CN114102617A - Collaborative security robot - Google Patents
Collaborative security robot Download PDFInfo
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- CN114102617A CN114102617A CN202111330550.6A CN202111330550A CN114102617A CN 114102617 A CN114102617 A CN 114102617A CN 202111330550 A CN202111330550 A CN 202111330550A CN 114102617 A CN114102617 A CN 114102617A
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- unmanned aerial
- aerial vehicle
- security
- security robot
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Alarm Systems (AREA)
Abstract
The invention provides a cooperative security robot, belongs to the field of robots, and comprises a security robot, a security unmanned aerial vehicle and a cooperative software suite, wherein the security robot comprises an intelligent chassis, an apron, a charging station, a wifi base station, a computing unit, a storage unit, a remote control module, an IROS and the like, the security unmanned aerial vehicle is also provided with the IROS, and the cooperative software suite is used for performing cooperation between the security robot and the unmanned aerial vehicle based on the IROS. Can combine security protection robot and security protection unmanned aerial vehicle in coordination according to above scheme, security protection robot is as security protection unmanned aerial vehicle's mother's machine and command center, and the two advantage of full play compensates the two not enough, and security protection unmanned aerial vehicle configuration itself can be very low, and the operating no communication cost in coordination forms a low-cost intelligent security protection solution.
Description
Technical Field
The invention relates to the field of robots, in particular to a collaborative security robot.
Background
With the development of computer technology and artificial intelligence, intelligent robots and unmanned planes are developed greatly and are applied to the field of security protection. The security robot is a robot which is semi-autonomous, autonomous or assists humans to complete security protection under the complete control of humans, is a subdivided field of the robot industry, is based on the requirements of actual production and life, and is used for solving the potential safety hazard, patrol monitoring, disaster warning and the like, thereby reducing the occurrence of safety accidents and the loss of lives and properties. The unmanned aerial vehicle loaded with the camera can also be used for security monitoring, and the aerial monitoring has a better visual angle.
The security robot which can only walk on the ground has own defects, for example, some places cannot pass through, high places and sheltered places cannot be monitored, and people hidden outside the enclosure cannot be noticed. And ordinary low-cost security protection unmanned aerial vehicle also has not enough, if calculate power limited, battery capacity limited dead time is short, can not be used for operation of staying empty for a long time etc..
Disclosure of Invention
In order to solve the technical problems, the invention provides a collaborative security robot. Can combine security protection robot and unmanned aerial vehicle, the two advantage of full play compensates the two not enough, forms a low-cost intelligent security solution.
The technical scheme of the invention is as follows:
the utility model provides a cooperate security protection robot, the system includes security protection robot, security protection unmanned aerial vehicle and software external member in coordination, and wherein security protection robot comprises intelligent chassis, air park, charging station, wifi basic station, computational element, memory cell, remote control module, IROS etc. and security protection unmanned aerial vehicle also installs IROS, and software external member in coordination carries out security protection robot and unmanned aerial vehicle's cooperation based on IROS.
For the security robot, the intelligent chassis is a foundation of the security robot and a carrier of other components, and the security robot can intelligently and automatically move and perform security patrol under the command of the computing unit.
Further, in the above-mentioned case,
install the wifi basic station on the security protection robot, provide the reliable high performance communication service that removes for security protection unmanned aerial vehicle on the hardware, and the software communication between security protection unmanned aerial vehicle is through installing the intelligent robot operating system IROS at security protection robot and security protection unmanned aerial vehicle respectively and going on. IROS provides communication services such as anonymous message pushing, synchronous service calling and parameter calling, and ensures collaboration between the security robot and the security unmanned aerial vehicle.
The cooperative software suite refers to a series of IROS-based applications installed on the security robot and the security unmanned aerial vehicle. A storage unit on the security robot can be configured with a large storage space, a plurality of topics are created on an IROS on the security robot, and messages in the topics are persisted on the storage unit. The security robot cooperative software suite issues a control instruction of the security unmanned aerial vehicle to an instruction topic on the security robot, the security unmanned aerial vehicle cooperative software suite can subscribe to an instruction topic control instruction message on the security robot through IROS installed on the security robot, and operates the security unmanned aerial vehicle according to the control instruction message, such as changing the flight direction and the flight height, taking pictures and shooting pictures and the like; photo and video data generated by photographing and shooting of the security unmanned aerial vehicle can be published on a video topic of the security unmanned aerial vehicle in real time, a collaborative software suite of the security robot subscribes a video message from the video topic, analyzes and stores the video message in a storage unit in real time, and after analysis, if the security unmanned aerial vehicle needs to act next step, a control service on the security unmanned aerial vehicle is synchronously called through an IROS (intelligent resilient operating system) or a control message is asynchronously published on an instruction topic; some configuration information of the security unmanned aerial vehicle is stored in security robot IROS configuration parameters, the configuration parameters need to be read when the security unmanned aerial vehicle is started every time, and the security unmanned aerial vehicle can modify the configuration parameters.
