an SOS alarm key 6, an explosion flash warning lamp 7, a public address device 8, a monitoring device 9, a strong sound radiator 10, a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13, wherein other components of the system are arranged inside a main body 1. The walking device 2 of the intelligent patrol robot is a round chassis, the main body 1 is fixedly connected with the middle part of the chassis through a screw in the main body, the bottom of the main body 1 is provided with a rotating device 3, the rotating device 3 is a rotating platform which is fixed at the bottom of the main body 1 and is internally provided with a motor, rotate through motor drive main part 1, the head embedding of main part 1 is provided with the LCD screen, LCD screen internally mounted has look around camera 4 and thermal imaging camera 5, main part 1 is provided with the mounting groove of a plurality of differences, SOS warning key 6, explode and dodge warning light 7, strong sound diffuser 10, location orientation receiver 11, laser radar 12 and ultrasonic sensor 13 are fixed respectively in each mounting groove, public address equipment 8 and monitoring facilities 9 set up the top at main part 1 respectively, and the main part 1 wall of this department is provided with the sound hole of inside and outside intercommunication, so that the sound is propagated.

The communication module of this embodiment, a storage module, face identification module, voice recognition module, audio module, GPS positioning chip and controller are integrated in PCB circuit board, each module is prior art, need not rely on software to improve the realization, place in main part 1 in the PCB circuit board, and use the fix with screw, the PCB board is connected with rechargeable battery's corresponding power supply interface, supply power for above-mentioned each module through rechargeable battery, communication module adopts bluetooth communication module, storage module adopts general memory, face identification module adopts face identification chip, voice recognition module adopts the voice recognition chip, audio module adopts bluetooth audio module, namely, audio module is wireless audio module, itself built-in bluetooth communication module, the communication module of system not used, the controller adopts ARM.

The dynamic monitoring assembly of the embodiment compares and judges through identifying images and sounds, and then comprehensively controls the condition of a patrol site, wherein the optical component is responsible for image identification, and the acoustic component is responsible for sound identification. The all-round looking camera 4 is a wide-angle camera, the wide angle covers the range of 70 degrees, the all-round looking camera 4 is arranged in the liquid crystal screen, the all-round looking camera 4 actively shoots the visual area covering the circumferential direction by rotating the rotating device 3, the all-round looking camera 4 can cover the surrounding area of the intelligent patrol robot in all directions by rotating, and 360-degree dead-angle-free monitoring is achieved; the all-round camera 4 is used for initiatively shooting the face, and the turned angle of adjusting the rotary device 3 through the ARM realizes that the all-round camera 4 takes a candid photograph to the face of equidirectional not, can be like this to the position or the region that need monitor can intelligent control, control as required, the relevant personnel of being convenient for know the on-the-spot condition of patrolling.

Look around camera 4 and face identification module electricity and be connected, face identification module is used for discerning the face image of shooing, the image direct transfer that look around camera 4 was shot to face identification module, in order to carry out real-time supervision, face identification module has face characteristic database through storage module matching, face characteristic database has stored the blacklist data, feedback data to ARM when face identification module discerned the face image with blacklist matching, ARM sends alarm signal to the terminal through bluetooth communication module.

The monitoring device 9 of the embodiment adopts a 360-degree omnidirectional long-distance high-sensitivity sound pickup for monitoring surrounding sounds and realizing monitoring and conversation on a patrol site, wherein the sound pickup distance of the sound pickup can reach 20 meters farthest and can be continuously adjusted between 0 and 20 meters; the sound pick-up is electrically connected with the voice recognition module, sound is transmitted to the voice recognition module through the sound pick-up, and the sound collected by monitoring is recognized and compared through the voice recognition module, so that suspicious sound or sound is effectively distinguished, the suspicious sound is recognized in time, and special events are found; the voice recognition module is electrically connected with the ARM, the voice recognition module is matched with an alarm voice library through the storage module, an alarm threshold value of a sound decibel value is preset in the voice recognition module, when the voice recognition module recognizes that sound exceeds the alarm threshold value or recognizes the vocabulary of the alarm voice library, the voice recognition module outputs a signal to the ARM, and then the voice data are transmitted to the terminal through the Bluetooth communication module.

The acoustic component also comprises a sound amplifying device 8 and a Bluetooth audio module, the sound amplifying device 8 adopts a high pitch loudspeaker, the Bluetooth audio module is respectively and electrically connected with the high pitch loudspeaker, a sound pick-up and a Bluetooth communication module, the Bluetooth audio module is in communication connection with the mobile PDA of the terminal, the Bluetooth communication module carried by the Bluetooth audio module is directly in voice transmission with the mobile PDA, the Bluetooth audio module is connected with an ARM, and the volume, the tone quality, the switching of receiving and sending modes and the like are regulated and controlled through the ARM; related personnel can send voice audio to the Bluetooth audio module of the intelligent patrol robot through the terminal, and then broadcast the voice through the high-pitch loudspeaker, and on the contrary, the voice identified by the sound pick-up can be transmitted to the terminal, so that the related personnel can know patrol site conditions more clearly; therefore, voice interaction between the patrol site and related personnel is realized, real-time talkback and remote shouting between the related personnel and personnel around the patrol site are realized, multiple purposes of knowing site conditions, warning and deterrence and the like are achieved, and information linkage between the patrol site and a command center is realized.

The storage module stores a face feature database of suspicious personnel information and an alarm voice database for early warning in advance, the face feature database stores face image data of a blacklist, the alarm voice database is provided with sensitive words for identification and comparison so as to be provided for the face identification module and the voice identification module, the storage module is electrically connected with the face identification module to match the blacklist data to the face identification module, and the storage module is electrically connected with the voice identification module to match the alarm voice database to the voice identification module.

The terminal of this embodiment adopts mobile PDA, and it has information receiving and sending function, and the terminal is installed and is carried out the software that communicates with the bluetooth communication module of intelligence patrol and guard robot, and the software has audible and visual alarm function, realizes the audible and visual alarm effect at terminal, is connected through mobile PDA and bluetooth communication module communication, realizes the information interaction between terminal and the intelligence patrol and guard robot, including the voice interaction.

The loud sound dispersing component of the embodiment adopts a loud sound disperser 10 at a sound pressure level, the loud sound disperser 10 is fixedly arranged at the shell of the main body 1, the loud sound disperser 10 is provided with small holes convenient for sound transmission, the loud sound disperser 10 works to output 1.5-5kHz high-frequency random variation square waves, the sound intensity at a position 1 meter away is 130 +/-5 dB, and the sound wave transmission of the loud sound disperser 10 covers the range within 300 meters; the high-frequency strong noise which can not be adapted to human ears is emitted through the strong sound dispelling component, strong interference is caused to the physiology and the psychology of potential threat personnel, the potential threat personnel are enabled to generate the reactions of frightening, uneasiness, dysphoria, fatigue, incapability of focusing attention and the like, the effect of active dispelling is played, and meanwhile, permanent damage is not caused.

The alarm assembly of the embodiment comprises a flashing warning lamp 7, an SOS alarm key 6 and a dialer, wherein the flashing warning lamp 7 adopts a yellow-blue flashing lamp which is an LED lamp and is arranged on an LED lamp panel in a plurality of rows and columns, and the LED lamp panel is fixed by being clamped into the middle of the main body 1 to form a lamp trough; the middle shell of the main body 1 is also provided with a mounting groove, the SOS alarm key 6 is a press type button which is arranged in the mounting groove, a spring is arranged in the button, the press and recovery effects are realized through the spring, the bottom end of the spring is provided with an electrode plate for connecting a dialer, a circuit is connected through pressing the alarm key, the dialer is triggered to dial, the dialer is provided with an alarm telephone of a command center in advance, a single chip microcomputer and a wireless communication module are arranged in the dialer, a dialing program is preset, the dialer stores data of an SIM card, and the alarm telephone is dialed through the dialer; the SOS alarm key 6 is carried, and in an emergency, after surrounding personnel press the button, the intelligent patrol robot automatically dials a preset alarm telephone to realize one-key alarm so that related personnel can find special events in time.