A security robot can carry on and control many security protection unmanned aerial vehicles simultaneously, and they all communicate through foretell IROS topic, service, parameter, and every security protection unmanned aerial vehicle all has exclusive IROS topic, service, parameter service.
Further, in the above-mentioned case,
the intelligent chassis is provided with a parking apron specially designed for the security unmanned aerial vehicle, and when the security robot works, the security unmanned aerial vehicle can be stably parked on the security robot, so that the security robot can be used as a master machine and a command center of the security unmanned aerial vehicle. The security robot can conveniently execute tasks on the ground, the security robot executes the tasks, and when the security robot is inconvenient, the security robot automatically calls or manually remotely calls the security unmanned aerial vehicle parked on the security robot to execute the tasks in the air.
The special charging station for the security protection unmanned aerial vehicle is specially arranged on the security protection robot, and when the electric quantity of the security protection unmanned aerial vehicle is insufficient, the security protection unmanned aerial vehicle can automatically use the charging station on the security protection robot to charge.
The security robot is provided with a relatively powerful calculating unit and a relatively powerful storage unit, the calculating unit integrates AI calculation force, so that the security robot can determine when to use the security robot to execute tasks or call the security unmanned aerial vehicle parked on the security robot to execute the tasks; the security robot can also recall the security unmanned aerial vehicle which is on a task according to the condition. The security robot is provided with a remote control module, and a commander can indirectly control the security unmanned aerial vehicle through the module.
The invention has the advantages that
Combine together security protection robot and security protection unmanned aerial vehicle in coordination, security protection robot is as security protection unmanned aerial vehicle's mother's machine and command center, and the two advantage of full play makes up the two not enough, and security protection unmanned aerial vehicle configuration itself can be very low, and the operation does not have the communication expense in coordination, forms a low-cost intelligent security protection solution.
Drawings
FIG. 1 is a block diagram of a security robot;
fig. 2 is a schematic diagram of the cooperative work of the security robot body and the unmanned aerial vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
The invention discloses a cooperative security robot which comprises a security robot, a security unmanned aerial vehicle and a cooperative software suite, wherein the security robot comprises an intelligent chassis, an apron, a charging station, a wifi base station, a computing unit, a storage unit, a remote control module, an IROS and the like, the security unmanned aerial vehicle is also provided with the IROS, and the cooperative software suite performs cooperation between the security robot and the unmanned aerial vehicle based on the IROS.
Install the wifi basic station on the security protection robot, provide the reliable high performance communication service that removes for security protection unmanned aerial vehicle on the hardware, and the software communication between security protection unmanned aerial vehicle is through installing the intelligent robot operating system IROS at security protection robot and security protection unmanned aerial vehicle respectively and going on. IROS provides communication services such as anonymous message pushing, synchronous service calling and parameter calling, and ensures collaboration between the security robot and the security unmanned aerial vehicle.
As shown in fig. 1, the collaborative software suite refers to a series of applications based on the IROS installed in the security robot and the security drone. A storage unit on the security robot can be configured with a large storage space, a plurality of topics are created on an IROS on the security robot, and messages in the topics are persisted on the storage unit. The security robot cooperative software suite issues a control instruction of the security unmanned aerial vehicle to an instruction topic 101 on the security robot, the security unmanned aerial vehicle cooperative software suite can subscribe to an instruction topic 101 control instruction message on the security robot through IROS installed on the security robot, and operates the security unmanned aerial vehicle according to the control instruction message, such as changing the flight direction and the flight height, taking pictures and shooting pictures and the like; photo and video data generated by photographing and shooting of the security unmanned aerial vehicle can be published on a video topic 102 of the security unmanned aerial vehicle in real time, a collaborative software suite of the security robot subscribes a video message from the video topic 102, analyzes and stores the video message in a storage unit in real time, and synchronously calls a control service 301 on the security unmanned aerial vehicle or asynchronously publishes a control message to an instruction topic 101 through an IROS if the security unmanned aerial vehicle needs to act next step after analysis; some configuration information of the security unmanned aerial vehicle is stored in security robot IROS configuration parameters 201, the security unmanned aerial vehicle needs to read the configuration parameters 201 when being started every time, and the security unmanned aerial vehicle can modify the configuration parameters 201.
A security robot can carry on and control many security protection unmanned aerial vehicles simultaneously, and they all communicate through foretell IROS topic, service, parameter, and every security protection unmanned aerial vehicle all has exclusive IROS topic, service, parameter service.
For the security robot, the intelligent chassis is a foundation of the security robot and a carrier of other components, and the security robot can intelligently and automatically move and perform security patrol under the command of the computing unit. The intelligent chassis is provided with a parking apron specially designed for the security unmanned aerial vehicle, and when the security robot works, the security unmanned aerial vehicle can be stably parked on the security robot, so that the security robot can be used as a master machine and a command center of the security unmanned aerial vehicle. The security robot can conveniently execute tasks on the ground, the security robot executes the tasks, and when the security robot is inconvenient, the security robot automatically calls or manually remotely calls the security unmanned aerial vehicle parked on the security robot to execute the tasks in the air. The special charging station for the security protection unmanned aerial vehicle is specially arranged on the security protection robot, and when the electric quantity of the security protection unmanned aerial vehicle is insufficient, the security protection unmanned aerial vehicle can automatically use the charging station on the security protection robot to charge. The security robot is provided with a relatively powerful calculating unit and a relatively powerful storage unit, the calculating unit integrates AI calculation force, so that the security robot can determine when to use the security robot to execute tasks or call the security unmanned aerial vehicle parked on the security robot to execute the tasks; the security robot can also recall the security unmanned aerial vehicle which is on a task according to the condition. The security robot is provided with a remote control module, and a commander can indirectly control the security unmanned aerial vehicle through the module.
Because power, calculation, storage etc. are mainly gone on above the security protection robot, unmanned aerial vehicle and holistic cost reducible very low.
The security robot cooperation scheme that robot and unmanned aerial vehicle combined together can expand to other fields according to the difference of sensor and algorithm.
The above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A cooperative security robot comprises a security robot, wherein the security robot comprises an intelligent chassis, a computing unit, a storage unit and an intelligent operating system IROS, and is characterized in that the security robot is also provided with an unmanned aerial vehicle and a cooperative software suite, and the unmanned aerial vehicle is also provided with the IROS; and the cooperative software suite performs cooperative operation between the security robot and the unmanned aerial vehicle based on the IROS.
2. The security robot as recited in claim 1,
the security robot is also provided with a wifi base station, mobile communication service is provided for the unmanned aerial vehicle on hardware, and software communication between the unmanned aerial vehicles is carried out through IROS respectively arranged on the security robot and the unmanned aerial vehicle;
IROS provides anonymous message pushing, synchronous service calling and parameter calling services, and ensures cooperation between the security robot and the unmanned aerial vehicle.
3. The security robot as recited in claim 2,
and the cooperative software suite refers to IROS-based application installed on the security robot and the unmanned aerial vehicle, more than one topic is created on the IROS on the security robot, the message in the topic is persisted on the storage unit, and communication operation is performed between the security robot and the unmanned aerial vehicle based on the IROS.
4. The security robot as recited in claim 3,
the cooperative security robot software suite subscribes to instruction topic control instruction information on the security robot through IROS, the unmanned aerial vehicle is operated according to the control instruction information, photos and video data generated by photographing and shooting of the unmanned aerial vehicle are published to a video topic of the unmanned aerial vehicle in real time, the cooperative security robot software suite subscribes to the video message from the video topic, analyzes and stores the video message to a storage unit in real time, and if the unmanned aerial vehicle needs to be operated in the next step after analysis, the unmanned aerial vehicle synchronously calls control service on the unmanned aerial vehicle or asynchronously publishes the control message to the instruction topic through IROS.
5. The security robot as recited in claim 4,
configuration information of the unmanned aerial vehicle is stored in IROS configuration parameters of the security robot, the configuration parameters need to be read when the unmanned aerial vehicle is started every time, and the configuration parameters can be modified by the unmanned aerial vehicle.
6. The security robot as claimed in claim 3, 4 or 5,
a security robot can carry on and control one and above unmanned aerial vehicle simultaneously, all communicates through IROS topic, service, parameter between them, and every unmanned aerial vehicle all has exclusive IROS topic, service, parameter service.
7. The security robot as recited in claim 1,
the security robot can automatically call the unmanned aerial vehicle through the remote control module or manually call the unmanned aerial vehicle to execute an aerial task.
8. The security robot as recited in claim 1,
be provided with the charging station who designs for unmanned aerial vehicle above the security protection robot, when unmanned aerial vehicle electric quantity is not enough, unmanned aerial vehicle can use the charging station above the security protection robot automatically to charge.
9. The security robot as recited in claim 1,
the security robot is provided with a parking apron specially designed for the unmanned aerial vehicle, and the unmanned aerial vehicle can be stably parked on the security robot when the security robot works, so that the security robot can be used as a master machine and a command center of the unmanned aerial vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111330550.6A CN114102617B (en) | 2021-11-11 | 2021-11-11 | Cooperative security robot |
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| CN202111330550.6A CN114102617B (en) | 2021-11-11 | 2021-11-11 | Cooperative security robot |
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| CN114102617A true CN114102617A (en) | 2022-03-01 |
| CN114102617B CN114102617B (en) | 2023-07-04 |
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2021
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| CN101853006A (en) * | 2010-04-17 | 2010-10-06 | 上海交通大学 | Multi-agent cooperative control system |
| CN105185381A (en) * | 2015-08-26 | 2015-12-23 | 江苏久祥汽车电器集团有限公司 | Intelligent robot-based voice identification system |
| CN105429858A (en) * | 2015-12-11 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Real-time message transmission method among multiple robots |
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| CN114102617B (en) | 2023-07-04 |
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