The navigation subassembly of this embodiment includes the location chip of installing in the PCB board, and install in main part 1 surface: a positioning and orientation receiver 11, a laser radar 12 and an ultrasonic sensor 13; wherein, the positioning chip adopts the GPS chip, it is integrated at the PCB circuit board, positioning orientation receiver 11 adopts GPS positioning orientation receiver 11, it fixes in the shell department of main part 1, confirm the position of intelligent patrol robot through the positioning chip, correct the position location through positioning receiver is accurate, laser radar 12 adopts two high performance laser radar 12, can launch and receive laser, the stadia is 40 meters, the horizontal direction is surveyed, use laser radar 12 as the main, GPS positioning orientation receiver 11 and ultrasonic sensor 13 fuse and carry out the autonomous navigation, realize centimetre level's accurate location, ultrasonic sensor 13 has the probe of sending ultrasonic wave and receives ultrasonic wave's probe, survey through the ultrasonic wave, accurately detect the barrier through laser radar 12 and ultrasonic sensor 13, so that initiatively plan out and keep away the barrier around the barrier route.

The thermal imaging component of the embodiment is a thermal imaging camera 5, the thermal imaging camera 5 is installed in a liquid crystal screen of the head of the main body 1, a visible light module and a thermal imaging module are arranged in the thermal imaging camera 5, the two modules are both existing electronic components and support real-time return of a 1080P high-definition visible light video image and a 1024 x 980 thermal imaging video, the visible light module and the thermal imaging module are respectively and electrically connected to an ARM, and then the thermal imaging is transmitted to a mobile PDA of the terminal in real time through a Bluetooth communication module; temperature measurement range of the thermal imaging camera 5, high-temperature mode: 50 ℃ to 550 ℃, low temperature mode: 40 to 150 can detect cars within 2000 meters, and people within 640 meters, which can identify cars within 500 meters, people within 160 meters, which can identify cars within 250 meters, people within 80 meters; the thermal imaging camera 5 can detect the temperature of a human body and perform imaging, is beneficial to identifying suspicious people, and can realize accurate object identification under poor conditions such as insufficient light, rain and fog weather and the like; the thermal imaging camera 5 can detect the temperature of a human body and perform imaging, is helpful for identifying suspicious people, and can also realize accurate object identification under poor conditions such as insufficient light, rain and fog weather and the like.

The control component of the embodiment adopts ARM, and the ARM is respectively electrically connected with the panoramic camera 4, the face recognition module, the Bluetooth communication module, the voice recognition module, the storage module, the Bluetooth audio module, the loud sound dispeller 10, the yellow-blue flashing light, the GPS positioning chip, the GPS positioning directional receiver 11, the laser radar 12 and the ultrasonic sensor 13; a plurality of component parts of the intelligent patrol robot are controlled through the ARM so as to realize cooperation and regulation among the parts.

According to the intelligent patrol robot, the circumferential position of the intelligent patrol robot is covered by rotating the panoramic camera 4, the surrounding environment can be comprehensively shot, the face is actively identified and compared through the face identification module, and suspicious persons are timely found; meanwhile, the monitoring device 9 is also used for monitoring and collecting the surrounding sound, and the voice recognition device is used for recognizing and comparing the sound; the method comprises the steps of achieving dynamic monitoring, actively sending an alarm signal through a communication module when suspicious people appear around, knowing alarm conditions in time through a terminal, actively early warning, carrying out personnel dialogue, calling or deterrence and the like on patrol sites and related personnel through a public address device 8, a monitoring device 9, an audio module and the terminal, interfering and dispersing the suspicious people through a loud sound disperser 10, carrying out real-time accurate positioning and obstacle avoidance through a positioning and orienting receiver 11, a laser radar 12 and an ultrasonic sensor 13, identifying the people through a thermal imaging camera 5, carrying out one-key alarm through an SOS alarm key 6, and carrying out alarm and warning through an explosion and flash alarm lamp 7; the system can automatically early warn security protection capabilities such as special events, discover suspicious personnel in real time, timely feed back and assist related personnel to handle dangerous conditions, and realize all-around monitoring and early warning.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An intelligent patrol robot system comprises a main body and a walking device connected to the main body, and is characterized in that the system comprises a dynamic monitoring assembly and a control assembly which are arranged on the main body, wherein the dynamic monitoring assembly comprises an optical component and a communication module;

the optical component includes: the system comprises a look-around camera capable of rotating circumferentially and a face recognition module matched with a face feature database; the all-round looking camera is electrically connected with the face recognition module;

the control assembly is respectively and electrically connected with the communication module and the face recognition module, and the communication module is used for being in communication connection with a terminal; the all-round-looking camera actively takes a snapshot of a human face through rotation, and when the human face recognition module recognizes a human face image matched with the human face feature database, the control assembly sends an alarm signal to the terminal through the communication module.

2. The intelligent patrol robot system according to claim 1, wherein the look-around camera is provided with a rotating device; or the main body is provided with a rotating device to which the panoramic camera is fixed.

3. The intelligent patrol robot system according to claim 2, wherein the all-round cameras are wide-angle cameras, and the wide-angle cameras are provided with at least 2, and the arrangement of at least 2 wide-angle cameras enables shooting of a visual area covering 360 ° in the circumferential direction, or at least 2 wide-angle cameras cover a visual area covering 360 ° in the circumferential direction by rotation.

4. The intelligent patrol robot system of claim 1, further comprising an acoustic component, the acoustic component comprising: the monitoring device is electrically connected with the voice recognition module, and the voice recognition module is electrically connected with the control component; and when the voice recognition module recognizes the vocabulary of the alarm voice library or the sound exceeds an alarm threshold value preset by the voice recognition module, the control component sends an alarm signal to the terminal through the communication module.

5. The intelligent patrol robot system according to claim 4, wherein the acoustic component further comprises a public address device and an audio module, the audio module is electrically connected with the public address device, the monitoring device and the communication module, the audio module is in communication connection with a terminal, and the terminal has voice receiving and transmitting functions to realize voice interaction.

6. The intelligent patrolling robot system according to claim 1, further comprising a loud sound dissipating component comprising a loud sound dissipater at a sound pressure level, the sound wave transmission of the loud sound dissipater covering a range within 300 meters.

7. The intelligent patrol robot system according to claim 1, further comprising an alarm assembly, wherein the alarm assembly comprises a flashing alarm lamp, an SOS alarm key and a dialer, the flashing alarm lamp is mounted outside the main body, and the SOS alarm key is connected with the dialer.

8. The intelligent patrol robot system according to claim 1, further comprising an autonomous navigation assembly, the navigation assembly comprising a positioning chip disposed in the main body, and mounted outside the main body: positioning and orientation receiver, laser radar and ultrasonic sensor.

9. The intelligent patrol robot system of claim 1, further comprising a thermal imaging assembly, the thermal imaging assembly comprising a thermal imaging camera mounted to the body, the thermal imaging camera having a visible light module and a thermal imaging module built therein.

10. The intelligent patrol robot system according to claim 1 or 4, wherein the dynamic monitoring component further comprises a storage module storing a face feature database and an alarm voice library, the storage module electrically connects the face feature database to the face recognition module, and the storage module electrically connects the voice recognition module to the alarm voice library.